A special mechanical hand for taking out fruit baskets

Abstract

The utility model provides a kind of special mechanical hand of taking out of fruit basket, rack is fixedly installed with X-axis sliding rail and X-axis motor, X-axis sliding rail movably installs with translation frame, X-axis motor is connected translation frame by first belt drive, translation frame is fixedly installed with Z-axis motor and lifting mechanism, Z-axis motor is connected lifting mechanism by second belt drive, lifting mechanism is driven to be connected with lifting frame, lifting frame is fixedly installed with Y-axis sliding rail and Y-axis motor, Y-axis sliding rail is symmetrically provided with clamping frame, Y-axis motor is driven to be connected clamping frame by first screw rod, clamping frame is fixedly installed with clamping rod.The utility model passes through multi-shaft movement, controls a pair of clamping rod movement, and automatically clamps and takes the fruit basket in mould, improves production efficiency, reduces worker intervention in injection molding process of fruit basket, reduces potential safety hazard.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical processing technology, specifically relating to a special robotic arm for removing fruit baskets. Background Technology

[0002] In today's fruit packaging and transportation industry, fruit crates are crucial containers for carrying fruit, and their production efficiency and quality stability are of great significance to the entire industry chain. Fruit crates are generally produced through injection molding, where plastic raw materials are heated and melted, then injected into a mold cavity, and cooled and solidified to form the crate. However, how to efficiently, safely, and reliably remove the formed fruit crates from the mold has always been a critical step in fruit crate production.

[0003] Traditional manual mold removal methods have many problems. On the one hand, manual operation is inefficient and cannot meet the needs of large-scale production. Workers need to frequently reach into the mold to remove the fruit baskets one by one, which is time-consuming and prone to errors due to fatigue and other factors, damaging the fruit baskets or affecting the life of the mold. On the other hand, manual mold removal poses safety hazards. Utility Model Content

[0004] The purpose of this invention is to provide a special robotic arm for retrieving fruit baskets, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a special robotic arm for retrieving fruit baskets, comprising a frame, wherein an X-axis slide rail and an X-axis motor are fixedly mounted on the frame, a translation frame is movably mounted on the X-axis slide rail, the X-axis motor is driven and connected to the translation frame via a first belt, a Z-axis motor and a lifting mechanism are fixedly mounted on the translation frame, the Z-axis motor is driven and connected to the lifting mechanism via a second belt, the lifting mechanism is driven and connected to a lifting frame, a Y-axis slide rail and a Y-axis motor are fixedly mounted on the lifting frame, clamping frames are symmetrically arranged on the Y-axis slide rail, the Y-axis motor is driven and connected to the clamping frames via a first lead screw, and clamping rods are fixedly mounted on the clamping frames.

[0006] Preferably, the lifting mechanism includes a gearbox, a second lead screw, an optical shaft, and a bushing. The gearbox is driven and connected to the second lead screw. The optical shaft is slidably connected to the bushing. Both the gearbox and the bushing are fixedly connected to the translation frame. Both the second lead screw and the optical shaft are fixedly connected to the lifting frame.

[0007] Preferably, the clamping frame is fixedly mounted on the clamping rod by three quick-release parts.

[0008] Preferably, the clamping rod is a hollow stainless steel rod.

[0009] Compared with the prior art, the beneficial effects of this utility model are:

[0010] This invention uses clamping rods on a clamping frame to grip fruit baskets. During operation, an X-axis motor drives a translation frame to move, bringing the clamping rods closer to or away from the injection mold. A Z-axis motor drives a lifting frame to move up and down via a lifting mechanism, making the height of the clamping rods roughly equal to the height of the injection mold. A Y-axis slide rail and a Y-axis motor are fixedly installed on the lifting frame. Clamping frames are symmetrically arranged on the Y-axis slide rail. The Y-axis motor drives the clamping frames to move via a first lead screw, causing the symmetrically arranged clamping frames to move relative to each other, thus achieving the function of clamping and releasing the fruit baskets. This invention controls the movement of a pair of clamping rods through multi-axis motion and automatically grips the fruit baskets inside the mold, improving production efficiency, reducing worker intervention during the injection molding process, and lowering safety hazards. Attached Figure Description

[0011] Figure 1 This is a structural view of the present invention.

