A four-axis swing-arm manipulator convenient for installation

Abstract

The present invention belongs to the technical field of manipulators, and specifically relates to a four-axis swing-arm manipulator that is easy to install, including a base, on which a four-axis swing-arm manipulator main body is provided, and a positioning mechanism for clamping a box body is further provided on the four-axis swing-arm manipulator main body; the positioning mechanism includes a mounting plate rotatably arranged at the end of the four-axis swing-arm manipulator main body, and clamping plates are slidably connected to both sides of the lower end surface of the mounting plate. The present invention realizes the use of a clamping and adjusting mechanism. When the clamping plates clamp the fruit box and there are fruits higher than the upper end surface of the fruit box, the fruits can be clamped according to the position of the fruits by using the clamping claws, and then the clamped fruits are driven to a suitable position and the fruits are 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 situation where the bottom of the fruit box squeezes the fruits will not occur, avoiding the damage of the fruits.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and specifically relates to a four-axis swing-arm manipulator that is easy to install. Background Art

[0002] A four-axis swing-arm manipulator is an efficient, flexible, and precise automation device that can imitate certain movement functions of human hands and arms to grasp and transport objects according to a fixed program. During the fruit production process, a large amount of labor is required in the processes of fruit picking, grading, packaging, and transportation. The four-axis swing-arm manipulator, with its high precision, high efficiency, and flexible operability, can well complete these tasks. Especially in the aspect of transporting fruit boxes, the four-axis swing-arm manipulator can grasp, transport, and stack fruit boxes, thereby greatly improving production efficiency.

[0003] The patent with the publication number CN217046419U discloses a four-axis swing-arm manipulator, which relates to the technical field of manipulators and includes a base. A first rotating shaft is installed inside the base, and a turntable is fixedly connected to the upper wall surface of the first rotating shaft. A steering device is installed on the upper wall surface of the base. A fixed rod is fixedly connected to the upper wall surface of the turntable. A first slider is slidably connected to the fixed rod. A height adjustment device is communicated with 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 brackets are fixedly connected to the upper wall surface of the third slider. A second rotating shaft is rotatably connected between the pair of mounting brackets. A second gear is fixedly connected to the second rotating shaft. A rack is fixedly connected to the upper wall surface of the slide rail. The rack meshes with the second gear. A manipulator is fixedly connected to the lower wall surface of the third slider. This patent solves the technical problem that the direction of the grasping rod cannot be adjusted when clamping items at a lower position.

[0004] However, the above technical solution still has the following deficiencies in the actual application process:

[0005] When applied to fruit production, although it can transport and stack fruit boxes containing fruits, in some cases, workers will use rectangular plastic boxes to hold fruits. Moreover, for the convenience of putting fruits into or taking them out of such fruit boxes, the upper end is designed to be open. When the above solution stacks such fruit boxes, since the fruits are put into the fruit boxes by workers, the placement state of the fruits may be relatively messy. Then, some fruits may be piled up higher than the upper end face of the fruit box or placed at the upper edge of the fruit box. When this situation occurs, if the remaining fruit boxes are stacked on top of this fruit box, the fruits higher than the upper end face of the fruit box will be squeezed, resulting in fruit damage and losses.

[0006] Therefore, the present invention provides a four-axis swing-arm manipulator that is easy to install. Summary of the Invention

[0007] In order to make up for the deficiencies of the prior art and solve at least one technical problem proposed in the background art, the present invention provides a four-axis swing-arm manipulator that is easy to install.

[0008] The technical solution adopted by the present invention to solve its technical problems is as follows: A four-axis swing-arm manipulator that is easy to install, including a base, on which a four-axis swing-arm manipulator main body is provided, and a positioning mechanism for clamping a box body is further provided on the four-axis swing-arm manipulator main body;

[0009] The positioning mechanism includes a mounting plate rotatably arranged at the end of the four-axis swing-arm manipulator main body, and clamping plates are slidably connected to both sides of the lower end surface of the mounting plate;

[0010] A clamping adjustment mechanism for adjusting the position of fruits in the fruit box is further provided on the mounting plate;

[0011] The clamping adjustment mechanism includes a transverse movement plate slidably connected to one side of the upper end surface of the mounting plate, limiting rods are fixedly connected to both ends of the transverse movement plate, an adjustment plate is slidably connected to the limiting rods, first sliding rods are slidably connected to both sides of the lower end of the adjustment plate, a mounting disc is fixedly connected to the lower end of the first sliding rods, and a plurality of fifth connecting rods are rotatably arranged on the lower end surface of the mounting disc, and a clamping jaw is rotatably arranged at one end of the fifth connecting rod.

