Mechanical arm grasping device and method for fruit automatic packaging device

An automatic packaging and grabbing device technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as skin bruises, achieve the effects of improving automation, good market promotion prospects, and strong practicability

Inactive Publication Date: 2019-04-16
GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
View PDF0 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this vacuum suction type manipulator can only be used for smooth and tough fruits, and it is difficult to adapt to fruits with fluff or folds on the skin,

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Mechanical arm grasping device and method for fruit automatic packaging device
  • Mechanical arm grasping device and method for fruit automatic packaging device
  • Mechanical arm grasping device and method for fruit automatic packaging device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] This embodiment is a mechanical hand grasping device and method, which is applied to fruit automatic packaging equipment. The mechanical hand grasping device is provided with five sets of grasping robots, which can grasp five fruits at a time. This embodiment takes kiwi fruit packaging as an example , The specific structure and working principle of the manipulator grabbing device are as follows:

[0057] 1. The overall structure of the manipulator grabbing device:

[0058] Such as Figure 1-3 Shown is the overall structure of the robot gripping device. The whole device is composed of five sets of grasping robots (the structure of each set of grasping robots is as follows: Figure 4 As shown), five fruits can be picked at the same time.

[0059] Such as figure 2 As shown, five sets of grabbing manipulators with the same structure are assembled on the mounting base 1-22, vertically downward and parallel to each other. The mounting base 1-22 is a frame structure, and the uppe...

Embodiment 2

[0105] Compared with Embodiment 1, the robot grasping device and method of this embodiment is different in that: only one set of grasping robot is provided in the mechanical grasping device, and only one fruit is grasped at a time.

[0106] The manipulator grasping device includes a mounting base, a grasping manipulator, a lifting cylinder and a harmonic reducer. The harmonic reducer is installed under the mounting base, the top of the lifting cylinder is connected to the bottom of the harmonic reducer, and the bottom of the lifting cylinder is connected to the grasping manipulator ; The lifting cylinder drives the grabbing manipulator to move up and down, and the harmonic reducer drives the grabbing manipulator to rotate. Among them, the mounting seat is used as the main body base of the entire manipulator grasping device, the top of which is externally connected with the robot arm, and the bottom of which is used to install the components that constitute the manipulator grasping...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a mechanical arm grasping device and method for a fruit automatic packaging device. The device comprises a mounting seat, at least one grasping mechanical arm, a lifting cylinder and a harmonic reducer, wherein the harmonic reducer is installed below the mounting seat, the top of the lifting cylinder is connected with the bottom of the harmonic reducer, and the bottom of the lifting cylinder is connected with the grasping mechanical arm; and the lifting cylinder drives the grasping mechanical arm to move up and down, and the harmonic reducer drives the grasping mechanical arm to rotate. The method is characterized in that the harmonic reducer is used for adjusting the angle of the grasping mechanical arm, the lifting cylinder drives the grasping mechanical arm to rise and fall, a malposition cylinder is used for driving the grasping mechanical arm to move front and back, a displacement cylinder is used for driving the grasping mechanical arm to move left and right, and finally the fruit arrangement state is matched with the packaging position on a package box. By means of the mechanical arm grasping device and method, flexible clamping of multiple fruits ata time can be achieved, the mechanical arm grasping device can adapt to changes of the shapes and outer diameters of the fruits, and the application scope is wide.

Description

Technical field [0001] The invention relates to the technical field of fruit packaging, in particular to a manipulator grasping device and method for automatic fruit packaging equipment. Background technique [0002] In the automatic fruit packaging production line, the application of industrial robot technology is becoming more and more extensive, but currently it is mainly used for palletizing and transporting after packaging, and less used for the boxing process in the packaging process. Especially for some high-quality packaging, such as fruit blister tray packaging, the manual filling method is basically used one by one, and it is difficult for ordinary manipulators to adapt. [0003] Fruits are different from industrial products, and their dimensions are different even after grading. If an ordinary gripping manipulator is used to grab the fruit, it is necessary to frequently adjust the clamping force during the work process, resulting in low efficiency. Therefore, most of th...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/00B25J15/12B25J15/00B25J15/02
CPCB25J9/00B25J15/0052B25J15/0206B25J15/12
Inventor 张聪秦晓阳
Owner GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap