阅读说明：本技术 一种农用分拣装载机械手系统 (Agricultural sorting and loading manipulator system ) 是由 高翔 冯庆玲 于 2019-09-17 设计创作，主要内容包括：本发明公布了一种农用分拣装载机械手系统,它包括车头部件和分拣箱体,车头部件尾部设有牵引杆,分拣箱体底部设有车轮,分拣箱体前端设有连接座,牵引杆末端固定在连接座上,分拣箱体顶部设置有用于对农作物按规律摆放的理料部件,分拣箱体内部设置有用于对理顺的进行提取和储放的机械手部件,分拣箱体内部且在位于机械手部件的下方设置有农作物承载部件,分拣箱体的尾部设有农作物取出口。本发明自动化程度高,自动化程度高,能够将农作物理顺,同时将农作物按照规律摆放,实现农作物的自动化分拣和装载,从而降低工人的劳动强度,提高栽培效率。(The invention discloses an agricultural sorting and loading manipulator system which comprises a headstock part and a sorting box body, wherein a traction rod is arranged at the tail part of the headstock part, wheels are arranged at the bottom of the sorting box body, a connecting seat is arranged at the front end of the sorting box body, the tail end of the traction rod is fixed on the connecting seat, a material sorting part for regularly placing crops is arranged at the top of the sorting box body, a manipulator part for picking and storing the sorted crops is arranged in the sorting box body, a crop bearing part is arranged in the sorting box body and below the manipulator part, and a crop taking-out opening is formed in the tail part of the sorting box body. The automatic crop sorting and loading device is high in automation degree, can be used for sorting crops, and meanwhile, the crops are placed according to rules, so that the automatic sorting and loading of the crops are realized, the labor intensity of workers is reduced, and the cultivation efficiency is improved.)

1. The utility model provides an agricultural letter sorting loading manipulator system, a serial communication port, it includes car head spare (1) and letter sorting box (5), car head spare (1) afterbody is equipped with traction lever (14), letter sorting box (5) bottom is equipped with wheel (10), letter sorting box (5) front end is equipped with connecting seat (13), traction lever (14) end is fixed on connecting seat (13), letter sorting box (5) top is provided with reason material part (2) that are used for putting crops according to the law, inside being provided with of letter sorting box (5) is used for drawing and the manipulator part that stores in order, inside and being located the below of manipulator part being provided with crops carrier (9) of letter sorting box (5), the afterbody of letter sorting box (5) is equipped with crops and takes out mouth (6).

2. The agricultural sorting and loading manipulator system according to claim 1, wherein the material arranging component (2) comprises a hopper (21) and a reciprocating material arranging component, the reciprocating material arranging component movably penetrates through the top wall of the sorting box body (5) and then extends into the sorting box body (5), a seat body (27) is arranged at the lower end of the hopper (21), a guide support rod (28) is fixedly connected to the lower end of the seat body (27), the lower end of the guide support rod (28) movably penetrates through the top wall of the sorting box body (5) and then is connected with the anti-falling block (29), a first spring (28) is arranged between the seat body (27) and the top wall of the sorting box body (5), the first spring (28) is sleeved on the guide support rod (28), and the hopper (21) can reciprocate up and down through a vibration motor (216).

3. The agricultural sorting and loading manipulator system according to claim 2, wherein the reciprocating sorting and loading manipulator system comprises a sorting carrier (212) and a servo motor (25), a plurality of blanking through holes (211) are uniformly formed in the sorting carrier (212), a bell mouth (210) is formed in the upper end of each blanking through hole (211), guide blocks (213) are arranged on the left side and the right side of the sorting carrier (212), the tail ends of the guide blocks (213) movably penetrate through the side wall of the sorting box body (5) and then extend into the frame body (22), the frame body (22) is fixedly connected with the sorting box body (5), the tail ends of the guide blocks (213) are fixedly connected with guide rods (214), the guide rods (214) movably penetrate through the outer side wall of the frame body (22) and then are connected with end plates (23), hemispherical bosses (24) are arranged on the end plates (23), and output shafts of the servo motor (25) are connected with cams (26), a second spring (215) is arranged between the guide block (213) and the frame body (22), and the guide rod (214) is sleeved with the second spring (215); when the servo motor (25) operates, the cam (26) stirs the hemispherical boss (24) to drive the material arranging carrier (212) to reciprocate in the hopper (21).