[0012] Preferably, a bidirectional threaded rod is threadedly connected to the upper end of the clamping plate, the bidirectional threaded rod is rotatably arranged on the mounting plate, and a first motor is fixedly connected to one side of the mounting plate, and the output end of the first motor is fixedly connected to one end of the bidirectional threaded rod.

[0013] Preferably, a second threaded rod is threadedly connected to one side of the upper end of the adjustment plate, both ends of the second threaded rod are rotatably arranged on the transverse movement plate, and a first motor is fixedly connected to one end of the transverse movement plate, and the output end of the first motor is fixedly connected to one end of the second threaded rod.

[0014] 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 disc.

[0015] Preferably, a first threaded rod is threadedly connected to one side of the transverse movement plate, both ends of the first threaded rod are rotatably arranged on the mounting plate, and a second motor is fixedly connected to one side of the upper end surface of the mounting plate, and the output end of the second motor is fixedly connected to one end of the first threaded rod.

[0016] Preferably, a worm gear is fixedly connected to one end of the fifth connecting rod, the worm gear is rotatably arranged on the mounting disc, a third motor is fixedly connected to the middle of the upper end surface of the mounting disc, the output end of the third motor is fixedly connected to a worm, the worm is rotatably arranged on the mounting disc, and the worm is meshed with the worm gear.

[0017] Preferably, an elastic outward expansion mechanism for expanding the gaps between fruits is further provided on the mounting disc;

[0018] The elastic outward expansion mechanism includes a plurality of first connecting rods distributed radially and rotatably arranged on the mounting disc. One end of the first connecting rod is rotatably provided with a second connecting rod. One end of the second connecting rod is rotatably provided with a ring body. A plurality of second sliding rods are distributed radially on the ring body and are slidably connected thereto. One end of the second sliding rod close to the axis of the mounting disc is fixedly connected with an outward expansion plate. An elastic cloth is fixedly connected between adjacent outward expansion plates. A soft pad is arranged on the outer surface of the outward expansion plate.

[0019] Preferably, a fifth motor is fixedly connected to one side of the mounting disc, and the output end of the fifth motor is fixedly connected to one end of the first connecting rod.

[0020] Preferably, a toothed ring is rotatably arranged on the outer circle of the ring body. A plurality of third connecting rods are rotatably arranged on the upper end surface of the ring body. One end of the third connecting rod is rotatably provided with a fourth connecting rod. One end of the fourth connecting rod is rotatably connected to one end of the second sliding rod. One end of the third connecting rod is fixedly connected with a gear. The gear is rotatably arranged on the ring body. Tooth blocks are intermittently arranged on the inner circle of the toothed ring. The gear meshes with the tooth blocks on the inner circle of the toothed ring. A fourth motor is fixedly connected to one side of the ring body, and the output end of the fourth motor is fixedly connected to one end of the third connecting rod.

[0021] Preferably, a plurality of mounting holes are provided on the base.

[0022] The beneficial effects of the present invention are as follows:

