CN103406896A - Mechanical hand with weighing function - Google Patents
Mechanical hand with weighing function Download PDFInfo
- Publication number
- CN103406896A CN103406896A CN2013102474544A CN201310247454A CN103406896A CN 103406896 A CN103406896 A CN 103406896A CN 2013102474544 A CN2013102474544 A CN 2013102474544A CN 201310247454 A CN201310247454 A CN 201310247454A CN 103406896 A CN103406896 A CN 103406896A
- Authority
- CN
- China
- Prior art keywords
- melon
- mechanical
- manipulator
- mechanical hand
- support body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005303 weighing Methods 0.000 title claims abstract description 14
- 238000010073 coating (rubber) Methods 0.000 claims abstract description 6
- 241000219112 Cucumis Species 0.000 abstract description 27
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 abstract description 27
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 abstract description 26
- 230000003068 static effect Effects 0.000 abstract 1
- 238000010079 rubber tapping Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
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- Manipulator (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The invention discloses a mechanical hand with a weighing function. In order to grasp a melon more easily, the mechanical hand is provided with six mechanical fingers. In order to reduce the falling phenomenon of the grasped melon, a rubber coating is arranged on each mechanical finger to increase the friction force of the mechanical fingers and the melon. When the mechanical hand is used for grasping the melon, a tension sensor is tensioned slightly due to the weight of the melon, and a data processing system judges the weight of the melon according to the slight tensioning distance of the tension sensor, and further selects to receive or not receive the melon. The mechanical hand with the weighing function has the advantages of being simple in structure, having a few parts, and being capable of meeting picking and cutting requirements of melons under different conditions by adjusting the height of a mechanical arm according to actual conditions (the height of a harvester is fixed) and scale lines of a frame body. The six mechanical fingers are designed to reduce the falling phenomenon of the grasped melon, and the rubber coatings with large static friction force are coated on the mechanical fingers to enable the mechanical hand to grasp the melon more stably.
Description
Technical field
The present invention relates to a kind of manipulator, be specifically related to a kind of manipulator with function of weighing.
Background technology
Manipulator is a kind of some holding function that can imitate staff and arm, in order to the automatic pilot that captures, carries object or operation tool by fixed routine.Manipulator is the industrial robot occurred the earliest; also the modern machines people who occurs the earliest; it can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with the protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Along with the fast development of China's economy, increasing manual agricultural is substituted by mechanical automation.
People are when carrying out melon dealing, and weight determines that often a melon is positioned at the main cause of which price, so how can realize melonly tapping automation and realizing again separately tapping according to the weight of melon.
Summary of the invention
In order to solve existing issue, the invention provides a kind of manipulator with function of weighing.
Described a kind of manipulator with function of weighing, comprise manipulator, mechanical arm, support body, between described manipulator and mechanical arm, be provided with pulling force sensor, described pulling force sensor is connected with data handling system, described mechanical arm is fixed on described support body, wherein, described support body is provided with graduation mark, and described support body is provided with groove.
As a kind of preferred version, described mechanical arm is fixed in described groove by bolt arrangement.Wherein, melon for easier crawl, described manipulator is provided with 6 mechanical fingers, and melon the dropping of capturing for reducing is provided with rubber coating and increases mechanical finger and melon frictional force on described mechanical finger.
Wherein, when the mechanical finger crawl was melon, due to melon weight, described pulling force sensor can produce trickle stretching, described data handling system is judged melon weight according to the trickle stretching distance of pulling force sensor, further makes and receiving and the selection do not received.
As a kind of preferred version, described data handling system is fixed on support body.
Wherein, be provided with lock adhering arrangement on described support body, described lock adhering arrangement is used for described manipulator with function of weighing is locked on harvester.
The present invention has the following advantages: simple in structure, parts are few; Can, according to actual conditions (the harvester height is fixed), according to the support body graduation mark, meet melon the tapping under different condition by adjusting the mechanical arm height; Design 6 mechanical fingers and reduce melon the dropping of crawl, on mechanical finger, scribble the rubber coating that stiction is large and make the crawl of manipulator more steady.
The accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is structural representation of the present invention;
Fig. 2 is the support body front view;
Fig. 3 is the manipulator front view.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.Based on the embodiment in the present invention, those of ordinary skills, not making under the creative work prerequisite the every other embodiment obtained, belong to the scope of protection of the invention.
