Fruit carrying manipulator

Abstract

The utility model relates to the technical field of fruit conveying, in particular to a fruit carrying manipulator which comprises an installation frame matched with a mechanical arm, a plurality of driving mechanisms A are arranged at the bottom of the installation frame in a sliding mode to drive a transverse beam to be folded and unfolded in the longitudinal direction, and a plurality of driving mechanisms B are arranged at the bottoms of the transverse beams in a sliding mode to drive a base to be folded and unfolded in the transverse direction. And a vertical vacuum chuck is arranged on the base. After the vacuum suction cups suck fruits, the driving mechanism A drives the cross beam to contract, and meanwhile, the driving mechanism B drives all the bases to contract, so that the positions of the vacuum suction cups are matched with tray grooves in a packaging box, and therefore the positions of the vacuum suction cups can be adjusted according to trays of different specifications.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit conveying, in particular to a fruit conveying manipulator. Background Art

[0002] The existing kiwi packaging machine mainly includes a conveyor and a suction cup manipulator. The conveyor is equipped with multiple joint roller rows. Two adjacent joint rollers in the same joint roller row can support one kiwi fruit. The kiwi fruit is put into the feeding port of the conveyor and neatly distributed, and then transported to the bottom of the suction cup manipulator, and the kiwi fruit is moved into the packaging box by the suction cup manipulator. However, the spacing distribution of the joint rollers does not match the spacing of the grooves on the tray in the packaging box. The traditional fixed-size suction cup manipulator cannot adjust the position of the suction cup.

[0003] Therefore, it is urgent to design a suction cup manipulator that can adjust the position of the suction cup to ensure that the position of the suction cup can match the corresponding pallet. Utility Model Content

[0004] The utility model aims to overcome the defects and shortcomings in the prior art. To this end, the utility model provides a fruit handling manipulator capable of adjusting the position of a suction cup to ensure that kiwis are placed in corresponding trays.

[0005] In order to achieve the above-mentioned purpose, the utility model provides a fruit handling robot, including a mounting frame matching a robot arm, a plurality of driving mechanisms A are slidably provided at the bottom of the mounting frame to drive a longitudinally retracted and extended crossbeam, a plurality of driving mechanisms B are slidably provided at the bottom of the crossbeam to drive a transversely retracted and extended base; a vertical vacuum suction cup is provided on the base.

[0006] Furthermore, sliding blocks are fixedly provided at the tops of both ends of the crossbeam, matching linear guide rails are provided on the sliding blocks, and the linear guide rails are fixedly provided on the mounting frame.

[0007] Furthermore, the crossbeam includes two mounting seats, and two transverse sliding rods are fixedly arranged between the two mounting seats; the base is slidably sleeved on the two sliding rods; and the sliding block is fixedly arranged on the corresponding mounting seats.

[0008] Furthermore, the driving mechanism A includes four longitudinal cylinders symmetrically fixed on both sides of the mounting frame, and a pin shaft A is provided on the top of the mounting seat; a connecting rod A is provided between two adjacent mounting seats; one end of the connecting rod A is hinged to the corresponding pin shaft A, and the other end is provided with a long hole A matching the corresponding pin shaft A; the push rod of the longitudinal cylinder is fixed on the corresponding mounting seat.

[0009] Furthermore, linkage shafts are rotatably provided at the tops of both sides of the mounting frame, transmission rods are hinged at both ends of the linkage shafts, linkage rods are hinged on the transmission rods, and the linkage rods are hinged on the mounting seat on one side of the longitudinal cylinder.

[0010] Furthermore, the driving mechanism B includes two transverse cylinders fixed at the corresponding ends of the mounting seats, a pin shaft B is provided at the top of the base, and a connecting rod B is provided between two adjacent bases; one end of the connecting rod B is hinged to the corresponding pin shaft B, and the other end is provided with a long hole B matching the corresponding pin shaft B; the push rod of the transverse cylinder is fixed on the corresponding base.

