Four-shaft swing arm manipulator convenient to install

Abstract

The invention belongs to the technical field of manipulators, and particularly relates to a four-axis swing arm manipulator convenient to install, which comprises a base, a four-axis swing arm manipulator main body is arranged on the base, and a positioning mechanism for clamping a box body is further arranged on the four-axis swing arm manipulator main body; the positioning mechanism comprises a mounting plate rotationally arranged at the end of the four-axis swing arm manipulator body, and clamping plates are slidably connected to the two sides of the lower end face of the mounting plate. By means of the clamping adjusting mechanism, when a clamping plate clamps a fruit box and a fruit is higher than the upper end face of the fruit box, the fruit can be clamped through a clamping jaw according to the position of the fruit, then the clamped fruit is driven to move to a proper position, and the fruit is put down till all the fruits are lower than the upper end face of the fruit box; and when the subsequent fruit box is stacked on the previous fruit box, the situation that the bottom of the fruit box extrudes the fruits is avoided, and damage to the fruits is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, in particular to a four-axis swing-arm manipulator which is easy to install. Background Art

[0002] The four-axis swing-arm robot is an efficient, flexible and precise automated equipment that can imitate certain movements and functions of human hands and arms to grab and move objects according to a fixed procedure. In the fruit production process, the picking, grading, packaging and transportation of fruits require a lot of labor, and the four-axis swing-arm robot can complete these tasks well with its high precision, high efficiency and flexible operability, especially in the handling of fruit boxes. The four-axis swing-arm robot can grab, move and stack fruit boxes, thereby greatly improving production efficiency.

[0003] The patent with announcement number CN217046419U discloses a four-axis swing-arm manipulator, which relates to the technical field of manipulators, including a base, a first rotating shaft is installed in the base, a turntable is fixedly connected to the upper wall of the first rotating shaft, a steering device is installed on the upper wall of the base, a fixed rod is fixedly connected to the upper wall of the turntable, a first slider is slidably connected to the fixed rod, a height adjustment device is connected to one side of the first slider, a slide rail is fixedly connected to the other side wall of the first slider, a third slider is slidably connected to the slide rail, a pair of mounting frames are fixedly connected to the upper wall of the third slider, a second rotating shaft is rotatably connected between the pair of mounting frames, a second gear is fixedly connected to the second rotating shaft, a rack is fixedly connected to the upper wall of the slide rail, the rack is meshed with the second gear, and a manipulator is fixedly connected to the lower wall of the third slider. This patent solves the technical problem that the direction of the grabbing rod cannot be adjusted when clamping objects in a lower position.

[0004] However, the above technical solution still has the following deficiencies in practical application: When applied to fruit production, although the fruit boxes containing fruits can be transported and stacked, in some cases, the staff will use rectangular plastic boxes to hold the fruits, and in order to facilitate the placement or removal of fruits, the upper end of such fruit boxes is designed to be open. When the above scheme is used to stack such fruit boxes, since the fruits are placed in the fruit boxes by the staff, the fruits may be placed in a messy state, and some fruits may be stacked higher than the upper end surface of the fruit box, or placed at the upper edge of the fruit box. When this happens, if the remaining fruit boxes are stacked on top of this fruit box, the fruits above the upper end surface of the fruit box will be squeezed, thereby causing damage to the fruits and causing losses.

[0005] To this end, the present invention provides a four-axis swing-arm manipulator that is easy to install. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background technology, the present invention proposes a four-axis swing-arm manipulator that is easy to install.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a four-axis swing arm manipulator that is easy to install, comprising a base, a four-axis swing arm manipulator body is arranged on the base, and a positioning mechanism for clamping a box is also arranged on the four-axis swing arm manipulator body; The positioning mechanism comprises a mounting plate rotatably arranged at the end of the main body of the four-axis swing arm manipulator, and clamping plates are slidably connected to both sides of the lower end surface of the mounting plate; The mounting plate is also provided with a clamping adjustment mechanism for adjusting the position of the fruit in the fruit box; The clamping adjustment mechanism includes a transverse plate slidably connected to one side of the upper end surface of the mounting plate, the two ends of the transverse plate are fixedly connected to limit rods, the limit rods are slidably connected to an adjustment plate, both sides of the lower end of the adjustment plate are slidably connected to a slide rod 1, a lower end of the slide rod is fixedly connected to a mounting plate, a plurality of connecting rods 5 are rotatably provided on the lower end surface of the mounting plate, and a clamping claw is rotatably provided on one end of the connecting rod 5.

