Electric multidirectional manipulator for needle mushroom processing

Abstract

The invention provides an electric multi-directional manipulator for needle mushroom processing, and belongs to the technical field of mushroom processing, the electric multi-directional manipulator comprises an electric linear guide rail and side steel rails arranged on the two sides of the electric linear guide rail, the outer side of each side steel rail is slidably connected with a sliding mounting block, and a mounting plate is slidably mounted on the lower portion of the electric linear guide rail; the two sliding installation blocks are fixedly connected with the installation plate, a mechanical arm is fixedly installed on the lower portion of the installation plate, an electric two-way grabbing machine box assembly is fixedly installed at the position of an end executor of the mechanical arm, and the electric two-way grabbing machine box assembly is further provided with a two-way electric clamping plate assembly in a matched mode. According to the flammulina velutipes grabbing device, a second motor drives a rotating shaft to rotate, the rotating shaft drives an eccentric plate to rotate, and the eccentric plate jacks a clamping plate into an arc shape, so that the flammulina velutipes are wrapped and clamped around the flammulina velutipes, damage to the flammulina velutipes due to the grabbing action is reduced, the adaptability of the manipulator to grabbing of the whole flammulina velutipes is improved, and the product quality of the flammulina velutipes is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of mushroom processing, and in particular relates to an electric multi-directional manipulator for processing enoki mushrooms. Background Art

[0002] At present, in the production and processing line of Flammulina velutipes, the transportation of Flammulina velutipes between workstations is usually achieved by a robot;

[0003] Among them, a mushroom picking device with application number 202021606636.8 includes two sets of guide rails, a vehicle body, two sets of mechanical arm devices and an environmental monitoring system; the vehicle body includes a frame, two sets of wheel devices, and two sets of mechanical arm transverse fixing devices; the two sets of mechanical arm transverse fixing devices are symmetrically arranged on the top surface of the frame, respectively. This mushroom picking device uses a mechanical arm and a mechanical claw to grab mushrooms, and the mechanical arm and the mechanical claw can move through the guide rail, and it is provided with a set of mechanical arms and mechanical claws, which can grab a single mushroom, and when its mechanical claw grabs, the enoki mushrooms at the upper end of the whole plant are relatively loose, so it is not convenient to grab the whole plant, and in the enoki mushroom processing production line, it is usually necessary to grab multiple groups of enoki mushrooms arranged side by side, so when it is applied to the production and processing of enoki mushrooms, its adaptability to enoki mushroom processing is low;

[0004] At present, in the processing and production of mushrooms, in order to reduce the damage caused by grasping the mushrooms, a manipulator is usually used in combination with a flexible gripper made of silicone or rubber to grasp the mushrooms. When such a manipulator and the flexible gripper are used, two or more flexible grippers are usually arranged on the manipulator, and the multiple flexible grippers open and close in an umbrella shape to grasp the mushrooms. However, such flexible grippers are not suitable for the enoki mushrooms with a loose upper end, and such flexible grippers are usually integrally formed of silicone rubber material. The opening or retraction thereof usually needs to be controlled by a pump and a control valve for inflation and exhaust, and the deformation thereof is limited by the material properties of the flexible gripper itself, and it is not convenient to change the shape thereof when grasping according to the size of the enoki mushrooms. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an electric multi-directional manipulator for processing enoki mushrooms. According to actual production needs, in the enoki mushroom production and processing line, the manipulator can grab multiple groups of enoki mushrooms arranged side by side, and the compatibility of the manipulator with grabbing the whole enoki mushroom is improved, the damage to the enoki mushrooms caused by the grabbing action is reduced, and the quality of the enoki mushroom products is guaranteed.

