Multi-axis suction type robot for fruit grading and sorting

Abstract

This utility model discloses a multi-axis adsorption-type robotic arm for fruit grading and sorting. A turntable is rotatably connected to the upper surface of the base, and a direction adjustment component is provided inside the base. A large arm is located on the upper surface of the turntable, comprising a fixed support, a large arm frame, a large arm swing component, and a small arm swing component. The upper end of the large arm frame is hinged to one end of the small arm. The small arm includes a mounting plate, a housing, a cylinder, and a connecting block. The mounting plate is hinged to the upper end of the large arm frame, and a wrist joint is hinged to the connecting block via a connecting plate. A wrist joint drive component is provided inside the housing, cylinder, and connecting block. A mounting block is located on the end of the wrist joint away from the small arm, and a negative pressure adsorption head is located on the end of the mounting block exposed above the wrist joint. A negative pressure adsorption head direction adjustment component is located inside the wrist joint. The advantages of this utility model are: convenient and flexible direction adjustment, a wide coverage area of ​​the robotic arm, and the ability to perform non-destructive sorting of fruits, significantly improving the sorting efficiency and accuracy of fruits.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a multi-axis adsorption robotic arm for fruit grading and sorting. Background Technology

[0002] In the fruit processing and cold chain logistics sector, grading and sorting are crucial for ensuring the commercial value of fruit. Fruits need to be quickly classified into different grades based on indicators such as size, ripeness, and appearance integrity, while simultaneously preventing damage during the sorting process. Currently, fruit grading and sorting largely relies on manual sorting or traditional robotic arms. However, with the large-scale development of the fruit industry, traditional sorting methods have gradually revealed problems such as low efficiency, poor flexibility, and low rates of damage-free sorting, making it difficult to meet the demands of modern processing. Specific technical challenges are as follows:

[0003] 1. Insufficient flexibility in direction adjustment and poor adaptability to multiple workstations. When facing multi-workstation sorting scenarios, the fixed base requires the entire equipment to be moved to switch sorting workstations, which is cumbersome and prone to collision with surrounding equipment during the movement.

[0004] 2. The arm and body have weak coordination and adjustment capabilities, and the sorting coverage is limited. The existing robotic arms are mostly single-degree-of-freedom swinging or rigidly connected. The upper arm can only swing up and down, and the lower arm adjustment relies on manual assistance. It cannot coordinate the adjustment according to the height and front and back position of the fruit on the conveyor line, resulting in some fruits not being sorted.

[0005] 3. Sorting fruits by grabbing them can easily lead to fruit deformation or skin damage, resulting in a low rate of non-destructive sorting and seriously affecting the commercial value of the fruits.

[0006] 4. The drive and transmission structure has low precision, making it difficult to improve sorting efficiency. The existing drive and transmission structures of robotic arms mostly adopt independent pneumatic systems or simple gear meshing and chain transmission, without optimization of reduction gear sets, resulting in low transmission efficiency and poor precision.

[0007] This invention addresses these issues by proposing a multi-axis adsorption robotic arm for fruit grading and sorting. The aim is to solve the aforementioned problems by providing convenient and flexible directional adjustment of the robotic arm, a wide coverage area, and enabling non-destructive fruit sorting, thereby significantly improving sorting efficiency and accuracy. Utility Model Content

[0008] To address the aforementioned shortcomings in the existing technology, this utility model provides a multi-axis adsorption robotic arm for fruit grading and sorting.

[0009] To achieve the aforementioned objectives, the technical solution adopted by this utility model is as follows:

[0010] A multi-axis suction-type robotic arm for fruit grading and sorting includes a base, a large arm, a small arm, and a gripping head.

[0011] The upper surface of the base is rotatably connected to a turntable, and the base is provided with a direction adjustment component, which drives the turntable to rotate.