[0012] Figure 2 This is the first perspective structural view of the translation frame of this utility model.

[0013] Figure 3 This is a second perspective structural view of the translation frame of this utility model.

[0014] The diagram is labeled as follows: Frame 1, X-axis slide rail 2, X-axis motor 3, translation frame 4, first belt drive 5, Z-axis motor 6, lifting mechanism 7, second belt 8, lifting frame 9, Y-axis slide rail 10, Y-axis motor 11, clamping frame 12, first lead screw 13, clamping rod 14, gearbox 15, second lead screw 16, optical shaft 17, bushing 18, quick release part 19. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Example 1:

[0017] This utility model provides a special robotic arm for retrieving fruit baskets, including a frame 1. The frame 1 is fixedly equipped with an X-axis slide rail 2 and an X-axis motor 3. A translation frame 4 is movably mounted on the X-axis slide rail 2. The X-axis motor 3 is connected to the translation frame 4 via a first belt drive 5. The translation frame 4 is fixedly equipped with a Z-axis motor 6 and a lifting mechanism 7. The Z-axis motor 6 is driven and connected to the lifting mechanism 7 via a second belt 8. The lifting mechanism 7 is driven and connected to a lifting frame 9. The lifting frame 9 is fixedly equipped with a Y-axis slide rail 10 and a Y-axis motor 11. A clamping frame 12 is symmetrically arranged on the Y-axis slide rail 10. The Y-axis motor 11 is driven and connected to the clamping frame 12 via a first lead screw 13. The clamping frame 12 is fixedly equipped with a clamping rod 14. The lifting mechanism 7 includes a gearbox 15, a second lead screw 16, a smooth shaft 17, and a bushing 18. The gearbox 15 is driven by the second lead screw 16, the smooth shaft 17 is slidably connected to the bushing 18, and both the gearbox 15 and the bushing 18 are fixedly connected to the translation frame 4. The second lead screw 16 and the smooth shaft 17 are both fixedly connected to the lifting frame 9. The clamping frame 12 is fixedly mounted with the clamping rod 14 via three quick-release pieces 19. The clamping rod 14 is a hollow stainless steel rod.

[0018] Through the above technical solution, this utility model uses clamping rods 14 on the clamping frame 12 to clamp fruit baskets. During operation, the X-axis motor 3 drives the translation frame 4 to move, so that the clamping rods 14 are close to or away from the injection mold. The Z-axis motor 6 drives the lifting frame 9 to move up and down through the lifting mechanism 7, so that the height of the clamping rods 14 is equivalent to the height of the injection mold. A Y-axis slide rail 10 and a Y-axis motor 11 are fixedly installed on the lifting frame 9. The clamping frames 12 are symmetrically arranged on the Y-axis slide rail 10. The Y-axis motor 11 drives the clamping frames 12 to move through the first lead screw 13, so that the symmetrically arranged clamping frames 12 move relative to each other, realizing the function of clamping and releasing fruit baskets by clamping rods 14. This utility model controls the movement of a pair of clamping rods 14 through multi-axis movement and automatically clamps fruit baskets in the mold, improving production efficiency, reducing worker intervention in the injection molding process, and reducing safety hazards.

[0019] Example 2:

[0020] In this embodiment, an X-axis slide rail 2 and an X-axis motor 3 are fixedly mounted on the frame 1. A translation frame 4 is movably mounted on the X-axis slide rail 2. The X-axis motor 3 is driven by the translation frame 4 via a first belt. When the X-axis motor 3 operates, it drives the translation frame 4 to move horizontally along the X-axis slide rail 2 via the first belt, thereby adjusting the position of the robot in the horizontal direction.