[0011] Furthermore, the driving mechanism B includes two transverse cylinders fixed at the ends of the corresponding mounting seats, a pin shaft B is provided on the top of the base, and a connecting rod B is provided between the two adjacent bases; one end of the connecting rod B is hinged to the corresponding pin shaft B, and the other end is provided with a long hole B matching the corresponding pin shaft B; the push rod of the transverse cylinder is used to push the corresponding base; a spacer sleeve and a compression spring A are provided between the two adjacent bases; the spacer sleeve and the compression spring A are respectively slidably mounted on the corresponding sliding rod.

[0012] Furthermore, an adjustment seat driven by the transverse cylinder is provided between the mounting seat and the base, and the adjustment seat is slidably sleeved on the two sliding rods.

[0013] Furthermore, the vacuum suction cup is fixed at the bottom of the air pipe, the air pipe slides vertically through the base, and a nozzle is provided on the top of the air pipe; a compression spring B is provided between the vacuum suction cup and the base, and the compression spring B is slidably mounted on the air pipe.

[0014] Furthermore, the vacuum suction cup is a soft silicone suction cup; an annular groove is provided on the bottom outer wall of the air pipe, and the top of the vacuum suction cup is embedded and fixed in the annular groove.

[0015] Compared with the prior art, the beneficial effect of the utility model is that when the vacuum suction cup sucks the fruit, the driving mechanism A drives the crossbeam to shrink, and at the same time, the driving mechanism B drives all the bases to shrink, so that the positions of several vacuum suction cups match the tray grooves in the packaging box, thereby being able to adjust the positions of the vacuum suction cups according to trays of different specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model.

[0017] Figure 2 for Figure 1 Bottom-up view of the .

[0018] Figure 3 for Figure 1 Side view of.

[0019] Figure 4 It is a cross-sectional schematic diagram of the position of the vacuum suction cup in the utility model.

[0020] Among them: 1. Mounting frame; 2. Crossbeam; 3. Base; 4. Longitudinal cylinder; 5. Transverse cylinder; 6. Linkage rod; 7. Transmission rod; 8. Linkage shaft; 21. Mounting seat; 22. Sliding rod; 23. Pin A; 31. Vacuum suction cup; 32. Spacer sleeve; 33. Compression spring A; 34. Adjustment seat; 35. Pin B; 36. Air pipe; 37. Nozzle; 38. Compression spring B; 41. Connecting rod A; 42. Long hole A; 51. Connecting rod B; 52. Long hole B. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention. Example

[0023] See also Figures 1 to 4 The utility model provides a fruit handling robot, including a mounting frame 1, a plurality of beams 2 driven to be longitudinally retracted and expanded by a driving mechanism A are slidably arranged at the bottom of the mounting frame 1, a plurality of bases 3 driven to be transversely retracted and expanded by a driving mechanism B are slidably arranged at the bottom of the beams 2; a vertical vacuum suction cup 31 is arranged on the base 3.

[0024] Slide blocks can be fixedly provided at the top of both ends of the cross beam 2 , and matching linear guide rails are provided on the slide blocks. The linear guide rails are fixedly provided on the mounting frame 1 , so as to ensure stable longitudinal contraction and extension movement of the plurality of cross beams 2 .

[0025] As an embodiment of the utility model, the crossbeam 2 includes two mounting seats 21, and two transverse sliding rods 22 are fixed between the two mounting seats 21; the base 3 is slidably sleeved on the two sliding rods 22; the slider is fixed on the corresponding mounting seat 21 to ensure the stable transverse retraction and expansion movement of several bases 3.

[0026] Specifically, the driving mechanism A comprises four longitudinal cylinders 4 symmetrically fixed on both sides of the mounting frame 1, a pin shaft A23 is provided on the top of the mounting seat 21, a connecting rod A41 is provided between two adjacent mounting seats 21, one end of the connecting rod A41 is hinged with the corresponding pin shaft A23, and the other end is provided with a long hole A42 matching the corresponding pin shaft A23, and the push rod of the longitudinal cylinder 4 is fixed on the corresponding mounting seat 21. Through the extension and retraction of the longitudinal cylinder 4, a plurality of mounting seats 21 in the same longitudinal direction can be driven to extend and retract their positions, thereby adjusting the longitudinal spacing of the vacuum suction cups 31.