[0006] The present invention is achieved through the following technical solutions:

[0007] An electric multi-directional manipulator for processing golden needle mushrooms comprises an electric linear guide and side rails arranged on both sides of the electric linear guide, the outer side of each side rail is slidably connected with a sliding mounting block, the lower part of the electric linear guide is slidably mounted with a mounting plate, the two sliding mounting blocks are fixedly connected to the mounting plate, a mechanical arm is fixedly mounted on the lower part of the mounting plate, an electric bidirectional grabbing chassis assembly is fixedly mounted at the end actuator of the mechanical arm, and the electric bidirectional grabbing chassis assembly is also equipped with a bidirectional electric clamping plate assembly; the electric bidirectional grabbing chassis assembly comprises a chassis, a first motor is fixedly mounted on the outside of one end of the chassis, an upper guide rail is fixedly mounted on the inner upper side of the chassis, a bidirectional clamping block assembly is equipped at the lower part of the upper guide rail, and the number of the bidirectional clamping block assemblies is set to at least one; the bidirectional clamping block assembly comprises a double-headed screw, and translation blocks are mounted on both ends of the double-headed screw through ball nuts. The upper end of the translation block is integrally provided with an upper connecting part, and a limiting slider is fixedly installed on the upper part of the upper connecting part, and the limiting slider is slidably connected to the lower part of the upper guide rail, and the lower part of the translation block is integrally provided with a clamping connecting part, and the middle bearing of the double-headed screw is installed with a bearing seat, and the bearing seat is fixedly installed inside the chassis, and the double-headed screw close to the output shaft of the first motor is connected to the output shaft of the first motor through a coupling, and the outer end of the double-headed screw away from the first motor is connected to the chassis bearing; the bidirectional electric clamping plate assembly includes a casing, and a second motor is fixedly installed inside the casing, and the front and rear output shafts of the second motor are fixedly installed with a rotating shaft, and the rotating shaft is equidistantly installed with eccentric plates from the inner end close to the second motor to the outer end away from the second motor, and clamping plates are provided on the front and rear sides of the casing, and the end of the clamping plate close to the casing is fixedly installed inside the casing, and the side of the clamping plate facing away from the rotating shaft is provided with anti-slip grooves.

[0008] Preferably, the eccentric plate is composed of a plate body and an annular connecting portion integrally arranged on one side of the plate body, the annular connecting portion is fixedly mounted to the rotating shaft, and the size of the eccentric plate increases gradually from close to the second motor to far away from the second motor.

[0009] Preferably, the chassis is fixedly mounted to the end effector of the robotic arm.

[0010] Preferably, the plurality of housings are respectively fixedly mounted on the lower portions of the plurality of clamping connections.

[0011] Preferably, the rotating shaft is further provided with an eccentric block, and the eccentric block comprises an eccentric block body and a tubular connecting portion integrally provided on one side of the eccentric block body.

[0012] Preferably, the outer ends of the eccentric block and the eccentric plate are both provided with arc chamfers.

[0013] Preferably, a through groove is provided at the lower portion of the chassis for the clamping connection portion to slide.

[0014] Preferably, the housing is provided with rectangular holes for passing the clamping plate on the front and rear sides, and the housing is also provided with through holes for passing the rotating shaft on the front and rear sides, and the rotating shaft is connected to the housing bearing through the through holes.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. In the present invention, the second motor drives the rotating shaft to rotate, and the rotating shaft drives the eccentric plate to rotate. The eccentric plate pushes the clamping plate into an arc shape, so as to wrap and clamp the enoki mushrooms on all sides, reducing the damage to the enoki mushrooms caused by the grasping action, and improving the compatibility of the manipulator with grasping the whole enoki mushroom, thereby ensuring the quality of the enoki mushroom products.

[0017] 2. In the present invention, before grabbing the enoki mushrooms, the user sets the number of two-way clamping block fixing assemblies according to the number of each group of side-by-side enoki mushrooms. The first motor drives the double-headed screw to rotate, thereby driving each group of two-way clamping block assemblies to move relative to each other to clamp the enoki mushrooms. This is beneficial for grabbing multiple groups of side-by-side enoki mushrooms according to actual production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention.

[0019] Figure 2 It is a schematic diagram of the internal structure of the electric bidirectional grabbing chassis assembly of the present invention.

[0020] Figure 3 It is a structural schematic diagram of the bidirectional clamping block assembly of the present invention.

[0021] Figure 4 It is a structural schematic diagram of the bidirectional electric clamping plate assembly of the present invention.

[0022] Figure 5 It is a schematic structural diagram of the cooperation among the second motor, the rotating shaft and the eccentric plate of the present invention.

[0023] Figure 6 It is a structural schematic diagram of the eccentric plate of the present invention.

[0024] Figure 7 It is a schematic structural diagram of the cooperation between the eccentric block and the rotating shaft of the present invention.