[0021] A Z-axis motor 6 and a lifting mechanism 7 are fixedly mounted on the translation frame 4. The Z-axis motor 6 is connected to the lifting mechanism 7 via a second belt 8. The lifting mechanism 7 drives the lifting frame 9. When the Z-axis motor 6 operates, it drives the lifting mechanism 7 via the second belt 8, enabling the lifting frame 9 to move vertically. This design allows the robot to precisely adjust the height of molds of different heights.

[0022] A Y-axis slide rail 10 and a Y-axis motor 11 are fixedly mounted on the lifting frame 9. Two clamping frames 12 are symmetrically arranged on the Y-axis slide rail 10. The Y-axis motor 11 is driven by the clamping frames 12 through a first lead screw 13. When the Y-axis motor 11 operates, it drives the two clamping frames 12 to move towards or away from each other on the Y-axis slide rail 10 through the first lead screw 13. Each clamping frame 12 is fixedly mounted with a clamping rod 14, and the opening and closing action of the clamping rod 14 is achieved by the movement of the clamping frame 12.

[0023] In actual operation, the robotic arm first moves the translation frame 4 via the X-axis motor 3, bringing the clamping rod 14 assembly closer to the injection mold. Then, the Z-axis motor 6 drives the lifting mechanism 7 to adjust the height of the lifting frame 9, positioning the clamping rod 14 at a suitable height relative to the fruit basket inside the mold. Finally, the Y-axis motor 11 drives the clamping frame 12 to move in opposite directions, clamping the fruit basket with the clamping rod 14. After clamping, the robotic arm reverses its movement to remove the fruit basket from the mold and transfer it to a designated location.

[0024] This robotic arm achieves precise positioning and stable gripping of fruit baskets through coordinated movements along the X, Y, and Z axes. The X-axis handles horizontal feed, the Z-axis handles vertical height adjustment, and the Y-axis handles the gripping action. The coordinated movements of these three axes ensure the robotic arm can adapt to molds and fruit baskets of different sizes, enabling efficient and stable automated picking operations.

[0025] The symmetrically designed clamping frame 12 is synchronously driven by the Y-axis motor 11, ensuring a uniform distribution of clamping force. The clamping rod 14 is directly fixed to the clamping frame 12, resulting in a simple and reliable structure. The entire part removal process requires no manual intervention, improving production efficiency and eliminating safety hazards.

[0026] Example 3:

[0027] In this embodiment, the gearbox 15 is bolted to the translation frame 4. The input shaft of the gearbox 15 is connected to the output shaft of the Z-axis motor 6 via a coupling, and the output end of the gearbox 15 is fixedly connected to the lower end of the second lead screw 16 via a key connection. The second lead screw 16 adopts a precision ball screw structure, and its threaded portion forms a precision fit with the nut seat in the center of the lifting frame 9. When the Z-axis motor 6 drives the second lead screw 16 to rotate through the gearbox 15, the rotational motion of the second lead screw 16 is converted into the linear lifting motion of the lifting frame 9.

[0028] Two optical shafts 17 are symmetrically arranged on both sides of the translation frame 4. These optical shafts 17 are high-precision linear optical shafts with hardened and chrome-plated surfaces. Each optical shaft 17 passes through a linear bearing fixed to the lifting frame 9, forming a sliding pair. The upper end of the optical shaft 17 is fixedly connected to the translation frame 4 via a flange, and the lower end is relatively fixed to the lifting frame 9 via a lock nut. The bushing 18 is a self-lubricating copper bushing, with an inner hole maintaining a 0.02-0.05mm clearance with the optical shaft 17 to ensure the guiding accuracy of the lifting frame 9 during vertical movement.

[0029] The lifting frame 9 adopts a rectangular frame structure with mounting holes at its four corners, and is fixedly connected to the base of the Y-axis slide rail 10 by bolts. The upper end of the second lead screw 16 is connected to the crossbeam of the lifting frame 9 through a thrust bearing, which can withstand axial loads while allowing the lead screw to rotate freely. The gearbox 15 has heat dissipation fins on its housing and adopts a planetary gear reduction structure with a reduction ratio of 10:1, which converts the high-speed rotation of the Z-axis motor 6 into a speed suitable for the operation of the second lead screw 16.