[0008] Preferably, a bidirectional threaded rod is threadedly connected to the upper end of the clamping plate, and the bidirectional threaded rod is rotatably arranged on the mounting plate. A motor 1 is fixedly connected to one side of the mounting plate, and an output end of the motor 1 is fixedly connected to one end of the bidirectional threaded rod.

[0009] Preferably, a threaded rod 2 is threadedly connected to one side of the upper end of the adjustment plate, both ends of the threaded rod 2 are rotatably arranged on the transverse plate, one end of the transverse plate is fixedly connected to a motor 1, and the output end of the motor 1 is fixedly connected to one end of the threaded rod 2.

[0010] Preferably, an electric push rod is fixedly connected to one side of the lower end of the adjustment plate, and the piston end of the electric push rod is fixedly connected to the upper end surface of the mounting plate.

[0011] Preferably, a threaded rod 1 is threadedly connected to one side of the transverse plate, both ends of the threaded rod 1 are rotatably arranged on the mounting plate, a motor 2 is fixedly connected to one side of the upper end surface of the mounting plate, and the output end of the motor 2 is fixedly connected to one end of the threaded rod 1.

[0012] Preferably, one end of the connecting rod five is fixedly connected to a worm wheel, and the worm wheel is rotatably arranged on a mounting plate. A motor three is fixedly connected to the middle of the upper end surface of the mounting plate, and an output end of the motor three is fixedly connected to a worm, and the worm is rotatably arranged on the mounting plate, and the worm and the worm wheel are meshed with each other.

[0013] Preferably, the mounting plate is also provided with an elastic expansion mechanism for expanding the spaces between the fruits; The elastic outward expansion mechanism includes a plurality of connecting rods one distributed radially and rotatably arranged on the mounting plate, a connecting rod two is rotatably arranged at the end of the connecting rod one, a ring body is rotatably arranged at the end of the connecting rod two, a plurality of sliding rods two are radially distributed and slidably connected to the ring body, an end of the sliding rod two close to the axis of the mounting plate is fixedly connected to an outward expansion plate, an elastic cloth is fixedly connected between two adjacent outward expansion plates, and a soft pad is arranged on the outer surface of the outward expansion plate.

[0014] Preferably, a motor five is fixedly connected to one side of the mounting plate, and an output end of the motor five is fixedly connected to one end of a connecting rod.

[0015] Preferably, a gear ring is rotatably provided on the outer ring ring, and a plurality of connecting rods three are rotatably provided on the upper end surface of the ring body, a connecting rod four is rotatably provided on one end of the connecting rod three, one end of the connecting rod four is rotatably connected to one end of the sliding rod two, one end of the connecting rod three is fixedly connected to a gear, the gear is rotatably provided on the ring body, the inner ring of the gear ring is intermittently equipped with a tooth block, the gear and the tooth block of the inner ring of the gear ring are meshed with each other, a motor four is fixedly connected to one side of the ring body, and the output end of the motor four is fixedly connected to one end of the connecting rod three.

[0016] Preferably, a plurality of mounting holes are provided on the base.