[0012] The upper surface of the turntable is provided with a large arm, which includes a fixed bracket, a large arm frame, a large arm swing component, and a small arm swing component. The fixed bracket is located at the center of the upper surface of the turntable, and the large arm frame is located above the fixed bracket. The lower end of the large arm frame is hinged to the upper end of the fixed bracket through a connecting shaft. The large arm swing component includes a motor and a reducer. The motor and reducer are located on the side of the fixed bracket. The output end of the motor is connected to the output end of the reducer, and the output end of the reducer is connected to the connecting shaft. A small arm swing component is provided on the fixed bracket and on one side of the large arm frame. The upper end of the large arm frame is hinged to one end of the small arm.

[0013] The forearm includes a mounting plate, a housing, a cylinder, and a connecting block. The mounting plate is hinged to the upper end of the upper arm frame. The upper end of the forearm swing component is connected to the mounting plate. The upper surface of the mounting plate is provided with a housing. The housing is provided with a cylinder. The end of the cylinder away from the housing is provided with a connecting block. A wrist joint is hinged to the connecting block via a connecting plate. A wrist joint driving component is provided inside the housing, cylinder, and connecting block. The end of the wrist joint away from the forearm is provided with a mounting block. The end of the mounting block exposed above the wrist joint is provided with a negative pressure suction head. A negative pressure suction head direction adjustment component is provided inside the wrist joint. The wrist joint driving component drives the negative pressure suction head direction adjustment component to move in coordination.

[0014] Furthermore, the direction adjustment component includes a second motor, a worm gear, a worm wheel, and a support shaft. The support shaft is rotatably connected inside the base. The upper end of the support shaft is connected to the center of the lower end face of the turntable. A worm wheel is provided on the support shaft. A worm gear is rotatably connected to one side of the worm wheel. The worm gear meshes with the worm wheel. The second motor is located on the side of the base. The output end of the second motor is connected to the worm gear.

[0015] Furthermore, the forearm swing component includes a third motor, a second reducer, a swing plate, and a transmission rod. The third motor and the second reducer are disposed on the side of the fixed bracket, and the swing plate is located inside the fixed bracket. The output end of the second reducer is connected to one end of the swing plate, and the output end of the third motor is connected to the output end of the second reducer. The swing plate is connected to the mounting plate through the transmission rod, and both ends of the transmission rod are hinged to the swing plate and the mounting plate, respectively.

[0016] Furthermore, the wrist joint driving component includes a motor, a reduction gear set, a transmission shaft, and a transmission gear set. The motor is mounted on the housing, the reduction gear set is located inside the housing, the transmission shaft is rotatably connected inside the cylinder, and the transmission gear set is located inside the connecting block. The motor drives the transmission shaft to rotate through the reduction gear set, and the transmission shaft drives the wrist joint to rotate through the transmission gear set.

[0017] Furthermore, the transmission gear set includes bevel gear one, bevel gear two, bevel gear three, and bevel gear four. Bevel gear one and bevel gear two are concentrically arranged at one end of the transmission shaft, and gear three and gear four are concentrically arranged on the connecting plate. Bevel gear one and bevel gear two mesh with bevel gear three and bevel gear four respectively. The connecting plate is connected to the negative pressure adsorption head direction adjustment component.

[0018] Furthermore, the negative pressure adsorption head direction adjustment component includes gear one, gear two, bevel gear five and bevel gear six. The wrist joint is rotatably connected to a rotating shaft at the end away from the forearm. Gear one and bevel gear five are provided on the rotating shaft. Gear two is provided on the connecting plate and meshes with gear one. Bevel gear six is ​​provided on the mounting block and meshes with bevel gear five.

[0019] Furthermore, a control box is provided on the side of the base.

[0020] Compared to traditional technologies, the advantages of this utility model are:

[0021] 1. Stable and precise directional adjustment, adaptable to multi-station sorting needs. The second motor can accurately convert the speed into the slow rotation of the turntable through worm gear reduction transmission. The meshing transmission of the worm and worm wheel has a self-locking characteristic, which can effectively prevent the turntable from rotating unexpectedly due to load disturbance when carrying the weight of fruit, ensuring the stability of the robotic arm's directional position during sorting, especially suitable for multi-station switching scenarios in fruit sorting lines.