[0030] When the robotic arm is working, the Z-axis motor 6 drives the input shaft of the gearbox 15 to rotate via the second belt 8. After being reduced in speed by the gearbox 15, the input shaft rotates the second lead screw 16. Because the optical axis 17 restricts the rotational freedom of the lifting frame 9, the rotational motion of the second lead screw 16 forces the lifting frame 9 to make precise linear movements along the optical axis 17. The cooperation between the optical axis 17 and the bushing 18 effectively eliminates the radial wobble of the lifting frame 9 during movement, ensuring that the clamping mechanism maintains a stable posture during lifting. The high-precision threaded transmission of the second lead screw 16 ensures that the positioning repeatability of the lifting frame 9 can reach ±0.1mm, meeting the positioning requirements for fruit basket removal.

[0031] When the lifting frame 9 descends, the clamping rods 14 on the clamping frame 12 accurately insert into the gripping slots on both sides of the fruit basket; when the lifting frame 9 rises, it smoothly lifts the fruit basket vertically from the mold, avoiding scratching the fruit basket against the inner wall of the mold. The entire lifting process is coordinated by the PLC control system to automate the movement of each axis, realizing the automated operation of removing the fruit basket. The structural design of the lifting mechanism 7 ensures that the robot arm remains stable even at high speeds, and maintenance is convenient. Only periodic lubrication of the optical axis 17 and the lead screw is required to ensure long-term accuracy.

[0032] Example 4:

[0033] In this embodiment, the clamping frame 12 is fixedly installed with the clamping rod 14 by three quick-release parts 19, which facilitates the replacement of damaged or different types of clamping rods 14. The three quick-release parts 19 are arranged in a straight line to ensure the installation stability of the clamping rod 14.

[0034] In the actual operation of the fruit basket retrieval robot, the clamping rod 14, as a key component that directly contacts the fruit basket, is crucial for its stability and replaceability. The connection between the clamping frame 12 and the clamping rod 14 is secured by three quick-release clips 19, which are arranged in a straight line along the length of the clamping rod 14. This ensures that the clamping rod 14 experiences uniform force when clamping and releasing the fruit basket, preventing loosening or displacement caused by single-point fixing. The structural design of the quick-release clips 19 makes the replacement of the clamping rod 14 simple and quick, requiring no additional tools for disassembly and installation, thereby reducing downtime and improving production efficiency.

[0035] When the clamping rod 14 is damaged due to prolonged use or accidental impact, the operator can quickly release the quick-release piece 19, remove the damaged clamping rod 14 from the clamping frame 12, and replace it with a spare clamping rod 14. Furthermore, suitable types of clamping rods 14 can be selected for different specifications or shapes of fruit baskets, such as clamping rods 14 of different lengths, widths, or surface materials, to meet diverse production needs. The linear arrangement of the three quick-release pieces 19 not only ensures the installation stability of the clamping rod 14 but also ensures a uniform distribution of clamping force, preventing the fruit basket from deforming or slipping due to uneven force during removal.

[0036] During the operation of the robotic arm, the X-axis motor 3 drives the translation frame 4 to move along the X-axis slide rail 2, causing the clamping rod 14 to move closer to or further away from the injection mold. The Z-axis motor 6 drives the lifting frame 9 to move up and down via the lifting mechanism 7, adjusting the height of the clamping rod 14 to align it with the fruit basket inside the mold. The Y-axis motor 11 drives the symmetrically arranged clamping frames 12 to move relative to each other along the Y-axis slide rail 10 via the first lead screw 13, causing the clamping rod 14 to clamp or release the fruit basket. Because the clamping rod 14 is firmly fixed by three quick-release pieces 19, it can stably transmit clamping force during the clamping action, ensuring that the fruit basket is reliably gripped.