[0017] The beneficial effects of the present invention are as follows: 1. The four-axis swing arm manipulator which is easy to install described in the present invention utilizes a clamping adjustment mechanism. When the clamping plate clamps the fruit box and there is fruit higher than the upper end surface of the fruit box, the clamping claws can be used to clamp the fruit according to the position of the fruit, and then the clamped fruit is driven to move to a suitable position and put down until all the fruits are lower than the upper end surface of the fruit box. When the subsequent fruit boxes are stacked on the previous fruit box, the bottom of the fruit box will not squeeze the fruit, thereby avoiding damage to the fruit and ensuring the quality of the fruit. The elastic expansion mechanism is utilized. When the fruit clamped by the clamping claws cannot find a suitable placement position, multiple expansion plates can be driven to insert into the gap between the fruits, and then the multiple expansion plates are driven away from the installation plate at the same time. The axis of the outer expansion plate and the elastic cloth can be used to push the fruit to expand the gap between the fruits. When the gap is expanded to a suitable size, the clamping claw releases the fruit, and the fruit can fall into the expanded gap. The fallen fruit is no longer higher than the upper end surface of the fruit box, thereby avoiding the situation that the fruit clamped by the clamping claw cannot find a suitable placement position due to the large number of fruits in the fruit box and the small gaps between the fruits. In addition, since the elastic cloth is also deformed when the outer expansion plate moves, the elastic cloth provides a filling effect on the gap between adjacent outer expansion plates. Before the clamping claw puts down the clamped fruit, the remaining fruit will not slide into the expanded gap again, further ensuring the normal placement of the clamped fruit.

[0018] 2. The four-axis swing-arm manipulator that is easy to install described in the present invention places the base in a suitable position and is installed with other objects by means of mounting holes and bolts, so that the entire manipulator can be installed in a suitable position. At the same time, it is also easy to disassemble and is relatively convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure at the splint; Figure 3 yes Figure 2 A partial enlarged view of the middle part; Figure 4 It is a schematic diagram of the three-dimensional structure at the transverse plate; Figure 5 It is a schematic diagram of the three-dimensional structure at the adjustment plate; Figure 6 yes Figure 5 A partial enlarged view of point B in the middle; Figure 7 yes Figure 5 A partial enlarged view of point C in the middle; Figure 8 It is a schematic diagram of the three-dimensional structure at the ring body; Fig. 9 It is a schematic diagram of the three-dimensional structure at the installation plate; Fig.10 It is a schematic diagram of the three-dimensional structure of the elastic fabric; Fig.11 It is a schematic diagram of a three-dimensional structure of a connecting rod; Fig.12 It is a schematic diagram of the three-dimensional structure of the base.

[0021] In the figure: 1. base; 2. main body of the four-axis swing arm robot; 3. mounting plate; 4. clamping plate; 5. mounting hole; 6. motor one; 7. bidirectional threaded rod; 8. transverse plate; 9. threaded rod one; 10. motor two; 11. adjustment plate; 12. electric push rod; 13. slide rod one; 14. mounting plate; 15. motor three; 16. connecting rod one; 17. connecting rod two; 18. ring body; 19. gear ring; 20. motor four; 21. gear; 22. connecting rod three; 23. connecting rod four; 24. slide rod two; 25. worm; 26. worm wheel; 27. connecting rod five; 28. clamping claw; 29. ​​expansion plate; 30. elastic cloth; 31. cushion; 32. limit rod; 33. threaded rod two; 34. motor five. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Please refer to Figure 1-Figure 12 The present invention provides a technical solution: a four-axis swing arm manipulator that is easy to install, comprising a base 1, a four-axis swing arm manipulator body 2 is arranged on the base 1, and a positioning mechanism for clamping a box is also arranged on the four-axis swing arm manipulator body 2; The positioning mechanism comprises a mounting plate 3 rotatably arranged at the end of the four-axis swing arm manipulator body 2, and clamping plates 4 are slidably connected to both sides of the lower end surface of the mounting plate 3; The mounting plate 3 is also provided with a clamping adjustment mechanism for adjusting the position of the fruit in the fruit box; The clamping adjustment mechanism includes a transverse plate 8 slidably connected to one side of the upper end surface of the mounting plate 3, and the two ends of the transverse plate 8 are fixedly connected to limit rods 32, and the limit rods 32 are slidably connected to the adjustment plate 11. Both sides of the lower end of the adjustment plate 11 are slidably connected to slide rods 13, and the lower end of the slide rod 13 is fixedly connected to the mounting plate 14. The lower end surface of the mounting plate 14 is rotatably provided with multiple connecting rods 5 27, and one end of the connecting rod 5 27 is rotatably provided with a clamping claw 28.