[0025] In the figure:

[0026] 1. Electric linear guide; 2. Side rail; 3. Sliding mounting block; 4. Mounting plate; 5. Robot arm; 6. Electric bidirectional grab chassis assembly; 61. Chassis; 62. First motor; 63. Upper guide rail; 64. Bidirectional clamping block assembly; 641. Double-headed screw; 642. Translation block; 643. Upper connecting part; 644. Clamping connecting part; 645. Limiting slider; 646. Bearing seat; 647. Coupling; 7. Bidirectional electric clamping plate assembly; 71. Casing; 72. Second motor; 73. Clamping plate; 74. Anti-slip pattern; 75. Rotating shaft; 76. Eccentric plate; 761. Plate body; 762. Annular connecting part; 77. Eccentric block; 771. Eccentric block body; 772. Tubular connecting part. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1 As shown, an electric multi-directional manipulator for processing golden needle mushrooms comprises an electric linear guide 1 and side rails 2 arranged on both sides of the electric linear guide 1, each of the side rails 2 is slidably connected to a sliding mounting block 3 on the outer side, a mounting plate 4 is slidably mounted on the lower part of the electric linear guide 1, two sliding mounting blocks 3 are fixedly connected to the mounting plate 4, a mechanical arm 5 is fixedly mounted on the lower part of the mounting plate 4, an electric bidirectional grabbing chassis assembly 6 is fixedly mounted at the end effector of the mechanical arm 5, and the electric bidirectional grabbing chassis assembly 6 is also equipped with a bidirectional electric clamping plate assembly 7 to connect the electric linear guide 1 and the side rails 2. The steel rail 2 is installed in the enoki mushroom processing workshop through an external steel connector, and the electric linear guide 1, the robotic arm 5, the first motor 62 and the second motor 72 are all connected to the industrial controller in the enoki mushroom processing workshop. The actions of the electric linear guide 1, the robotic arm 5, the first motor 62 and the second motor 72 are all controlled by the industrial controller. The electric linear guide 1 drives the mounting plate 4 to move, thereby driving the robotic arm 5 to move, so that the robotic arm 5 can move between the workstations in the enoki mushroom processing workshop. At the same time, the sliding mounting block 3 moves along the side steel rail 2, so that the movement of the mounting plate 4 is more stable.

[0028] In this embodiment, combined with the Figure 2 As shown, the electric bidirectional grabbing chassis assembly 6 includes a chassis 61, a first motor 62 is fixedly installed on the outside of one end of the chassis 61, an upper guide rail 63 is fixedly installed on the inner upper side of the chassis 61, and a bidirectional clamping block assembly 64 is arranged at the lower part of the upper guide rail 63, and the number of the bidirectional clamping block assembly 64 is set to at least one.

[0029] In this embodiment, combined with the Figure 3As shown, the bidirectional clamping block assembly 64 includes a double-headed screw 641, and the two ends of the double-headed screw 641 are installed with a translation block 642 through a ball nut. The upper end of the translation block 642 is integrated with an upper connecting portion 643, and a limit slider 645 is fixedly installed on the upper part of the upper connecting portion 643. The limit slider 645 is slidably connected to the lower part of the upper guide rail 63. When the translation block 642 moves, the upper connecting portion 643 moves along the upper guide rail 63 to limit the movement of the translation block 642, so that the translation block 642 moves more stably. The lower part of the translation block 642 is integrated with a clamping connection portion 644, and the middle bearing of the double-headed screw 641 is installed with a bearing seat 646. The bearing seat 646 is fixedly installed inside the chassis 61, close to the first The double-headed screw 641 of the output shaft of the motor 62 is connected to the output shaft of the first motor 62 through a coupling 647. The outer end of the double-headed screw 641 away from the first motor 62 is connected to the bearing of the chassis 61. The first motor 62 drives the double-headed screw 641 to move, and the translation block 642 arranged on the same double-headed screw 641 moves toward or away from each other. When moving toward each other, it drives the two-way electric clamping plate assembly 7 to move toward each other to clamp the enoki mushrooms. When moving away from each other, it drives the two-way electric clamping plate assembly 7 to move away from each other to put down the clamped enoki mushrooms. The bearing seat 646 supports and fixes the double-headed screw 641. The user increases or decreases the number of two-way clamping block assemblies 64 according to the number of enoki mushrooms in each row in the enoki mushroom production process.