[0027] The mounting frame 1 here has a rotatable linkage shaft 8 at the top of both sides, and both ends of the linkage shaft 8 are hinged with a transmission rod 7, and a linkage rod 6 is hinged on the transmission rod 7. The linkage rod 6 is hinged on the mounting seat 21 on one side of the longitudinal cylinder 4 to ensure the synchronous movement of the mounting seats 21 at both ends of the beam 2.

[0028] In addition, there are two solutions for the above-mentioned driving mechanism B, as follows:

[0029] Option 1, the driving mechanism B includes two transverse cylinders 5 fixed at the ends of the corresponding mounting seats 21, a pin shaft B35 is provided at the top of the base 3, and a connecting rod B51 is provided between two adjacent bases 3; one end of the connecting rod B51 is hinged to the corresponding pin shaft B35, and the other end is provided with a long hole B52 matching the corresponding pin shaft B35; the push rod of the transverse cylinder 5 is fixed on the corresponding base 3.

[0030] By extending and retracting the lateral cylinder 5 , a plurality of bases 3 in the same lateral direction can be driven to extend and retract their positions, thereby adjusting the lateral spacing of the vacuum suction cups 31 .

[0031] Option 2, the driving mechanism B includes two transverse cylinders 5 fixed on the ends of the corresponding mounting seats 21, a pin shaft B35 is provided on the top of the base 3, and a connecting rod B51 is provided between the two adjacent bases 3; one end of the connecting rod B51 is hinged to the corresponding pin shaft B35, and the other end is provided with a long hole B52 matching the corresponding pin shaft B35; the push rod of the transverse cylinder 5 is used to push the corresponding base 3; a spacer sleeve 32 and a compression spring A33 are provided between the two adjacent bases 3; the spacer sleeve 32 and the compression spring A33 are respectively slidably mounted on the corresponding sliding rod 22.

[0032] The lateral cylinder 5 pushes the bases 3 in the same lateral direction to move closer to each other, and the spacer sleeve 32 is used to limit the lateral spacing between two adjacent bases 3, thereby adjusting the lateral spacing of the vacuum suction cups 31. When the push rod of the lateral cylinder 5 is retracted, the base 3 is reset under the combined action of the compression spring A33 and the connecting rod B51.

[0033] An adjustment seat 34 driven by a transverse cylinder 5 may be provided between the mounting seat 21 and the base 3. The adjustment seat 34 is slidably sleeved on the two slide bars 22 to meet the staggered spacing arrangement of the kiwifruit.

[0034] As an embodiment of the utility model, the vacuum suction cup 31 is fixedly arranged at the bottom of the air pipe 36, the air pipe 36 slides vertically through the base 3, and a nozzle 37 is arranged at the top of the air pipe 36; a compression spring B38 is arranged between the vacuum suction cup 31 and the base 3, and the compression spring B38 is slidably sleeved on the air pipe 36. Through the action of the compression spring B38, it can adapt to fruits of different sizes, such as large fruits, medium fruits and small fruits.

[0035] The vacuum suction cup 31 here is preferably a soft silicone suction cup; wherein, the bottom outer wall of the air pipe 36 is provided with an annular groove, and the top of the vacuum suction cup 31 is embedded in the annular groove; this ensures that when sucking fruits, it can better fit the shape of the fruits, and the details are not repeated here.

[0036] The working principle of the utility model is as follows: the longitudinal cylinder 4 and the transverse cylinder 5 are used as the power source, the connecting rod A41 and the connecting rod B51 are used as the transmission parts, and the longitudinal and transverse spacing is adjusted within the length range of the long hole A42 and the long hole B52, so as to ensure that the kiwis on the conveyor are neatly placed in the grooves of the corresponding trays. When in use, the mounting frame 1 is fixed on the inherent mechanical arm of the conveyor. According to the different specifications of the trays, the base 3 on the crossbeam 2 can be increased or decreased and the matching adjustment seat 34 can be selected.

[0037] The utility model can be summarized in other specific forms that do not violate the spirit or main features of the utility model. Therefore, no matter from which point of view, the above embodiments of the utility model can only be regarded as an explanation of the utility model and cannot limit the utility model. The claims indicate the scope of the utility model, while the above description does not indicate the scope of the utility model. Therefore, any changes within the meaning and scope equivalent to the claims of the utility model should be considered to be included in the scope of the claims of the utility model.