[0022] 2. The multi-dimensional swing adjustment is flexible, covering complex sorting spaces. The direction of the upper arm is adjustable, the swing angle of the forearm is adjustable, the wrist joint can swing, and the direction of the negative pressure suction head is adjustable. Compared with the traditional single-arm fixed structure, the operation coverage is larger and it is suitable for complex sorting scenarios.

[0023] 3. The wrist joint and suction head work together to adjust the posture, adapting to the complex arrangement of fruits and effectively reducing sorting losses caused by unsuitable posture.

[0024] 4. The negative pressure suction head sorts and picks up the fruit, ensuring safe and undamaged handling, and is suitable for sorting delicate fruits. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the structure of the base of this utility model;

[0027] Figure 3 This is a schematic diagram of the forearm structure of this utility model;

[0028] Figure 4 This is a schematic diagram of the wrist joint structure of this utility model;

[0029] Reference table for attached figures:

[0030] 1. Base; 2. Turntable; 3. Fixed bracket; 4. Boom frame; 5. Motor 1; 6. Reducer 1; 7. Mounting plate; 8. Housing; 9. Cylinder; 10. Connecting block; 11. Connecting plate; 12. Wrist joint; 13. Mounting block; 14. Negative pressure suction head; 15. Motor 2; 16. Worm gear; 17. Worm wheel; 18. Support shaft; 19. Motor 3; 20. Reducer 2; 21. Swing plate; 22. Transmission rod; 23. Motor 4; 24. Reduction gear set; 25. Transmission shaft; 26. Bevel gear 1; 27. Bevel gear 2; 28. Bevel gear 3; 29. ​​Bevel gear 4; 30. Gear 1; 31. Gear 2; 32. Bevel gear 5; 33. Bevel gear 6; 34. Control box. Detailed Implementation

[0031] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals.

[0032] It should be noted that the terms “front,” “back,” “left,” “right,” “up,” and “down” used in the following description refer to the directions shown in the attached diagram, while the terms “inside” and “outside” refer to the directions toward or away from the geometric center of a specific component, respectively.

[0033] To make the content of this utility model easier to understand, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model.

[0034] Example 1

[0035] Combined with appendix Figure 1-2 The upper surface of the base 1 is rotatably connected to a turntable 2, and the base 1 is provided with a direction adjustment component, which drives the turntable 2 to rotate.

[0036] The direction adjustment component includes a second motor 15, a worm gear 16, a worm wheel 17, and a support shaft 18. The support shaft 18 is rotatably connected inside the base 1. The upper end of the support shaft 18 is connected to the center of the lower end face of the turntable 2. The worm wheel 17 is provided on the support shaft 18. The worm gear 16 is rotatably connected to one side of the worm wheel 17. The worm gear 16 meshes with the worm wheel 17. The second motor 15 is located on the side of the base 1. The output end of the second motor 15 is connected to the worm gear 16.

[0037] The base 1 has a control box 34 on its side.

[0038] When in use, the base 1 is fixed in a suitable position. When the direction of the robotic arm needs to be adjusted, the control box 34 controls the motor 15 to move. The rotation of the motor 15 drives the worm gear 16 to rotate, the worm gear 16 drives the worm wheel 17 meshing with it to rotate, the worm wheel 17 drives the support shaft 18 to rotate, the support shaft 18 drives the turntable 2 to rotate, and the turntable 2 adjusts the orientation of the robotic arm through the fixed bracket 3.

[0039] Motor 2 15 is driven by worm gear 16 and worm wheel 17 to reduce speed, which can accurately convert the speed into the slow rotation of turntable 2. The meshing transmission of worm gear 16 and worm wheel 17 has a self-locking characteristic, which can effectively prevent turntable 2 from rotating unexpectedly due to load disturbance when carrying the weight of fruit, and ensure the stability of the direction and position of the robotic arm during the sorting process.