[0030] In this embodiment, specifically, the chassis 61 is fixedly installed with the end effector of the robot arm 5 .

[0031] In this embodiment, combined with the Figure 4 and attached Figure 5As shown, the bidirectional electric clamping plate assembly 7 includes a casing 71, a second motor 72 is fixedly installed inside the casing 71, and a rotating shaft 75 is fixedly installed on the front and rear output shafts of the second motor 72. The rotating shaft 75 is equidistantly installed with eccentric plates 76 from the inner end close to the second motor 72 to the outer end away from the second motor 72. Clamping plates 73 are provided on the front and rear sides of the casing 71. The clamping plates 73 are made of rubber plates. The rubber plates have the ability to restore deformation. When the eccentric plates 76 are away from the clamping plates 73, the clamping plates 73 return to a flat plate shape to avoid affecting the clamping of the enoki mushrooms next time. The end of the clamping plate 73 close to the casing 71 is fixedly installed inside the casing 71. The front and rear sides of the casing 71 A rectangular hole is provided on the side for passing the clamping plate 73, and through holes are provided on the front and rear sides of the casing 71 for passing the rotating shaft 75. The rotating shaft 75 is connected to the bearing of the casing 71 through the through holes. An anti-slip pattern 74 is provided on the side of the clamping plate 73 facing away from the rotating shaft 75. When clamping the enoki mushrooms, the second motor 72 drives the rotating shaft 75 to rotate, thereby driving the eccentric plate 76 to rotate. When the eccentric plate 76 rotates, it pushes the clamping plate 73 inward, so that the clamping plates 73 on both sides of the enoki mushrooms are arc-shaped, wrapping and clamping the enoki mushrooms, reducing the damage to the enoki mushrooms caused by clamping, and is more suitable for clamping the enoki mushrooms. The anti-slip pattern 74 increases the clamping stability of the clamping plate 73.

[0032] In this embodiment, specifically, the plurality of housings 71 are fixedly mounted on the lower portions of the plurality of clamping connecting portions 644 , respectively.

[0033] In this embodiment, combined with the Figure 6 As shown, the eccentric plate 76 is composed of a plate body 761 and an annular connecting portion 762 integrally arranged on one side of the plate body 761. The annular connecting portion 762 is fixedly installed on the rotating shaft 75. The size of the eccentric plate 76 increases gradually from close to the second motor 72 to away from the second motor 72.

[0034] In this embodiment, combined with the Figure 7 As shown, the rotating shaft 75 is also provided with an eccentric block 77. The eccentric block 77 includes an eccentric block body 771 and a tubular connecting portion 772 integrally provided on one side of the eccentric block body 771. The user removes the eccentric plate 76, connects the tubular connecting portion 772 of the eccentric block 77 with the rotating shaft 75, and drives the rotating shaft 75 to rotate through the second motor 72, thereby rotating the eccentric block 77. The eccentric block 77 pushes the clamping plate 73 into an arc shape, so that the clamping plates 73 with arcs on both sides wrap and clamp the enoki mushrooms, which is more suitable for the processing of enoki mushrooms. In the actual production and processing of enoki mushrooms, the user adjusts the number of eccentric plates 76 according to the diameter of the enoki mushrooms, or replaces eccentric plates 76 and eccentric blocks 77 of different sizes, thereby improving the adaptability to the size of the enoki mushrooms to be produced and processed.

[0035] In this embodiment, specifically, the first motor 62 is a stepper motor, and the second motor 72 is a dual-output shaft stepper motor or a dual-output shaft servo motor.

[0036] In this embodiment, specifically, the outer ends of the eccentric block 77 and the eccentric plate 76 are both provided with arc chamfers.

[0037] Utilizing the technical solution described in the present invention, or those skilled in the art designing a similar technical solution inspired by the technical solution of the present invention to achieve the above-mentioned technical effects, all fall within the protection scope of the present invention.