[0023] 1. A four-axis swing arm manipulator that is easy to install according to the present invention utilizes a clamping and adjusting mechanism. When the clamping plate clamps the fruit box and there are fruits higher than the upper end face of the fruit box, the fruits can be clamped according to the positions of the fruits by using the clamping claws, and then the clamped fruits are driven to move to a suitable position and the fruits are put down until all the fruits are lower than the upper end face of the fruit box. When the subsequent fruit boxes are stacked on the previous fruit box, the situation where the bottom of the fruit box squeezes the fruits will not occur, avoiding the damage of the fruits and ensuring the quality of the fruits. By using an elastic outward expansion mechanism, when the fruits clamped by the clamping claws cannot find a suitable placement position, a plurality of outward expansion plates can be driven to insert into the gaps between the fruits, and then the plurality of outward expansion plates are driven to move away from the axis of the mounting plate at the same time, so that the fruits can be pushed by the outward expansion plates and the elastic cloth, and the gaps between the fruits can be expanded. When the gaps are expanded to a suitable size, the clamping claws release the fruits, and the fruits can fall into the expanded gaps, and the fallen fruits are no longer higher than the upper end face of the fruit box, thus avoiding the situation where there are a large number of fruits in the fruit box and the gaps between the fruits are small, and the fruits clamped by the clamping claws cannot find a suitable placement position. Moreover, since the elastic cloth deforms when the outward expansion plates move, the elastic cloth provides a filling effect for the gaps between adjacent outward expansion plates, and the situation where the remaining fruits slide to the expanded gaps again before the clamping claws put down the clamped fruits will not occur, further ensuring the normal placement of the clamped fruits.

[0024] 2. A four-axis swing arm manipulator that is easy to install according to the present invention places the base at a suitable position and is installed with other objects by means of the mounting holes and bolts, so as to facilitate the installation of the entire manipulator at a suitable position. At the same time, it is also easy to disassemble and is relatively convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below with reference to the accompanying drawings.

[0026] Figure 1 is a schematic three-dimensional structure diagram of the present invention;

[0027] Figure 2 is a schematic three-dimensional structure diagram at the clamping plate;

[0028] Figure 3 is Figure 2 a partial enlarged view at A in

[0029] Figure 4 is a schematic three-dimensional structure diagram at the transverse moving plate;

[0030] Figure 5 is a schematic three-dimensional structure diagram at the adjusting plate;

[0031] Figure 6 is Figure 5 a partial enlarged view at B in

[0032] Figure 7 is Figure 5 The partial enlarged view at position C in the figure;

[0033] Figure 8 is the three-dimensional structure schematic diagram of the ring body;

[0034] Figure 9 is the three-dimensional structure schematic diagram of the mounting disc;

[0035] Figure 10 is the three-dimensional structure schematic diagram of the elastic cloth;

[0036] Figure 11 is the three-dimensional structure schematic diagram of the first connecting rod;

[0037] Figure 12 is the three-dimensional structure schematic diagram of the base.

[0038] In the figure: 1. Base; 2. Four-axis swing arm manipulator main body; 3. Mounting plate; 4. Clamping plate; 5. Mounting hole; 6. First motor; 7. Bidirectional threaded rod; 8. Transverse moving plate; 9. First threaded rod; 10. Second motor; 11. Adjusting plate; 12. Electric push rod; 13. First sliding rod; 14. Mounting disc; 15. Third motor; 16. First connecting rod; 17. Second connecting rod; 18. Ring body; 19. Gear ring; 20. Fourth motor; 21. Gear; 22. Third connecting rod; 23. Fourth connecting rod; 24. Second sliding rod; 25. Worm; 26. Worm gear; 27. Fifth connecting rod; 28. Claw; 29. Outer expansion plate; 30. Elastic cloth; 31. Soft pad; 32. Limit rod; 33. Second threaded rod; 34. Fifth motor. Specific embodiments

[0039] Next, the technical solution of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] Please refer to Figures 1 - 12 , the present invention provides a technical solution: a four-axis swing arm manipulator that is convenient for installation, including a base 1, a four-axis swing arm manipulator main body 2 is arranged on the base 1, and a positioning mechanism for clamping the box body is further arranged on the four-axis swing arm manipulator main body 2;

[0041] The positioning mechanism includes a mounting plate 3 rotatably arranged at the end of the four-axis swing arm manipulator main body 2, and clamping plates 4 are slidably connected to both sides of the lower end surface of the mounting plate 3;

[0042] A clamping and adjusting mechanism for adjusting the position of the fruits in the fruit box is further arranged on the mounting plate 3;

[0043] The clamping and adjusting mechanism includes a transverse moving plate 8 slidably connected to one side of the upper end surface of the mounting plate 3. Limit rods 32 are fixedly connected to both ends of the transverse moving plate 8. An adjusting plate 11 is slidably connected to the limit rods 32. Slide rods 13 are slidably connected to both sides of the lower end of the adjusting plate 11. The lower ends of the slide rods 13 are fixedly connected to a mounting disc 14. A plurality of link rods five 27 are rotatably arranged on the lower end surface of the mounting disc 14. One end of the link rod five 27 is rotatably provided with a clamping jaw 28.