[0040] Combined with appendix Figure 1 The turntable 2 has a large arm on its upper surface. The large arm includes a fixed bracket 3, a large arm frame 4, a large arm swing component, and a small arm swing component. The fixed bracket 3 is located at the center of the upper surface of the turntable 2. The large arm frame 4 is located above the fixed bracket 3. The lower end of the large arm frame 4 is hinged to the upper end of the fixed bracket 3 through a connecting shaft. The large arm swing component includes a motor 5 and a reducer 6. The motor 5 and the reducer 6 are located on the side of the fixed bracket 3. The output end of the motor 5 is connected to the output end of the reducer 6. The output end of the reducer 6 is connected to the connecting shaft.

[0041] When it is necessary to adjust the swing angle of the robotic arm, motor 5 rotates, which drives the connecting shaft to rotate through the reduction gear 6. The connecting shaft drives the upper arm frame 4 to rotate, adjusting the relative angle between the upper arm frame 4 and the fixed bracket 3, thereby adjusting the position of the upper arm and facilitating the robotic arm to grasp the fruit.

[0042] Combined with appendix Figure 1 The fixed bracket 3 and one side of the upper arm frame 4 are provided with a forearm swinging component, and the upper end of the upper arm frame 4 is hinged to one end of the forearm.

[0043] The forearm swing component includes a third motor 19, a second reducer 20, a swing plate 21, and a transmission rod 22. The third motor 19 and the second reducer 20 are disposed on the side of the fixed bracket 3. The swing plate 21 is located inside the fixed bracket 3. The output end of the second reducer 20 is connected to one end of the swing plate 21. The output end of the third motor 19 is connected to the output end of the second reducer 20. The swing plate 21 is connected to the mounting plate 7 through the transmission rod 22. The two ends of the transmission rod 22 are hinged to the swing plate 21 and the mounting plate 7, respectively.

[0044] When the swing angle of the forearm needs to be adjusted, the motor 19 rotates, and through the reduction transmission of the reducer 20, it drives the swing plate 21 to swing. The swing plate 21 swings through the transmission rod 22, which is hinged to the swing plate 21 and the mounting plate 7 at both ends, respectively, which drives the mounting plate 7, which is hinged to the upper end of the upper arm frame 4, to flip. The flipping of the mounting plate 7 drives the forearm to swing, thus realizing the action of grabbing and sorting fruits.

[0045] Combined with appendix Figure 3 and 4 The forearm includes a mounting plate 7, a housing 8, a cylinder 9, and a connecting block 10. The mounting plate 7 is hinged to the upper end of the upper arm frame 4. The upper end of the forearm swing component is connected to the mounting plate 7. The upper surface of the mounting plate 7 is provided with the housing 8. The housing 8 is provided with the cylinder 9. The end of the cylinder 9 away from the housing 8 is provided with the connecting block 10. The wrist joint 12 is hinged to the connecting block 10 through a connecting plate 11. The housing 8, the cylinder 9, and the connecting block 10 are provided with a wrist joint driving component. The end of the wrist joint 12 away from the forearm is provided with a mounting block 13. The end of the mounting block 13 exposed above the wrist joint 12 is provided with a negative pressure suction head 14.

[0046] The wrist joint driving component includes a motor 23, a reduction gear set 24, a drive shaft 25, and a transmission gear set. The motor 23 is mounted on the housing 8, and the reduction gear set 24 is provided inside the housing 8. The drive shaft 25 is rotatably connected inside the cylinder 9, and the transmission gear set is located inside the connecting block 10. The motor 23 drives the drive shaft 25 to rotate through the reduction gear set 24, and the drive shaft 25 drives the wrist joint 12 to rotate through the transmission gear set.

[0047] The transmission gear set includes bevel gear 1 26, bevel gear 27, bevel gear 3 28, and bevel gear 4 29. Bevel gear 1 26 and bevel gear 27 are concentrically arranged at one end of the transmission shaft 25, and bevel gear 3 28 and bevel gear 4 29 are concentrically arranged on the connecting plate 11. Bevel gear 1 26 and bevel gear 27 mesh with bevel gear 3 28 and bevel gear 4 29 respectively. The connecting plate 11 is connected to the direction adjustment component of the negative pressure suction head 14.