[0024] In this embodiment, Figure 2 As shown, the upper end of the clamping plate 4 is threadedly connected with a bidirectional threaded rod 7, and the bidirectional threaded rod 7 is rotatably set on the mounting plate 3. A motor 6 is fixedly connected to one side of the mounting plate 3, and the output end of the motor 6 is fixedly connected to one end of the bidirectional threaded rod 7.

[0025] Specifically, the orientation and angle of the mounting plate 3 can be adjusted by using the four-axis swing arm manipulator body 2. The four-axis swing arm manipulator body 2 is a prior art and will not be described in detail. According to the position of the box, the box is placed between the two clamps 4, and then the motor 6 is used to drive the bidirectional threaded rod 7 to rotate, so that the two clamps 4 can be brought close to each other and clamp the box. Then, the four-axis swing arm manipulator body 2 is used to drive the box to move, so that the box can be transported, stacked, and other operations can be performed.

[0026] In this embodiment, Figure 2-Figure 11 As shown, a threaded rod 2 33 is threadedly connected to one side of the upper end of the adjustment plate 11, and both ends of the threaded rod 2 33 are rotatably set on the transverse plate 8. One end of the transverse plate 8 is fixedly connected to a motor 1 6, and the output end of the motor 1 6 is fixedly connected to one end of the threaded rod 2 33.

[0027] An electric push rod 12 is fixedly connected to one side of the lower end of the adjustment plate 11 , and a piston end of the electric push rod 12 is fixedly connected to an upper end surface of the mounting plate 14 .

[0028] A threaded rod 9 is threadedly connected to one side of the transverse plate 8, and both ends of the threaded rod 9 are rotatably set on the mounting plate 3. A motor 2 10 is fixedly connected to one side of the upper end surface of the mounting plate 3, and the output end of the motor 2 10 is fixedly connected to one end of the threaded rod 9.

[0029] One end of connecting rod five 27 is fixedly connected to a worm gear 26, which is rotatably arranged on the mounting disk 14. A motor three 15 is fixedly connected to the middle of the upper end surface of the mounting disk 14. A worm 25 is fixedly connected to the output end of the motor three 15. The worm 25 is rotatably arranged on the mounting disk 14, and the worm 25 and the worm gear 26 are meshed with each other.

[0030] The mounting plate 14 is also provided with an elastic expansion mechanism for expanding the spaces between the fruits; The elastic outward expansion mechanism includes a plurality of connecting rods 16 distributed radially and rotatably arranged on the mounting plate 14, a connecting rod 17 is rotatably arranged at the end of the connecting rod 16, a ring body 18 is rotatably arranged at the end of the connecting rod 17, a plurality of sliding rods 24 are distributed radially and slidably connected to the ring body 18, an end of the sliding rod 24 close to the axis of the mounting plate 14 is fixedly connected to an outward expansion plate 29, an elastic cloth 30 is fixedly connected between two adjacent outward expansion plates 29, and a soft pad 31 is arranged on the outer surface of the outward expansion plate 29.

[0031] A motor 5 34 is fixedly connected to one side of the mounting plate 14 , and an output end of the motor 5 34 is fixedly connected to one end of the connecting rod 16 .

[0032] A gear ring 19 is rotatably provided on the outer ring of the ring body 18, and a plurality of connecting rods three 22 are rotatably provided on the upper end surface of the ring body 18. A connecting rod four 23 is rotatably provided on one end of the connecting rod three 22, and one end of the connecting rod four 23 is rotatably connected to one end of the sliding rod two 24. A gear 21 is fixedly connected to one end of the connecting rod three 22, and the gear 21 is rotatably provided on the ring body 18. A tooth block is intermittently provided on the inner ring of the gear ring 19, and the gear 21 meshes with the tooth block of the inner ring of the gear ring 19. A motor four 20 is fixedly connected to one side of the ring body 18, and the output end of the motor four 20 is fixedly connected to one end of the connecting rod three 22.