4. The agricultural sorting and loading manipulator system according to any one of claims 1-3, wherein the manipulator component comprises a manipulator body (8), a support frame (16) and a first air cylinder (3), the support frame (16) and the first air cylinder are connected to the left end and the right end of the manipulator body (8), a saddle (15) is connected to the tail end of the support frame (16), the saddle (15) is installed on a longitudinal guide rail (4) in the sorting box body (5), the first air cylinder (3) is fixed in the sorting box body (5) and is arranged in parallel with the longitudinal guide rail (4), and the extending end of the first air cylinder (3) is fixedly connected with the support frame (16).

5. The agricultural sorting and loading manipulator system according to claim 4, wherein the manipulator body (8) comprises a manipulator carrier (86), a material receiving hole (85) matched with the blanking through hole (211) is formed in the manipulator carrier (86), a square groove (83) is formed in the side face of the manipulator carrier (86), the square groove (83) is communicated with the material receiving hole (85), and a crop clamping assembly for supporting and clamping crops falling in the material receiving hole (85) is arranged in the square groove (83).

6. The agricultural sorting and loading manipulator system according to claim 5, wherein the crop clamping assembly comprises a cover plate (82) arranged at the square groove (83), a guide column (81) arranged in the square groove (83), a movable plate (84) which is arranged on the guide column (81) and can slide back and forth, a spring (810) sleeved on the guide column (81), rubber clamping blocks (87) and iron blocks (89) fixed on the movable plate (84), and an electromagnet (88) fixed in the manipulator carrier (86), wherein the iron blocks (89) and the electromagnet (88) are arranged oppositely, the rubber clamping blocks (87) are multiple in number and are respectively arranged at the corresponding material receiving holes (85).

7. An agricultural sorting and loading manipulator system according to claim 6, characterized in that the clamping surface of the rubber clamping block (87) is provided with an inward concave arc.

8. An agricultural sorting and loading manipulator system according to claim 7, characterized in that the crop carrying part (9) comprises a manipulator body (8), a rail seat (17) fixed on the manipulator body (8), and a push reset assembly (11) connected with the manipulator body (8), wherein the rail seat (17) is mounted on the transverse rail (7).

9. The agricultural sorting and loading manipulator system according to claim 8, wherein the pushing and resetting assembly (11) comprises a rod body (113), a resetting spring (112) sleeved on the rod body (113), and a flange (111) arranged at the tail end of the rod body (113), wherein the rod body (113) is arranged on a linear bearing with a seat (114), the linear bearing with a seat (114) is fixed on the inner wall of the sorting box body (5), and the resetting spring (112) is arranged between the flange (111) and the linear bearing with a seat (114).

10. An agricultural sorting and loading manipulator system according to claim 9, further comprising a driving mechanism for pushing the crop carriers (9) to the crop removal opening (6), the driving mechanism being a second cylinder (12), the second cylinder (12) being fixed in the sorting box (5), the protruding end of the second cylinder (12) being fixedly connected to the crop carriers (9).

Technical Field

The invention relates to an agricultural sorting and loading manipulator system.

Background

The cultivation of crops is accomplished through the manual work usually, need sort crops earlier in the cultivation process for crop installation order and law are put, then cultivate, and manual sorting crops have intensity of labour big, inefficiency scheduling problem. There is an urgent need for an apparatus to solve the above problems.

Disclosure of Invention

The invention aims to solve the problems, and provides an agricultural sorting and loading manipulator system which is high in automation degree, can be used for straightening crops and arranging the crops according to rules to realize automatic sorting and loading of the crops, so that the labor intensity of workers is reduced, and the cultivation efficiency is improved.

In order to realize the purpose, the invention adopts the technical scheme that: it includes locomotive spare 1 and letter sorting box 5, locomotive spare 1 afterbody is equipped with traction lever 14, letter sorting box 5 bottom is equipped with wheel 10, letter sorting box 5 front end is equipped with connecting seat 13, the traction lever 14 end is fixed on connecting seat 13, letter sorting box 5 top is provided with the reason material part 2 that is used for putting according to the law to crops, inside being provided with of letter sorting box 5 is used for the manipulator part who draws and store in order of reason, inside and being provided with crops carrier part 9 in the below that lies in the manipulator part of letter sorting box 5, the afterbody of letter sorting box 5 is equipped with crops and takes out a mouthful 6.

