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A fruit sorting robot

A technology of manipulators and fruits, which is applied in the field of manipulators, can solve the problems of affecting quality, fruit scratches, and the inability to widely apply fruit sorting, etc., to achieve the effect of preventing slipping and shifting, and preventing fruit slipping

Active Publication Date: 2020-08-21
ANHUI DANGSHAN XINGDA CANNED FOODS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The manipulator is mainly composed of three parts: the hand, the motion mechanism and the control system. The hand is used to grasp the workpiece. There are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object. Such as clamping type, holding type and adsorption type, etc., the movement mechanism enables the hand to complete various rotations, movements or compound movements to achieve prescribed actions and change the position and posture of the grasped object. The control system is through the control of the manipulator The motor control of each degree of freedom is used to complete specific actions. At this stage, manipulators have been widely used in various industrial fields. Fruit sorting is a repetitive and boring job with low technical content. The manipulators on the market have complex structures. , the manufacturing cost is high, and it cannot be widely used in fruit sorting at present.
[0003] Chinese patent 201420140294.3 discloses a fruit sorting manipulator. The manipulator has multi-degree-of-freedom control, which can realize fast and flexible fruit sorting. However, the manipulator has no mechanism to protect the fruit, and the mechanical claws are sharp, which is easy to scratch the fruit and affect the quality. Moreover, once the ground of the working place is smooth, the bottom of the manipulator is easy to slip, which is not conducive to stable operation

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] Embodiment 1: When the manipulator is working on smooth ground, it needs to step on the pressure rod 4 to keep the movable plate 2 still, and pull up the shell of the first push rod motor 11, and the shell of the first push rod motor 11 drives the chassis 1 Moving up, the movable plate 2 moves down relative to the chassis 1, and the movable plate 2 drives the limit block 6 to move relative to the chassis 1 together. When the limit block 6 moves to the limit hole 8, since the first spring 7 has been in a compressed state before, At this time, the first spring 7 bounces back, pushing the stop block 6 into the limit hole 8, and the limit hole limits the movement of the stop block 6, thereby limiting the movement of the movable plate 2 relative to the chassis 1, and the suction cup 3 moves from The outside of the chassis 1 protrudes from the communication hole, and the chassis is adsorbed on the smooth ground, which strengthens the fixing of the device.

Embodiment 2

[0025] Embodiment 2: When the manipulator is working on a non-smooth ground, the suction cup 3 needs to be retracted. At this time, kick or press the movable block 9 with your feet, and the two movable blocks 9 are pressed at the same time. The second spring 10 is compressed, and the movable block One end of 9 extends into the limit hole 8, the limit block 6 is pushed into the connection groove 5, the first spring 7 is compressed, and due to gravity, the chassis 1 falls, the bottom of the chassis 1 contacts the ground, and the suction cup 3 shrinks. Into the interior of the chassis 1, the movable plate 2 moves up relative to the chassis 1, and the contact surface of the limiting block 6 and the movable block 9 is a slope to prevent jamming. The inside slides out, and the first spring 7 is in a compressed state.

Embodiment 3

[0026] Embodiment 3: When performing sorting operations, such as sorting apples and pears, the device is connected to the power supply, the miniature camera takes in the lower fruit, and sends the signal to the computer. The computer compares and recognizes the fruit according to the position of the fruit , to locate the fruit, the computer first controls the first push rod motor 11, so that the first push rod protrudes from the inside of the first push rod motor 11, the second push rod motor rises together with the manipulator, and then controls the second push rod motor The second push rod inside 12 stretches to complete the positioning of the y-axis, and then controls the two electric cylinders 14 to make one telescopic rod 15 stretch out and one telescopic rod 15 to retract. Driven by the two telescopic rods 15, the third push rod The rod motor 16 rotates together with the sleeve rod 17 to complete the x-axis positioning. Then, the computer controls the third push rod motor...

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Abstract

The invention discloses a fruit sorting mechanical hand. The fruit sorting mechanical hand comprises a chassis, an electric cylinder and a rotary rod, wherein the inner part of the chassis is providedwith a cavity structure; a movable plate is sleeved inside the chassis; the bottom of the movable plate is in glue joint with a sucking disc; one side of the movable plate is welded with a pressure rod; the other side of the movable plate is provided with a connecting slot; a limiting block is sleeved inside the connecting slot; a limiting hole is formed in the bottom of the side wall of the chassis; a movable block is sleeved inside the limiting hole; one end of the upper side of the chassis is equipped with a first pushing rod motor which is vertically arranged through a screw; the output end of the first pushing rod motor is in key connection with a first pushing rod; a connecting belt for specially protecting the fruits is arranged inside the mechanical hand; when the mechanical handclamps fruits, the connecting belt is arranged between a rotary rod and the fruits to prevent the fruits from being scratched; under a common working environment, the sucking disc can be collected inside the chassis; and while placed on smooth ground, the sucking disc can be pulled out to achieve the effect of fixing a device, so that the device is prevented from sliding and moving.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a fruit sorting manipulator. Background technique [0002] The manipulator is mainly composed of three parts: the hand, the motion mechanism and the control system. The hand is used to grasp the workpiece. There are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object. Such as clamping type, holding type and adsorption type, etc., the movement mechanism enables the hand to complete various rotations, movements or compound movements to achieve prescribed actions and change the position and posture of the grasped object. The control system is through the control of the manipulator The motor control of each degree of freedom is used to complete specific actions. At this stage, manipulators have been widely used in various industrial fields. Fruit sorting is a repetitive and boring job with low technical content...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/12B25J9/00B25J15/00B25J15/02
CPCB25J9/0009B25J9/123B25J15/00B25J15/0206
Inventor 秦天云
Owner ANHUI DANGSHAN XINGDA CANNED FOODS CO LTD
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