[0033] Specifically, during use, the existing four-axis swing arm manipulator can carry and stack fruit boxes containing fruits. However, in some cases, the staff will use rectangular plastic boxes to hold the fruits, and such fruit boxes are designed with an opening at the top to facilitate the placement or removal of fruits. When the four-axis swing arm manipulator stacks such fruit boxes, since the fruits are placed in the fruit boxes by the staff, the fruit placement state may be relatively messy, and some fruits may be higher than the upper end surface of the fruit box due to stacking, or placed at the upper edge of the fruit box. When this happens, if the remaining fruit boxes are stacked on top of this fruit box, the fruits above the upper end surface of the fruit box will be squeezed, thereby causing damage to the fruits and causing losses. Therefore, in order to avoid the above problems, this embodiment is used for fruits with relatively regular shapes such as watermelons and grapefruits; when the splint 4 clamps the fruit box, the visual system on the four-axis swing arm manipulator body 2 can be used to determine whether there are fruits that are higher than the fruit box due to stacking. This visual system is a prior art and will not be described in detail. If all the fruits are lower than the upper end surface of the fruit box, only the splint 4 is used to carry and stack the fruit boxes. When there are fruits higher than the upper end surface of the fruit box, the horizontal position of the mounting plate 14 can be adjusted according to the position of the fruit by driving the threaded rod 2 33 to rotate through the motor 16 and driving the threaded rod 1 9 to rotate through the motor 10. When the clamping claw 28 is above the fruit, the electric push rod 12 can be used to drive The clamping claw 28 descends, and the motor 3 15 drives the worm 25 to rotate, so that the multiple worm wheels 26 and the connecting rod 5 27 rotate at the same time, so that the multiple clamping claws 28 are close to the axis of the mounting plate 14 at the same time to clamp the fruit. In addition, since the clamping claws 28 are made of flexible material, the fruit will not be damaged by clamping. After the clamping claws 28 clamp the fruit, the clamped fruit can be moved to a suitable position by driving the clamping claws 28 again, and then the multiple clamping claws 28 can be driven away to put the fruit down until all the fruits are below the upper end surface of the fruit box. At this time, when the subsequent fruit box is stacked on the previous fruit box, the bottom of the fruit box will not squeeze the fruit, thereby avoiding damage to the fruit and ensuring the quality of the fruit. Although the above method can be used to adjust the orientation of the fruits, when there are a large number of fruits in the fruit box and the gaps between the fruits are small, the fruits that are higher than the upper end surface of the fruit box may not find a suitable placement position, resulting in some fruits always being higher than the upper end surface of the fruit box, thereby affecting the normal stacking of the fruit box. Therefore, in order to avoid this situation, when the fruits clamped by the clamping claws 28 cannot find a suitable placement position, the motor 5 34 can be used to drive the connecting rod 16 and the connecting rod 2 17 to rotate, so that the ring body 18 descends, and the outer expansion plate 29 in the initial state has a certain distance from the axis of the mounting plate 14. Therefore, the cavity volume formed by the multiple outer expansion plates 29 and the elastic cloth 30 is relatively large, and the outer expansion plates 29 and the elastic cloth 30 will not contact the mounting plate 14. When the upper ends of the outer expansion plates 29 and the elastic cloth 30 are lower than the fruit, the motor 4 20 is used to drive the connecting rod 3 22 on one side to rotate, and the multiple connecting rods 3 22 and the connecting rod 4 23 can be rotated at the same time under the action of the gear 21 and the ring gear 19, so that the multiple sliding rods 24 are moved at the same time, and the outer expansion plates 29 and the elastic cloth 30 are close to the axis of the mounting plate 14 at the same time. Since the elastic cloth 30 is elastic, the size of the elastic cloth 30 depends on the outer expansion plates 2 9, when the plurality of outward expansion plates 29 move to a state of being almost fitted, the outward expansion plates 29 stop moving. At this time, since the spacing between adjacent outward expansion plates 29 is small, when the mounting plate 14 is driven down again, the plurality of outward expansion plates 29 can be inserted into the gaps between the fruits, and then the plurality of outward expansion plates 29 are driven away from the axis of the mounting plate 14 at the same time, the outward expansion plates 29 and the elastic cloth 30 can be used to push the fruits, so that the gaps between the fruits can be expanded. When the gaps are expanded to a suitable size, the clamping claws 28 release the fruits, so that the fruits can fall into the expanded gaps, and the fallen fruits will no longer The outer expansion plate 29 is higher than the upper end surface of the fruit box, and although some fruits may move upward due to squeezing when the outer expansion plate 29 moves, the above-mentioned placement gap is generated by the simultaneous movement of multiple fruits. Therefore, even if some fruits move upward due to squeezing, the degree of their movement can be ignored and will not be higher than the upper end surface of the fruit box. In addition, since the outer surface of the outer expansion plate 29 is provided with a soft pad 31, the movement of the outer expansion plate 29 will not cause damage to the fruits, thereby avoiding the situation where the fruits clamped by the clamping claws 28 cannot find a suitable placement position due to the large number of fruits in the fruit box and the small gaps between the fruits; Furthermore, since the elastic cloth 30 is also deformed when the outer expansion plate 29 moves, the elastic cloth 30 fills the gap between adjacent outer expansion plates 29. Before the clamping claws 28 put down the clamped fruit, the remaining fruit will not slide into the expanded gap again, further ensuring the normal placement of the clamped fruit.