[0044] In this embodiment, as Figure 2 shown, a bidirectional threaded rod 7 is threadedly connected to the upper end of the clamping plate 4. The bidirectional threaded rod 7 is rotatably arranged on the mounting plate 3. A motor one 6 is fixedly connected to one side of the mounting plate 3. The output end of the motor one 6 is fixedly connected to one end of the bidirectional threaded rod 7.

[0045] Specifically, the four-axis swing arm robot body 2 can adjust the orientation and angle of the mounting plate 3. The four-axis swing arm robot body 2 is a prior art and will not be elaborated too much. According to the position of the box, place the box between the two clamping plates 4, and then drive the bidirectional threaded rod 7 to rotate by using the motor one 6, so that the two clamping plates 4 can approach each other and clamp the box. Then, drive the box to move by using the four-axis swing arm robot body 2, and operations such as transporting and palletizing the box can be realized.

[0046] In this embodiment, as Figures 2 - 11 shown, a threaded rod two 33 is threadedly connected to one side of the upper end of the adjusting plate 11. Both ends of the threaded rod two 33 are rotatably arranged on the transverse moving plate 8. A motor one 6 is fixedly connected to one end of the transverse moving plate 8. The output end of the motor one 6 is fixedly connected to one end of the threaded rod two 33.

[0047] An electric push rod 12 is fixedly connected to one side of the lower end of the adjusting plate 11. The piston end of the electric push rod 12 is fixedly connected to the upper end surface of the mounting disc 14.

[0048] A threaded rod one 9 is threadedly connected to one side of the transverse moving plate 8. Both ends of the threaded rod one 9 are rotatably arranged on the mounting plate 3. A motor two 10 is fixedly connected to one side of the upper end surface of the mounting plate 3. The output end of the motor two 10 is fixedly connected to one end of the threaded rod one 9.

[0049] One end of the link rod five 27 is fixedly connected to a worm gear 26. The worm gear 26 is rotatably arranged on the mounting disc 14. A motor three 15 is fixedly connected to the middle of the upper end surface of the mounting disc 14. The output end of the motor three 15 is fixedly connected to a worm 25. The worm 25 is rotatably arranged on the mounting disc 14. The worm 25 meshes with the worm gear 26.

[0050] An elastic outer expansion mechanism for expanding the gap between fruits is further provided on the mounting disc 14;

[0051] The elastic outward expansion mechanism includes a plurality of first connecting rods 16 that are radially distributed and rotatably arranged on the mounting disc 14. A second connecting rod 17 is rotatably arranged at the end of the first connecting rod 16. A ring body 18 is rotatably arranged at the end of the second connecting rod 17. A plurality of second sliding rods 24 are radially distributed and slidably connected to the ring body 18. One end of the second sliding rod 24 close to the axis of the mounting disc 14 is fixedly connected to an outward expansion plate 29. An elastic cloth 30 is fixedly connected between adjacent two outward expansion plates 29. A soft pad 31 is arranged on the outer surface of the outward expansion plate 29.

[0052] One side of the mounting disc 14 is fixedly connected with a fifth motor 34, and the output end of the fifth motor 34 is fixedly connected with one end of the first connecting rod 16.

[0053] A toothed ring 19 is rotatably arranged on the outer ring of the ring body 18. A plurality of third connecting rods 22 are rotatably arranged on the upper end surface of the ring body 18. A fourth connecting rod 23 is rotatably arranged at one end of the third connecting rod 22. One end of the fourth connecting rod 23 is rotatably connected with one end of the second sliding rod 24. A gear 21 is fixedly connected to one end of the third connecting rod 22. The gear 21 is rotatably arranged on the ring body 18. Tooth blocks are intermittently arranged on the inner ring of the toothed ring 19. The gear 21 meshes with the tooth blocks on the inner ring of the toothed ring 19. One side of the ring body 18 is fixedly connected with a fourth motor 20, and the output end of the fourth motor 20 is fixedly connected with one end of the third connecting rod 22.