Claims

1. An electric multi-directional manipulator for processing enoki mushrooms, characterized in that: The electric multi-directional manipulator for processing golden needle mushrooms comprises an electric linear guide rail (1) and side steel rails (2) arranged on both sides of the electric linear guide rail (1), the outer side of each side steel rail (2) is slidably connected to a sliding mounting block (3), the lower part of the electric linear guide rail (1) is slidably mounted with a mounting plate (4), the two sliding mounting blocks (3) are fixedly connected to the mounting plate (4), a mechanical arm (5) is fixedly mounted at the lower part of the mounting plate (4), an electric bidirectional grabbing chassis assembly (6) is fixedly mounted at the end actuator of the mechanical arm (5), and the electric bidirectional grabbing chassis assembly (6) is also provided with a bidirectional electric clamping plate assembly (7); The electric bidirectional grabbing chassis assembly (6) comprises a chassis (61), a first motor (62) is fixedly mounted on one end of the chassis (61), an upper guide rail (63) is fixedly mounted on the upper side of the chassis (61), a bidirectional clamping block assembly (64) is provided at the lower part of the upper guide rail (63), and the number of the bidirectional clamping block assembly (64) is set to at least one; the bidirectional clamping block assembly (64) comprises a double-headed screw (641), translation blocks (642) are mounted on both ends of the double-headed screw (641) through ball nuts, and an upper connecting portion (643) is integrally provided at the upper end of the translation block (642), and the upper connecting portion A limit slider (645) is fixedly installed on the upper part of the upper guide rail (643), and the limit slider (645) is slidably connected to the lower part of the upper guide rail (63). A clamping connection part (644) is integrally provided on the lower part of the translation block (642). A bearing seat (646) is installed on the middle bearing of the double-headed screw (641), and the bearing seat (646) is fixedly installed inside the chassis (61). The double-headed screw (641) close to the output shaft of the first motor (62) is connected to the output shaft of the first motor (62) through a coupling (647), and the outer end of the double-headed screw (641) away from the first motor (62) is connected to the bearing of the chassis (61). Connection arrangement: The bidirectional electric clamping plate assembly (7) comprises a housing (71), a second motor (72) is fixedly mounted inside the housing (71), a rotating shaft (75) is fixedly mounted on the front and rear output shafts of the second motor (72), eccentric plates (76) are equidistantly mounted on the rotating shaft (75) from the inner end close to the second motor (72) to the outer end far from the second motor (72), a clamping plate (73) is arranged on the front and rear sides of the housing (71), one end of the clamping plate (73) close to the housing (71) is fixedly mounted inside the housing (71), and an anti-slip pattern (74) is provided on the side of the clamping plate (73) facing away from the rotating shaft (75).

2. The electric multi-directional manipulator for processing Enoki mushrooms as claimed in claim 1, characterized in that: The eccentric plate (76) is composed of a plate body (761) and an annular connecting portion (762) integrally arranged on one side of the plate body (761); the annular connecting portion (762) is fixedly mounted on the rotating shaft (75); and the size of the eccentric plate (76) increases in sequence from close to the second motor (72) to far away from the second motor (72).

3. The electric multi-directional manipulator for processing Flammulina velutipes as claimed in claim 1, characterized in that: The chassis (61) is fixedly mounted to the end effector of the mechanical arm (5).

4. The electric multi-directional manipulator for processing Flammulina velutipes as claimed in claim 1, characterized in that: The plurality of housings (71) are respectively fixedly mounted on the lower portions of the plurality of clamping connection portions (644).

5. The electric multi-directional manipulator for processing Enoki mushrooms as claimed in claim 1, characterized in that: The rotating shaft (75) is also provided with an eccentric block (77) in cooperation with the eccentric block (77), and the eccentric block (77) comprises an eccentric block body (771) and a tubular connecting portion (772) integrally provided on one side of the eccentric block body (771).

6. The electric multi-directional manipulator for processing enoki mushrooms as claimed in claim 5, characterized in that: The outer ends of the eccentric block (77) and the eccentric plate (76) are both provided with arc chamfers.

7. The electric multi-directional manipulator for processing Flammulina velutipes as claimed in claim 1, characterized in that: The lower part of the chassis (61) is provided with a through slot for the clamping connection part (644) to slide.

8. The electric multi-directional manipulator for processing Enoki mushrooms as claimed in claim 1, characterized in that: The housing (71) is provided with rectangular holes on the front and rear sides for passing the clamping plate (73). The housing (71) is also provided with through holes on the front and rear sides for passing the rotating shaft (75). The rotating shaft (75) is connected to the housing (71) bearing through the through holes.

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