[0034] In this embodiment, Fig.12 As shown, a plurality of mounting holes 5 are provided on the base 1 .

[0035] Specifically, the base 1 is placed at a suitable position and installed with other objects by means of the mounting holes 5 and bolts, so that the entire robot can be installed at a suitable position. At the same time, it is also easy to disassemble and is relatively convenient.

[0036] Working principle: put the base 1 in a suitable position, and install it with other objects through the mounting holes 5 with bolts, so as to facilitate the installation of the entire robot in a suitable position. At the same time, it is also easy to disassemble and is relatively convenient. The four-axis swing arm robot body 2 can be used to adjust the orientation and angle of the mounting plate 3. According to the position of the box, the box is placed between the two clamps 4, and then the motor 6 is used to drive the two-way threaded rod 7 to rotate, so that the two clamps 4 can be brought close to each other and clamp the box. Then the four-axis swing arm robot body 2 is used to drive the box to move, so that the box can be transported, stacked, and other operations can be performed. When the clamp 4 clamps the fruit box, the visual system on the four-axis swing arm robot body 2 can be used to determine whether there is any fruit that is higher than the fruit box due to stacking. This visual system is a prior art and will not be described in detail. If all the fruits are lower than the upper end surface of the fruit box, only the clamp 4 can be used to transport and stack the fruit box. When there is fruit higher than the upper end surface of the fruit box, it can be According to the position of the fruit, the motor 16 drives the threaded rod 23 to rotate, and the motor 210 drives the threaded rod 19 to rotate to adjust the horizontal position of the mounting plate 14. When the clamp 28 is above the fruit, the electric push rod 12 can be used to drive the clamp 28 to descend, and the motor 3 15 drives the worm 25 to rotate, so that multiple worm wheels 26 and connecting rod 5 27 rotate at the same time, so that multiple clamps 28 are close to the axis of the mounting plate 14 at the same time to clamp the fruit. In addition, since the clamp 28 is made of flexible material, the fruit will not be damaged by clamping. After the clamp 28 clamps the fruit, the clamped fruit can be moved to a suitable position by driving the clamp 28 again, and then the multiple clamps 28 can be driven away to put the fruit down until all the fruits are below the upper end surface of the fruit box. At this time, when the subsequent fruit box is stacked on the previous fruit box, the bottom of the fruit box will not squeeze the fruit, thereby avoiding damage to the fruit and ensuring the quality of the fruit.Although the above method can be used to adjust the orientation of the fruits, when there are a large number of fruits in the fruit box and the gaps between the fruits are small, the fruits that are higher than the upper end surface of the fruit box may not find a suitable placement position, resulting in some fruits always being higher than the upper end surface of the fruit box, thereby affecting the normal stacking of the fruit box. Therefore, in order to avoid this situation, when the fruits clamped by the clamping claws 28 cannot find a suitable placement position, the motor 5 34 can be used to drive the connecting rod 16 and the connecting rod 2 17 to rotate, so that the ring body 18 descends, and the outer expansion plate 29 in the initial state has a certain distance from the axis of the mounting plate 14, so the volume of the cavity formed by the multiple outer expansion plates 29 and the elastic cloth 30 The outer expansion plate 29 and the elastic cloth 30 will not contact the mounting plate 14. When the upper ends of the outer expansion plate 29 and the elastic cloth 30 are lower than the fruit, the