[0054] Specifically, during the use of the existing four-axis swing arm manipulator, although it can carry and stack fruit boxes filled with fruits, in some cases, the staff will use rectangular plastic boxes to hold fruits. Moreover, in order to facilitate the putting in and taking out of fruits, the upper end of such fruit boxes is designed to be open. When the four-axis swing arm manipulator stacks such fruit boxes, since the fruits are put into the fruit boxes by the staff, the placement state of the fruits may be relatively messy. Then, some fruits may be piled up higher than the upper end surface of the fruit box or placed at the upper edge of the fruit box. When this situation occurs, if the remaining fruit boxes are stacked on top of this fruit box, the fruits higher than the upper end surface of the fruit box will be squeezed, resulting in fruit damage and losses.

[0055] Therefore, to avoid the above problems, in the use of this embodiment, it is used for fruits with relatively regular shapes such as watermelons and grapefruits; when the clamping plate 4 clamps the fruit box, the vision system on the four-axis swing arm manipulator main body 2 can determine whether there are fruits piled up higher than the fruit box. This vision system is a prior art and will not be elaborated too much. If all fruits are lower than the upper end face of the fruit box, only the clamping plate 4 is used to carry and stack the fruit box. When there are fruits higher than the upper end face of the fruit box, the horizontal orientation of the mounting plate 14 can be adjusted by driving the second threaded rod 33 to rotate with the first motor 6 and driving the first threaded rod 9 to rotate with the second motor 10 according to the position of the fruits. When the clamping jaws 28 are above the fruits, the electric push rod 12 can be used to drive the clamping jaws 28 to descend, and the third motor 15 can be used to drive the worm 25 to rotate, so that the multiple worm wheels 26 and the fifth connecting rod 27 rotate simultaneously, and then the multiple clamping jaws 28 can approach the axis of the mounting plate 14 at the same time to clamp the fruits. Moreover, since the clamping jaws 28 are made of flexible materials, the fruits will not be damaged due to clamping. After the clamping jaws 28 clamp the fruits, the clamped fruits can be moved to a suitable position by driving the clamping jaws 28 to move again, and then the fruits can be put down by driving the multiple clamping jaws 28 to move away until all fruits are lower than the upper end face of the fruit box. At this time, when the subsequent fruit boxes are stacked on the previous fruit box, the situation where the bottom of the fruit box squeezes the fruits will not occur, avoiding the damage of the fruits and ensuring the quality of the fruits;

[0056] Although the orientation of the fruits can be adjusted by the above method, when there are a large number of fruits in the fruit box and the gaps between the fruits are small, the fruits higher than the upper end face of the fruit box may not find a suitable placement position, resulting in some fruits always being higher than the upper end face of the fruit box, which in turn affects the normal stacking of the fruit boxes. Therefore, to avoid this situation, when the fruit clamped by the clamping jaws 28 cannot find a suitable placement position, the motor five 34 can be used to drive the first connecting rod 16 and the second connecting rod 17 to rotate, so that the ring body 18 descends. Moreover, in the initial state, there is a certain distance between the outer expansion plate 29 and the axis of the mounting plate 14. Therefore, the volume of the cavity formed by the plurality of outer expansion plates 29 and the elastic cloth 30 is relatively large, and the outer expansion plates 29 and the elastic cloth 30 do 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 fruits, the motor four 20 is used to drive the third connecting rod 22 on one side to rotate. Then, under the action of the gear 21 and the gear ring 19, the plurality of third connecting rods 22 and the fourth connecting rods 23 can be rotated simultaneously, so that the plurality of second sliding rods 24 move simultaneously, and the outer expansion plates 29 and the elastic cloth 30 approach 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 the plurality of outer expansion plates 29 move to a nearly fitting state, the outer expansion plates 29 stop moving. At this time, since the distance between adjacent outer expansion plates 29 is small, when the mounting plate 14 is driven to descend again, the plurality of outer expansion plates 29 can be inserted into the gaps between the fruits. Then, the plurality of outer expansion plates 29 are driven to move away from the axis of the mounting plate 14 at the same time, and the fruits can be pushed by the outer expansion plates 29 and the elastic cloth 30, so that the gaps between the fruits are enlarged. When the gaps are enlarged to an appropriate size, the clamping jaws 28 release the fruits, and the fruits can fall into the enlarged gaps, and the fruits after falling are no longer higher than the upper end face of the fruit box. Moreover, although when the outer expansion plates 29 move, some fruits may move upward due to extrusion, the above-mentioned placement gaps are generated by the simultaneous movement of a plurality of fruits. Therefore, even if some fruits move upward due to extrusion, their movement degree can be ignored and will not be higher than the upper end face of the fruit box. And since the outer surface of the outer expansion plate 29 is provided with a soft pad 31, the fruits will not be damaged due to the movement of the outer expansion plate 29, thus avoiding the situation where the fruits clamped by the clamping jaws 28 cannot find a suitable placement position due to a large number of fruits in the fruit box and small gaps between the fruits;