Preferably, reason material part 2 includes hopper 21 and reciprocating type reason material subassembly, reciprocating type reason material subassembly activity is passed and is stretched into the inside of letter sorting box 5 behind the roof of letter sorting box 5, the lower extreme of hopper 21 is provided with pedestal 27, pedestal 27 lower extreme fixed connection guide strut 28, the lower extreme activity of guide strut 28 is passed and is connected with anticreep piece 29 behind the letter sorting box 5 roof, be provided with first spring 28 between pedestal 27 and the letter sorting box 5 roof, first spring 28 cover is established on guide strut 28, hopper 21 realizes the reciprocating motion of direction from top to bottom through vibrating motor 216.

Preferably, the reciprocating type material arranging assembly comprises a material arranging carrier 212 and a servo motor 25, a plurality of blanking through holes 211 are uniformly formed in the material arranging carrier 212, bell mouths 210 are formed in the upper ends of the blanking through holes 211, guide blocks 213 are arranged on the left side and the right side of the material arranging carrier 212, the tail ends of the guide blocks 213 movably penetrate through the side wall of the sorting box body 5 and then extend into the frame body 22, the frame body 22 is fixedly connected with the sorting box body 5, the tail ends of the guide blocks 213 are fixedly connected with guide rods 214, the guide rods 214 movably penetrate through the outer side wall of the frame body 22 and then are connected with an end plate 23, hemispherical bosses 24 are arranged on the end plate 23, an output shaft of the servo motor 25 is connected with a cam 26, a second spring 215 is arranged between the guide blocks 213 and; when the servo motor 25 operates, the cam 26 drives the hemispherical boss 24 to drive the material arranging carrier 212 to reciprocate in the hopper 21.

Preferably, the manipulator component comprises a manipulator body 8, a support frame 16 and a first cylinder 3, the support frame 16 and the first cylinder 3 are connected to the left end and the right end of the manipulator body 8, the tail end of the support frame 16 is connected with a saddle 15, the saddle 15 is installed on a longitudinal guide rail 4 in a sorting box body 5, the first cylinder 3 is fixed in the sorting box body 5 and is arranged in parallel with the longitudinal guide rail 4, and the extending end of the first cylinder 3 is fixedly connected with the support frame 16.

Preferably, the manipulator body 8 includes the manipulator carrier 86, is provided with on the manipulator carrier 86 and connects material hole 85 with blanking through-hole 211 assorted, and the side of manipulator carrier 86 is provided with square groove 83, and square groove 83 link up each other with connecing material hole 85, is provided with in the square groove 83 to be used for the crops that drop in connecing material hole 85 to play support and the crops centre gripping subassembly of clamping action.

Preferably, the crop clamping assembly comprises a cover plate 82 arranged at the square groove 83, a guide post 81 arranged in the square groove 83, a movable plate 84 which is arranged on the guide post 81 and can slide back and forth, a spring 810 sleeved on the guide post 81, a rubber clamping block 87 and an iron block 89 which are fixed on the movable plate 84, and an electromagnet 88 fixed in the manipulator carrier 86, wherein the iron block 89 and the electromagnet 88 are arranged oppositely, and the rubber clamping blocks 87 are multiple and are respectively arranged at the corresponding material receiving holes 85.

Preferably, the clamping surface of the rubber clamping block 87 is provided with an inward concave arc.

Preferably, the crop bearing part 9 comprises a manipulator body 8, a guide rail seat 17 fixed on the manipulator body 8, and a pushing reset assembly 11 connected with the manipulator body 8, wherein the guide rail seat 17 is installed on the transverse guide rail 7.

Preferably, the pushing and returning assembly 11 comprises a rod body 113, a returning spring 112 sleeved on the rod body 113, and a flange 111 arranged at the end of the rod body 113, wherein the rod body 113 is installed on a linear bearing with a seat 114, the linear bearing with a seat 114 is fixed on the inner wall of the sorting box 5, and the returning spring 112 is arranged between the flange 111 and the linear bearing with a seat 114.

Preferably, the crop-carrying part pushing device further comprises a driving mechanism used for pushing the crop-carrying part 9 to the crop-taking-out opening 6, the driving mechanism is a second air cylinder 12, the second air cylinder 12 is fixed in the sorting box body 5, and the extending end of the second air cylinder 12 is fixedly connected with the crop-carrying part 9.

The invention has the beneficial effects that: the invention provides an agricultural sorting and loading manipulator system which is high in automation degree, can be used for straightening crops and arranging the crops according to rules, and realizes automatic sorting and loading of the crops, so that the labor intensity of workers is reduced, and the cultivation efficiency is improved.