motor 4 20 is used to drive the connecting rod 3 22 on one side to rotate, and under the action of the gear 21 and the gear ring 19, multiple connecting rods 3 22 and connecting rod 4 23 are rotated at the same time, so that multiple sliding rods 24 are moved at the same time, and the outer expansion plate 29 and the elastic cloth 30 are close to the axis of the mounting plate 14 at the same time. Since the elastic cloth 30 is elastic, the size of the elastic cloth 30 depends on the position of the outer expansion plate 29. When multiple outer expansion plates 29 move to a state of almost fitting, the outer expansion plate 29 stops moving. At this time, since the distance between adjacent outer expansion plates 29 is small, When the mounting plate 14 is driven down again, the plurality of outward expansion plates 29 can be inserted into the gaps between the fruits, and then the plurality of outward expansion plates 29 are driven away from the axis of the mounting plate 14 at the same time, and the outward expansion plates 29 and the elastic cloth 30 can be used to push the fruits to expand the gaps between the fruits. When the gaps are expanded to a suitable size, the clamping claws 28 release the fruits, and the fruits can fall into the expanded gaps, and the fallen fruits are no longer higher than the upper end surface of the fruit box. Moreover, although some fruits may move upward due to squeezing when the outward expansion plates 29 move, the above-mentioned placement gaps are generated by the simultaneous movement of multiple fruits. Therefore, even if some fruits move upward due to squeezing, their movement is not affected. The degree of movement can be ignored and will not be higher than the upper end surface of the fruit box. In addition, since the outer surface of the outer expansion plate 29 is provided with a soft pad 31, the movement of the outer expansion plate 29 will not cause damage to the fruit, thereby avoiding the situation that the fruit clamped by the clamping claw 28 cannot find a suitable placement position due to the large number of fruits in the fruit box and the small gaps between the fruits; and since the elastic cloth 30 also deforms when the outer expansion plate 29 moves, the elastic cloth 30 provides a filling effect on the gap between adjacent outer expansion plates 29. Before the clamping claw 28 puts down the clamped fruit, the remaining fruit will not slide again to the expanded gap, further ensuring the normal placement of the clamped fruit. ;

[0037] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A four-axis swing arm manipulator that is easy to install, comprising a base (1), characterized in that: A four-axis swing arm manipulator body (2) is arranged on the base (1), and a positioning mechanism for clamping the box is also arranged on the four-axis swing arm manipulator body (2); The positioning mechanism comprises a mounting plate (3) rotatably arranged at the end of the four-axis swing arm manipulator body (2), and clamping plates (4) are slidably connected to both sides of the lower end surface of the mounting plate (3); The mounting plate (3) is also provided with a clamping adjustment mechanism for adjusting the position of the fruit in the fruit box; The clamping adjustment mechanism comprises a transverse plate (8) slidably connected to one side of the upper end surface of the mounting plate (3), the two ends of the transverse plate (8) are fixedly connected to limit rods (32), the limit rods (32) are slidably connected to the adjustment plate (11), both sides of the lower end of the adjustment plate (11) are slidably connected to a slide rod 1 (13), the lower end of the slide rod 1 (13) is fixedly connected to the mounting plate (14), the lower end surface of the mounting plate (14) is rotatably provided with a plurality of connecting rods 5 (27), and one end of the connecting rod 5 (27) is rotatably provided with a clamping claw (28).