[0057] Moreover, since the elastic cloth 30 deforms when the outer expansion plate 29 moves, the elastic cloth 30 provides a filling effect on the gaps between adjacent outer expansion plates 29. Before the clamping jaws 28 put down the clamped fruits, the situation where the remaining fruits slide to the expanded gaps again will not occur, further ensuring the normal placement of the clamped fruits.

[0058] In this embodiment, as Figure 12 shown, a plurality of mounting holes 5 are provided on the base 1.

[0059] Specifically, place the base 1 in a suitable position and install it with other objects by means of bolts through the mounting holes 5, so as to facilitate the installation of the entire manipulator in a suitable position. At the same time, it is also easy to disassemble and is relatively convenient.

[0060] Working principle: Place the base 1 in a suitable position and install it with other objects by means of bolts through the mounting holes 5, so as to facilitate the installation of the entire manipulator in a suitable position. At the same time, it is also easy to disassemble and is relatively convenient. The four-axis swing arm manipulator main body 2 can adjust the orientation and angle of the mounting plate 3. According to the position of the box body, place the box body between the two clamping plates 4. Then, drive the bidirectional threaded rod 7 to rotate by the first motor 6, so that the two clamping plates 4 can approach each other and clamp the box body. Then, drive the box body to move by the four-axis swing arm manipulator main body 2, and operations such as handling and palletizing of the box body can be realized. When the clamping plate 4 clamps the fruit box, the visual system on the four-axis swing arm manipulator main body 2 can judge whether there is fruit higher than the fruit box due to stacking. This visual system is a prior art and will not be elaborated too much. If all the fruits are lower than the upper end face of the fruit box, only use the clamping plate 4 to realize the handling and palletizing of the fruit box. When there is fruit higher than the upper end face of the fruit box, according to the position of the fruit, drive the second threaded rod 33 to rotate by the first motor 6 and drive the first threaded rod 9 to rotate by the second motor 10 to adjust the horizontal orientation of the mounting plate 14. When the clamping jaw 28 is above the fruit, drive the clamping jaw 28 to descend by the electric push rod 12 and drive the worm 25 to rotate by the third motor 15, so that a plurality of worm wheels 26 and the fifth connecting rod 27 rotate simultaneously, and then a plurality of clamping jaws 28 can approach the axis of the mounting plate 14 at the same time to clamp the fruit. Moreover, since the clamping jaw 28 is made of flexible material, the fruit will not be damaged due to clamping. After the clamping jaw 28 clamps the fruit, the clamped fruit can be moved to a suitable position by driving the clamping jaw 28 to move again, and then the fruit can be put down by driving a plurality of clamping jaws 28 to move away until all the fruits are lower than the upper end face of the fruit box. At this time, when the subsequent fruit boxes are stacked on the previous fruit box, the situation that the bottom of the fruit box squeezes the fruit will not occur, avoiding the damage of the fruit and ensuring the quality of the fruit;Although the orientation of the fruits can be adjusted by the above method, when there are a large number of fruits in the fruit box and the gaps between the fruits are small, the fruits above the upper end face of the fruit box may not find a suitable placement position, resulting in some fruits always being above the upper end face of the fruit box, which in turn affects the normal stacking of the fruit boxes. Therefore, to avoid this situation, when the fruits clamped by the clamping jaws 28 cannot find a suitable placement position, the motor five 34 can be used to drive the first connecting rod 16 and the second connecting rod 17 to rotate, causing the ring body 18 to descend. Moreover, in the initial state, there is a certain distance between the outer expansion plates 29 and the axis of the mounting plate 14. Therefore, the volume of the cavity 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 do 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 fruits, the motor four 20 is used to drive the third connecting rod 22 on one side to rotate. Then, under the action of the gear 21 and the gear ring 19, the multiple third connecting rods 22 and the fourth connecting rods 23 can be rotated simultaneously, causing the multiple second sliding rods 24 to move simultaneously, and the outer expansion plates 29 and the elastic cloth 30 move closer 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 plates 29. When the multiple outer expansion plates 29 move to a nearly fitting state, the outer expansion plates 29 stop moving. At this time, since the distance between adjacent outer expansion plates 29 is small, when the mounting plate 14 is further driven to descend, the multiple outer expansion plates 29 can be inserted into the gaps between the fruits. Then, by driving the multiple outer expansion plates 29 to move away from the axis of the mounting plate 14 at the same time, the fruits can be pushed by the outer expansion plates 29 and the elastic cloth 30, so that the gaps between the fruits are enlarged. When the gaps are enlarged to an appropriate size, the clamping jaws 28 release the fruits, and the fruits can fall into the enlarged gaps, and the fruits after falling are no longer higher than the upper end face of the fruit box. Moreover, although some fruits may move upward due to extrusion when the outer 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 extrusion, their movement degree can be ignored and will not be higher than the upper end face of the fruit box. And because the outer surface of the outer expansion plate 29 is provided with a soft pad 31, the fruits will not be damaged due to the movement of the outer expansion plate 29, thus avoiding the situation where, due to a large number of fruits in the fruit box and small gaps between the fruits, the fruits clamped by the clamping jaws 28 cannot find a suitable placement position. And because the elastic cloth 30 deforms when the outer expansion plate 29 moves, the elastic cloth 30 provides a filling effect on the gaps between adjacent outer expansion plates 29, and before the clamping jaws 28 put down the clamped fruits, the situation where the remaining fruits slide into the already enlarged gaps again will not occur, further ensuring the normal placement of the clamped fruits.