1. The material arranging component comprises a hopper and a reciprocating type material arranging component, wherein the hopper realizes reciprocating motion in the vertical direction through a vibration motor, so that crops can smoothly fall into the reciprocating type material arranging component for arranging; reciprocating type reason material subassembly makes crops installation law put in the blanking through-hole through horizontal reciprocating motion, accomplishes automatic reason material to replace traditional manual operation, improved efficiency.

2. According to the invention, the material sorting carrier is uniformly provided with a plurality of blanking through holes, and the upper ends of the blanking through holes are provided with the bell mouths, so that crops can smoothly fall into the blanking through holes, and the guiding effect is achieved.

3. The manipulator part comprises a manipulator body and a first cylinder, the first cylinder can drive the manipulator body to move up and down, and when the first cylinder retracts, the manipulator body is butted with the reciprocating type material arranging assembly, so that smooth material taking is realized; when the first cylinder extends, the butt joint of the manipulator body and the crop bearing part is realized, and smooth discharging is realized; the automatic process that crops are taken from the reciprocating type material arranging assembly to the crop bearing part is achieved, and therefore efficiency is improved.

4. According to the invention, the manipulator carrier is provided with the material receiving hole matched with the blanking through hole, and the crop clamping assembly can support and clamp crops falling into the material receiving hole, so that automatic crop bearing is completed, manual operation is replaced, and the efficiency is improved.

5. According to the crop clamping assembly, the rubber clamping block is controlled by the electromagnet to support and clamp materials in the material hole, the crop clamping block is prevented from being clamped by the flexibility of the rubber clamping block, and the reset spring can reset the rubber clamping block quickly.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic structural diagram of the material-arranging part of the invention.

Fig. 3 is a schematic top view of a robot body according to the present invention.

Fig. 4 is a schematic cross-sectional view taken along line a-a in fig. 3.

Fig. 5 is a schematic cross-sectional view taken along line B-B in fig. 4.

Fig. 6 is a schematic structural view of a crop bearing member according to the present invention.

Fig. 7 is a schematic view of the fixing of the rail seat in the crop bearing member of the present invention.

The text labels in the figures are represented as: 1. a head component; 2. a material arranging component; 3. a first cylinder; 4. a longitudinal guide rail; 5. sorting the boxes; 6. a crop take-out opening; 7. a transverse guide rail; 8. a manipulator body; 9. a crop bearing member; 10. a wheel; 11. pushing a reset component; 12. a second cylinder; 13. a connecting seat; 14. a draw bar; 15. a saddle; 16. a support frame; 17. a guide rail seat; 21. a hopper; 22. a frame body; 23. an end plate; 24. a hemispherical boss; 25. a servo motor; 26. a cam; 27. a base body; 28. a guide strut; 29. an anti-drop block; 210. a bell mouth; 211. a blanking through hole; 212. arranging a material carrier; 213. a guide block; 214. a guide bar; 215. a second spring; 216. a vibration motor; 81. a guide post; 82. a cover plate; 83. a square groove; 84. a movable plate; 85. a receiving hole; 86. a manipulator carrier; 87. a rubber clamping block; 88. an electromagnet; 89. an iron block; 111. a flange; 112. a return spring; 113. a rod body; 114. straight line bearing with seat.

Detailed Description

The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.

As shown in fig. 1 to 7, the specific structure of the present invention is: the sorting box comprises a car head part 1 and a sorting box body 5, wherein a connecting seat 13 is arranged at the front end of the sorting box body 5, a traction rod 14 is arranged at the tail part of the car head part 1, the traction rod 14 is used for being fixed with the connecting seat 13, wheels 10 are arranged at the bottom of the sorting box body 5, the car head part 1 drives the sorting box body 5 to run together, a material arranging part 2 is arranged at the top of the sorting box body 5, and the material arranging part 2 is arranged on crops according to a rule so as to arrange the crops. The inside manipulator part that is provided with of letter sorting box 5, the manipulator part can be drawed the crops of straightening in order to store on its below crops carrier 9, the afterbody of letter sorting box 5 is equipped with crops and takes out mouth 6, when carrying out crops and plant, can directly take out the crops that mouth 6 departments put the law on crops carrier 9 from crops and take out.

