Automatic fixed-point grabbing and pushing bidirectional linkage manipulator

Abstract

Disclosed is an automatic fixed-point grabbing and pushing bidirectional linkage manipulator. A movable plate is fixedly connected to a rotating spindle; a fixed plate is placed below the movable plate and is in clearance connection with the rotating spindle; a manipulator shell is installed on the movable plate; a gear-rack speed increasing mechanism is installed in the shell and connected with apull rod; the tail end of the pull rod is connected with a bevel push rod, and the head of the pull rod is connected with a gripper part through a grabbing and releasing mechanism; the gripper part is installed on the shell; the lower end bevel of the bevel push rod makes contact with an arc-shaped boss installed on the fixed plate in a matched mode, and a compressing spring is installed betweenthe side face of the bevel push rod and the gear-rack speed increasing mechanism; and a connecting handle is installed on the lower end face of the head of the shell and is in matched connection witha piston of an air cylinder mounted on the fixed plate. The problem that releasing of the gripper in the cutting position is earlier than returning of the manipulator is solved, conveying precision isimproved, and damage to potato flesh tissue is reduced.

Description

technical field [0001] The invention relates to the technical field of potato-like rotating body conveying equipment, in particular to a manipulator with two-way linkage of automatic fixed-point grabbing and pushing. Background technique [0002] In the prior art, the working principle of the potato-like rotating body conveying manipulator is as follows: figure 1 As shown, the potatoes that have been oriented and monitored fall into the receiving position A1 on the conveying plate at a fixed time interval one by one, and rotate 3X 60° sequentially through the indexing of the conveying plate, that is, the A1-A2-A3-A4 running route is completed. , Each position of A3 stagnates for a specific time, and the potatoes that are grasped by the robot are sent from A4 to the cutting position B, and then return from point B to point A4 in empty travel to carry out the circular transportation of the next potato. [0003] On this potato conveying tray, a manipulator is needed to complet...

AI Technical Summary

Problems solved by technology

On the one hand, the linear return movement of the claws will cause the skin of the processed potatoes to be strained, and the geometric center of the clamped potatoes will change, which will affect the cutting effect of the skin; Before opening, the potatoes will be subjected to a tensile force, which will cause the clamping rod perpendicular to it to be subjected to bending force. In the mass processing of multiple cycles, the clamping rod will be deformed or even damaged due to repeated bending.

In the long-term mass processing of multiple potatoes, the clamping rod of the potatoes will be bent, deformed or even damaged due to long-term external force

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