[0037] This embodiment improves the adaptability and ease of maintenance of the robotic arm by optimizing the fixing method of the clamping rod 14, while ensuring the stability and efficiency of fruit basket removal, making it suitable for large-scale automated production environments.

[0038] Example 5:

[0039] In this embodiment, an X-axis slide rail 2 and an X-axis motor 3 are fixedly mounted on the frame 1. A translation frame 4 is movably mounted on the X-axis slide rail 2. The X-axis motor 3 drives the translation frame 4 to move along the X-axis slide rail 2 via a first belt 5. A Z-axis motor 6 and a lifting mechanism 7 are fixedly mounted on the translation frame 4. The Z-axis motor 6 drives the lifting mechanism 7 via a second belt 8. The lifting mechanism 7 drives the lifting frame 9 to move vertically. A Y-axis slide rail 10 and a Y-axis motor 11 are fixedly mounted on the lifting frame 9. Two clamping frames 12 are symmetrically arranged on the Y-axis slide rail 10. The Y-axis motor 11 drives the clamping frames 12 to move relative to each other along the Y-axis slide rail 10 via a first lead screw 13, thereby achieving clamping or releasing actions. A clamping rod 14 is fixedly mounted on the clamping frame 12 via three quick-release parts 19. The three quick-release parts 19 are arranged in a straight line to ensure the stability of the clamping rod 14 during installation.

[0040] The clamping rod 14 adopts a hollow stainless steel rod structure, which ensures both the overall weight of the robot arm and sufficient rigidity when clamping the fruit basket, preventing the fruit basket from falling off or being damaged due to deformation under force. During operation, the X-axis motor 3 drives the translation frame 4 to move, so that the clamping rod 14 moves closer to or away from the injection mold; the Z-axis motor 6 adjusts the height of the lifting frame 9 through the lifting mechanism 7, so that the clamping rod 14 is aligned with the fruit basket inside the mold; the Y-axis motor 11 drives the clamping frame 12 to move relative to the clamping rod 14, so that the clamping rod 14 clamps the fruit basket, and then the fruit basket is removed from the mold by the X-axis and Z-axis movements.

[0041] This robotic arm achieves automated basket retrieval through multi-axis coordinated motion, reducing manual intervention and improving production efficiency. The hollow stainless steel clamping rod 14 design reduces overall weight while ensuring strength, making the robotic arm more flexible and stable in operation, suitable for retrieving fruit baskets of different sizes.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0043] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A special robotic arm for retrieving fruit baskets, comprising a frame, characterized in that, The frame is fixedly equipped with an X-axis slide rail and an X-axis motor. A translation frame is movably mounted on the X-axis slide rail. The X-axis motor is driven by a first belt and connected to the translation frame. A Z-axis motor and a lifting mechanism are fixedly mounted on the translation frame. The Z-axis motor is driven by a second belt and connected to the lifting mechanism. The lifting mechanism is driven by a lifting frame. A Y-axis slide rail and a Y-axis motor are fixedly mounted on the lifting frame. Clamping frames are symmetrically arranged on the Y-axis slide rail. The Y-axis motor is driven by a first lead screw and connected to the clamping frames. Clamping frames are fixedly equipped with clamping rods.

2. The special robotic arm for retrieving fruit baskets according to claim 1, characterized in that, The lifting mechanism includes a gearbox, a second lead screw, an optical shaft, and a bushing. The gearbox is driven and connected to the second lead screw. The optical shaft is slidably connected to the bushing. Both the gearbox and the bushing are fixedly connected to the translation frame. Both the second lead screw and the optical shaft are fixedly connected to the lifting frame.

3. The special robotic arm for retrieving fruit baskets according to claim 1, characterized in that, The clamping frame is fixedly installed with the clamping rod by three quick-release parts.

4. The special robotic arm for retrieving fruit baskets according to claim 3, characterized in that, The clamping rod is a hollow stainless steel rod.

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