[0061] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended 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 transverse plate (8) having limit rods (32) fixedly connected at both ends, the limit rods (32) being slidably connected to the adjustment plate (11), the lower end of the adjustment plate (11) being slidably connected to a slide rod 1 (13) on both sides, the lower end of the slide rod 1 (13) being fixedly connected to the mounting plate (14), the lower end surface of the mounting plate (14) being rotatably provided with a plurality of connecting rods 5 (27), one end of the connecting rod 5 (27) being rotatably provided with a clamping claw (28), and the mounting plate (14) being further provided with an elastic outward expansion mechanism for expanding the gaps between 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) being rotatably arranged at the end of the connecting rod (16), a ring body (18) being rotatably arranged at the end of the connecting rod (17), a plurality of sliding rods (24) being 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) being fixedly connected to an outward expansion plate (29), an elastic cloth (30) being fixedly connected between two adjacent outward expansion plates (29), a soft pad (31) being arranged on the outer surface of the outward expansion plate (29), a motor (34) being fixedly connected to one side of the mounting plate (14), an output end of the motor (34) being connected to the connecting rod (1 6) one end is fixedly connected, the outer ring of the ring body (18) is rotatably provided with a gear ring (19), the upper end surface of the ring body (18) is rotatably provided with a plurality of connecting rods three (22), one end of the connecting rod three (22) is rotatably provided with a connecting rod four (23), one end of the connecting rod four (23) is rotatably connected to one end of the sliding rod two (24), one end of the connecting rod three (22) is fixedly connected with a gear (21), the gear (21) is rotatably provided on the ring body (18), the inner ring of the gear ring (19) is intermittently provided with a tooth block, the gear (21) and the tooth block of the inner ring of the gear ring (19) are meshed with each other, one side of the ring body (18) is fixedly connected with a motor four (20), the output end of the motor four (20) is fixedly connected to one end of the connecting rod three (22).

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

Images