[0048] During the fruit grasping and sorting process, motor 423 is activated. Motor 423 drives the transmission shaft 25 inside the cylinder 9 to rotate through the reduction gear set 24 inside the housing 8. The transmission shaft 25 drives the concentric bevel gear 126 and bevel gear 27 in the connecting block 10 to rotate. Bevel gear 126 and bevel gear 27 drive the bevel gear 328 and bevel gear 429 that mesh with them to rotate. Bevel gear 328 and bevel gear 429 drive the connecting plate 11 to rotate. The connecting plate 11 drives the wrist joint 12, which is hinged to the forearm connecting block 10, to rotate. The rotation of the wrist joint 12 drives the negative pressure suction head 14 to rotate through the mounting block 13 on it, so that the negative pressure suction head 14 can suction and grasp the fruit at a suitable angle, ensuring safe and undamaged fruit grasping. This makes the robotic arm suitable for sorting delicate fruits.

[0049] Example 2

[0050] Combined with appendix Figure 3-4 The wrist joint 12 is provided with a negative pressure adsorption head direction adjustment component, and the wrist joint driving component drives the negative pressure adsorption head direction adjustment component to move in coordination.

[0051] The negative pressure adsorption head direction adjustment component includes gear 1 30, gear 2 31, bevel gear 5 32 and bevel gear 6 33. The wrist joint 12 is rotatably connected to a rotating shaft at the end away from the forearm. Gear 1 30 and bevel gear 5 32 are provided on the rotating shaft. Gear 2 31 is provided on the connecting plate 11 and meshes with gear 1 30. Bevel gear 6 33 is provided on the mounting block 13 and meshes with bevel gear 5 32.

[0052] Based on Embodiment 1, when the rotation angle of the wrist joint 12 is adjusted, the connecting plate 11 drives the gear 2 31 to rotate, the gear 2 31 drives the gear 1 30 meshing with it to rotate, the gear 1 30 drives the rotating shaft to rotate, the rotating shaft drives the bevel gear 5 32 to rotate, the bevel gear 5 32 drives the bevel gear 6 33 meshing with it to rotate, the bevel gear 6 33 drives the mounting block 13 to rotate on the wrist joint 12, and the mounting block 13 drives the negative pressure suction head 14 to rotate, thereby adjusting the fruit suction and gripping position and direction. The angle adjustment of the negative pressure suction head 14 is synchronized with the angle adjustment of the wrist joint 12, so that the robotic arm can quickly adjust to a suitable posture to achieve rapid suction and gripping of fruit, thereby improving the efficiency of fruit sorting.

[0053] The above description is only a preferred embodiment of this utility model patent and is not intended to limit this utility model patent. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this utility model patent should be included within the protection scope of this utility model patent.

Claims

1. A multi-axis adsorption robotic arm for fruit grading and sorting, comprising a base (1), a large arm, a small arm, and a gripping head, characterized in that: The upper surface of the base (1) is rotatably connected to a turntable (2), and the base (1) is provided with a direction adjustment component, which drives the turntable (2) to rotate. The upper surface of the turntable (2) is provided with a large arm. The large arm includes a fixed bracket (3), a large arm frame (4), a large arm swing component and a small arm swing component. The fixed bracket (3) is located at the center of the upper surface of the turntable (2). The large arm frame (4) is located above the fixed bracket (3). The lower end of the large arm frame (4) is hinged to the upper end of the fixed bracket (3) through a connecting shaft. The large arm swing component includes a motor (5) and a reducer (6). The motor (5) and the reducer (6) are located on the side of the fixed bracket (3). The output end of the motor (5) is connected to the output end of the reducer (6). The output end of the reducer (6) is connected to the connecting shaft. The small arm swing component is provided on the fixed bracket (3) and on one side of the large arm frame (4). The upper end of the large arm frame (4) is hinged to one end of the small arm. The forearm includes a mounting plate (7), a housing (8), a cylinder (9), and a connecting block (10). The mounting plate (7) is hinged to the upper end of the upper arm frame (4). The upper end of the forearm swinging component is connected to the mounting plate (7). The upper end of the mounting plate (7) is provided with a housing (8). The housing (8) is provided with a cylinder (9). The end of the cylinder (9) away from the housing (8) is provided with a connecting block (10). The connecting block (10) is hinged with a wrist joint (12) through a connecting plate (11). The housing (8), the cylinder (9), and the connecting block (10) are provided with a wrist joint driving component. The end of the wrist joint (12) away from the forearm is provided with a mounting block (13). The end of the mounting block (13) exposed from the wrist joint (12) is provided with a negative pressure adsorption head (14). The wrist joint (12) is provided with a negative pressure adsorption head direction adjustment component. The wrist joint driving component drives the negative pressure adsorption head direction adjustment component to move in coordination.