Claims

1. A fruit handling robot, comprising a mounting frame (1) matching a robot arm, characterized in that: The bottom of the mounting frame (1) is slidably provided with a plurality of drive mechanisms A for driving the longitudinally retracted and extended crossbeam (2), and the bottom of the crossbeam (2) is slidably provided with a plurality of drive mechanisms B for driving the transversely retracted and extended base (3); a vertical vacuum suction cup (31) is provided on the base (3).

2. The fruit handling robot according to claim 1, characterized in that: Slide blocks are fixedly provided at the tops of both ends of the crossbeam (2), matching linear guide rails are provided on the slide blocks, and the linear guide rails are fixedly provided on the mounting frame (1).

3. The fruit handling robot according to claim 2, characterized in that: The crossbeam (2) comprises two mounting seats (21), and two transverse sliding rods (22) are fixedly arranged between the two mounting seats (21); the base (3) is slidably sleeved on the two sliding rods (22); and the sliding block is fixedly arranged on the corresponding mounting seat (21).

4. The fruit handling robot according to claim 3, characterized in that: The driving mechanism A comprises four longitudinal cylinders (4) symmetrically fixed on both sides of the mounting frame (1); a pin shaft A (23) is provided at the top of the mounting seat (21); a connecting rod A (41) is provided between two adjacent mounting seats (21); one end of the connecting rod A (41) is hinged to the corresponding pin shaft A (23), and the other end is provided with a long hole A (42) matching the corresponding pin shaft A (23); and a push rod of the longitudinal cylinder (4) is fixed on the corresponding mounting seat (21).

5. The fruit handling robot according to claim 4, characterized in that: The tops of both sides of the mounting frame (1) are rotatably provided with linkage shafts (8), both ends of the linkage shafts (8) are hinged with transmission rods (7), the transmission rods (7) are hinged with linkage rods (6), and the linkage rods (6) are hinged to the mounting seat (21) on one side of the longitudinal cylinder (4).

6. The fruit handling robot according to claim 4 or 5, characterized in that: The driving mechanism B comprises two transverse cylinders (5) fixedly mounted on the ends of the corresponding mounting seats (21); a pin shaft B (35) is provided on the top of the base (3); a connecting rod B (51) is provided between two adjacent bases (3); one end of the connecting rod B (51) is hinged to the corresponding pin shaft B (35); the other end of the connecting rod B (51) is provided with a long hole B (52) matching the corresponding pin shaft B (35); and a push rod of the transverse cylinder (5) is fixedly mounted on the corresponding base (3).

7. The fruit handling robot according to claim 4 or 5, characterized in that: The driving mechanism B comprises two transverse cylinders (5) fixedly mounted on the ends of the corresponding mounting seats (21); a pin shaft B (35) is provided on the top of the base (3); a connecting rod B (51) is provided between two adjacent bases (3); one end of the connecting rod B (51) is hinged to the corresponding pin shaft B (35); the other end of the connecting rod B (51) is provided with a long hole B (52) matching the corresponding pin shaft B (35); a push rod of the transverse cylinder (5) is used to push the corresponding base (3); a spacer sleeve (32) and a compression spring A (33) are provided between two adjacent bases (3); the spacer sleeve (32) and the compression spring A (33) are respectively slidably mounted on the corresponding slide rod (22).

8. The fruit handling robot according to claim 7, characterized in that: An adjustment seat (34) driven by the transverse cylinder (5) is provided between the mounting seat (21) and the base (3), and the adjustment seat (34) is slidably sleeved on the two slide rods (22).

9. The fruit handling robot according to claim 1, characterized in that: The vacuum suction cup (31) is fixedly mounted on the bottom of the air pipe (36); the air pipe (36) vertically slides through the base (3); a nozzle (37) is provided on the top of the air pipe (36); a compression spring B (38) is provided between the vacuum suction cup (31) and the base (3); the compression spring B (38) is slidably mounted on the air pipe (36).

10. The fruit handling robot according to claim 9, characterized in that: The vacuum suction cup (31) is a soft silicone suction cup; an annular groove is provided on the outer wall of the bottom of the air pipe (36), and the top of the vacuum suction cup (31) is embedded and fixed in the annular groove.

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