The specific structure of the material arranging component 2 comprises a hopper 21 and a reciprocating type material arranging component, when in use, crops are placed in the hopper 21, and then the crops are arranged in order through the reciprocating type component. The lower extreme of hopper 21 is provided with pedestal 27, pedestal 27 lower extreme fixed connection guide branch 28, guide branch 28's lower extreme activity is passed and is connected with anticreep piece 29 behind the letter sorting box 5 roof, be provided with first spring 28 between pedestal 27 and the letter sorting box 5 roof, first spring 28 cover is established on guide branch 28, hopper 21 passes through vibrating motor 216 and realizes the reciprocating motion of direction from top to bottom, the lower extreme activity of reciprocating type reason material subassembly stretches into the inside of letter sorting box 5 after passing the roof of letter sorting box 5. During operation, the vibration motor 216 drives the hopper to shake up and down, so that crops are promoted to enter the reciprocating type material arranging assembly, and the reciprocating type material arranging assembly is used for arranging the crops.

The principle and the specific structure of the reciprocating type material tidying assembly for tidying crops are shown in the figure 1: the reciprocating type material arranging assembly comprises a material arranging carrier 212 and a servo motor 25, a plurality of blanking through holes 211 are uniformly formed in the material arranging carrier 212, bell mouths 210 are formed in the upper ends of the blanking through holes 211, guide blocks 213 are arranged on the left side and the right side of the material arranging carrier 212, the tail ends of the guide blocks 213 movably penetrate through the side wall of the sorting box body 5 and then extend into the frame body 22, the frame body 22 is fixedly connected with the sorting box body 5, the tail ends of the guide blocks 213 are fixedly connected with guide rods 214, the guide rods 214 movably penetrate through the outer side wall of the frame body 22 and then are connected with an end plate 23, hemispherical bosses 24 are arranged on the end plate 23, an output shaft of the servo motor 25 is connected with a cam 26, a second spring 215 is arranged between the guide blocks 213; when the servo motor 25 operates, the cam 26 stirs the hemispherical boss 24 to drive the material arranging carrier 212 to reciprocate in the hopper 21, and crops in the hopper 21 longitudinally shake and transversely shake and then enter the blanking through hole 211 through the bell mouth 210, so that the crops are arranged.

The specific structure of manipulator part includes manipulator body 8, connects support frame 16 and the first cylinder 3 at manipulator body 8 left and right ends, and the end-to-end connection saddle 15 of support frame 16, saddle 15 install on the longitudinal rail 4 in letter sorting box 5, and first cylinder 3 is fixed in letter sorting box 5 and with longitudinal rail 4 parallel arrangement, the end and the support frame 16 fixed connection that stretch out of first cylinder 3.

The manipulator body 8 comprises a manipulator carrier 86, the manipulator carrier 86 is provided with a material receiving hole 85 matched with the blanking through hole 211, the side surface of the manipulator carrier 86 is provided with a square groove 83, the square groove 83 is communicated with the material receiving hole 85, and a crop clamping assembly used for supporting and clamping crops falling in the material receiving hole 85 is arranged in the square groove 83.

The crop clamping assembly comprises a cover plate 82 arranged at the square groove 83, a guide column 81 arranged in the square groove 83, a movable plate 84 which is arranged on the guide column 81 and can slide back and forth, a spring 810 sleeved on the guide column 81, a rubber clamping block 87 and an iron block 89 which are fixed on the movable plate 84, and an electromagnet 88 fixed in the manipulator carrier 86, wherein the iron block 89 and the electromagnet 88 are arranged oppositely, and the rubber clamping blocks 87 are multiple and are respectively arranged at the corresponding material receiving holes 85.

In order to improve the clamping effect and reduce the clamping mark, the clamping surface of the rubber clamping block 87 is provided with an inward concave arc.

The crop bearing part 9 comprises a manipulator body 8, a guide rail seat 17 fixed on the manipulator body 8, and a pushing reset assembly 11 connected with the manipulator body 8, wherein the guide rail seat 17 is installed on the transverse guide rail 7.

The pushing reset assembly 11 comprises a rod body 113, a reset spring 112 sleeved on the rod body 113, and a flange 111 arranged at the tail end of the rod body 113, wherein the rod body 113 is installed on a linear bearing 114 with a seat, the linear bearing 114 with a seat is fixed on the inner wall of the sorting box body 5, and the reset spring 112 is arranged between the flange 111 and the linear bearing 114 with a seat.

In order to realize that the crop bearing part 9 is pushed to the crop taking-out opening 6 rapidly, the crop bearing part pushing device further comprises a driving mechanism used for pushing the crop bearing part 9 to the crop taking-out opening 6, the driving mechanism is a second cylinder 12, the second cylinder 12 is fixed in the sorting box body 5, and the extending end of the second cylinder 12 is fixedly connected with the crop bearing part 9.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.