2. The multi-axis adsorption robotic arm for fruit grading and sorting according to claim 1, characterized in that: The direction adjustment component includes a second motor (15), a worm (16), a worm wheel (17), and a support shaft (18). The support shaft (18) is rotatably connected inside the base (1). The upper end of the support shaft (18) is connected to the center of the lower end face of the turntable (2). The worm wheel (17) is provided on the support shaft (18). The worm (16) is rotatably connected to one side of the worm wheel (17). The worm (16) meshes with the worm wheel (17). The second motor (15) is located on the side of the base (1). The output end of the second motor (15) is connected to the worm (16).

3. The multi-axis adsorption robotic arm for fruit grading and sorting according to claim 1, characterized in that: The forearm swing component includes a third motor (19), a second reducer (20), a swing plate (21), and a transmission rod (22). The third motor (19) and the second reducer (20) are located on the side of the fixed bracket (3). The swing plate (21) is located inside the fixed bracket (3). The output end of the second reducer (20) is connected to one end of the swing plate (21). The output end of the third motor (19) is connected to the output end of the second reducer (20). The swing plate (21) is connected to the mounting plate (7) through the transmission rod (22). The two ends of the transmission rod (22) are hinged to the swing plate (21) and the mounting plate (7), respectively.

4. The multi-axis adsorption robotic arm for fruit grading and sorting according to claim 1, characterized in that: The wrist joint drive component includes a motor (23), a reduction gear set (24), a drive shaft (25), and a transmission gear set. The motor (23) is mounted on the housing (8). The housing (8) contains the reduction gear set (24). The cylinder (9) is rotatably connected to the drive shaft (25). The transmission gear set is mounted in the connecting block (10). The motor (23) drives the drive shaft (25) to rotate through the reduction gear set (24). The drive shaft (25) drives the wrist joint (12) to rotate through the transmission gear set.

5. A multi-axis adsorption robotic arm for fruit grading and sorting according to claim 4, characterized in that: The transmission gear set includes bevel gear one (26), bevel gear two (27), bevel gear three (28) and bevel gear four (29). Bevel gear one (26) and bevel gear two (27) are concentrically arranged at one end of the transmission shaft (25). Bevel gear three (28) and bevel gear four (29) are concentrically arranged on the connecting plate (11). Bevel gear one (26) and bevel gear two (27) mesh with bevel gear three (28) and bevel gear four (29) respectively. The connecting plate (11) is connected to the direction adjustment component of the negative pressure suction head (14).

6. A multi-axis adsorption robotic arm for fruit grading and sorting according to claim 5, characterized in that: The negative pressure adsorption head direction adjustment component includes gear one (30), gear two (31), bevel gear five (32) and bevel gear six (33). The wrist joint (12) is rotatably connected to a rotating shaft at the end away from the forearm. Gear one (30) and bevel gear five (32) are provided on the rotating shaft. Gear two (31) is set on the connecting plate (11) and meshes with gear one (30). Bevel gear six (33) is set on the mounting block (13) and meshes with bevel gear five (32).

7. A multi-axis adsorption robotic arm for fruit grading and sorting according to claim 1, characterized in that: The base (1) has a control box (34) on its side.

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