2. A four-axis swing arm manipulator that is easy to install according to claim 1, characterized in that: The upper end of the clamping plate (4) is threadedly connected to a bidirectional threaded rod (7), the bidirectional threaded rod (7) is rotatably arranged on the mounting plate (3), one side of the mounting plate (3) is fixedly connected to a motor 1 (6), and the output end of the motor 1 (6) is fixedly connected to one end of the bidirectional threaded rod (7).

3. The four-axis swing arm manipulator that is easy to install according to claim 1 is characterized in that: One side of the upper end of the adjustment plate (11) is threadedly connected to a second threaded rod (33), both ends of the second threaded rod (33) are rotatably arranged on the transverse plate (8), one end of the transverse plate (8) is fixedly connected to a first motor (6), and the output end of the first motor (6) is fixedly connected to one end of the second threaded rod (33).

4. The four-axis swing arm manipulator that is easy to install according to claim 1 is characterized in that: An electric push rod (12) is fixedly connected to one side of the lower end of the adjustment plate (11), and a piston end of the electric push rod (12) is fixedly connected to the upper end surface of the mounting plate (14).

5. The four-axis swing arm manipulator that is easy to install according to claim 1 is characterized in that: One side of the transverse plate (8) is threadedly connected to a threaded rod (9), both ends of the threaded rod (9) are rotatably arranged on the mounting plate (3), one side of the upper end surface of the mounting plate (3) is fixedly connected to a motor (10), and the output end of the motor (10) is fixedly connected to one end of the threaded rod (9).

6. The four-axis swing arm manipulator that is easy to install according to claim 1 is characterized in that: One end of the connecting rod five (27) is fixedly connected to a worm wheel (26), and the worm wheel (26) is rotatably arranged on the mounting plate (14). A motor three (15) is fixedly connected to the middle of the upper end surface of the mounting plate (14), and an output end of the motor three (15) is fixedly connected to a worm (25), and the worm (25) is rotatably arranged on the mounting plate (14). The worm (25) and the worm wheel (26) are meshed with each other.

7. The easy-to-install four-axis swing arm manipulator according to claim 1, characterized in that: The mounting plate (14) is also provided with an elastic expansion mechanism for expanding the spaces between the fruits; The elastic outward expansion mechanism comprises a plurality of connecting rods (16) radially distributed and rotatably arranged on the mounting plate (14); a connecting rod (17) is rotatably arranged at the end of the connecting rod (16); a ring body (18) is rotatably arranged at the end of the connecting rod (17); a plurality of sliding rods (24) are radially distributed and slidably connected to the ring body (18); an end of the sliding rod (24) close to the axis of the mounting plate (14) is fixedly connected to an outward expansion plate (29); an elastic cloth (30) is fixedly connected between two adjacent outward expansion plates (29); and a soft pad (31) is arranged on the outer surface of the outward expansion plate (29).

8. The four-axis swing arm manipulator that is easy to install according to claim 7 is characterized in that: A motor five (34) is fixedly connected to one side of the mounting plate (14), and an output end of the motor five (34) is fixedly connected to one end of a connecting rod one (16).

9. The four-axis swing arm manipulator that is easy to install according to claim 7 is characterized in that: The outer ring of the ring body (18) is rotatably provided with a ring gear (19), and the upper end surface of the ring body (18) is rotatably provided with a plurality of connecting rods (22). One end of the connecting rod (22) is rotatably provided with a connecting rod (23). One end of the connecting rod (23) is rotatably connected to one end of the sliding rod (24). One end of the connecting rod (22) is fixedly connected with a gear (21), and the gear (21) is rotatably provided on the ring body (18). The inner ring of the ring gear (19) is intermittently provided with a gear block, and the gear (21) and the gear block of the inner ring of the ring gear (19) are meshed with each other. One side of the ring body (18) is fixedly connected with a motor (20), and the output end of the motor (20) is fixedly connected to one end of the connecting rod (22).

10. The easy-to-install four-axis swing arm manipulator according to claim 1, characterized in that: The base (1) is provided with a plurality of mounting holes (5).

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