As Fig. 1-Fig. 3, described a kind of manipulator with function of weighing, comprise manipulator 1, mechanical arm 2, support body 3, between described manipulator 1 and mechanical arm 2, be provided with pulling force sensor 7, described pulling force sensor 7 is connected with data handling system 71, and described mechanical arm 2 is fixed on described support body 3, wherein, described support body 3 is provided with graduation mark 8, and described support body 3 is provided with groove 6.
As a kind of preferred version, described mechanical arm 2 is fixed in described groove 6 by bolt arrangement 4.Wherein, melon for easier crawl, described manipulator 1 is provided with 6 mechanical fingers 11, and melon the dropping of capturing for reducing is provided with rubber coating 111 and increases mechanical finger 11 and melon frictional force on described mechanical finger 11.
Wherein, when mechanical finger 11 captures when melon, due to melon weight, described pulling force sensor 7 can produce trickle stretching, described data handling system 71 is judged melon weight according to the trickle stretching distance of pulling force sensor 7, further makes and receiving and the selection do not received.
As a kind of preferred version, described data handling system 71 is fixed on support body 3.
Wherein, be provided with lock adhering arrangement 5 on described support body 3, described lock adhering arrangement 5 is used for described manipulator with function of weighing is locked on harvester (not shown).
Above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (4)
1. manipulator with function of weighing, comprise manipulator, mechanical arm, support body, described mechanical arm is fixed on described support body, it is characterized in that, between described manipulator and mechanical arm, be provided with pulling force sensor, described pulling force sensor is connected with data handling system, and described support body is provided with groove, and described support body is provided with graduation mark.
2. a kind of manipulator with function of weighing according to claim 1, is characterized in that, described manipulator is provided with 6 mechanical fingers, is provided with rubber coating above described mechanical finger.
3. a kind of manipulator with function of weighing according to claim 1, is characterized in that, described mechanical arm is fixed in described groove by bolt arrangement.
4. a kind of manipulator with function of weighing according to claim 1, is characterized in that, described data handling system is fixed on support body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102474544A CN103406896A (en) | 2013-09-02 | 2013-09-02 | Mechanical hand with weighing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102474544A CN103406896A (en) | 2013-09-02 | 2013-09-02 | Mechanical hand with weighing function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103406896A true CN103406896A (en) | 2013-11-27 |
Family
ID=49599962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013102474544A Pending CN103406896A (en) | 2013-09-02 | 2013-09-02 | Mechanical hand with weighing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103406896A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071376A (en) * | 2014-06-25 | 2014-10-01 | 来安县新元机电设备设计有限公司 | Gold ring weighting and packaging equipment |
| CN110653167A (en) * | 2019-10-31 | 2020-01-07 | 苏州超群智能科技有限公司 | Manipulator for injection molding machine capable of automatically weighing |
| CN113303669A (en) * | 2021-07-06 | 2021-08-27 | 上海皮几科技有限公司 | Full-automatic milk tea machine |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004035061A1 (en) * | 2004-07-20 | 2006-02-16 | Bausch + Ströbel Maschinenfabrik Ilshofen GmbH + Co. KG | Device for filling an injection body with a liquid comprises a weighing unit having a lifting mechanism for lifting the injection body from its seat in the carrier plate |
| US20060196707A1 (en) * | 2005-03-07 | 2006-09-07 | Lobo Wang | Robot hand with weighting device |
| CN201464014U (en) * | 2009-03-26 | 2010-05-12 | 北京兆维电子(集团)有限责任公司 | Manipulator cantilever weighing device |
| CN202292771U (en) * | 2011-09-26 | 2012-07-04 | 桐乡市中辰化纤有限公司 | Automatic weighing device of manipulator |
| CN202704551U (en) * | 2012-07-27 | 2013-01-30 | 苏州捷力新能源材料有限公司 | Manipulator weighing device produced by EVA (Ethylene Vinyl Acetate) adhesive film |
| CN203409774U (en) * | 2013-11-11 | 2014-01-29 | 太仓市旭冉机械有限公司 | Manipulator with weighing function |
-
2013
- 2013-09-02 CN CN2013102474544A patent/CN103406896A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004035061A1 (en) * | 2004-07-20 | 2006-02-16 | Bausch + Ströbel Maschinenfabrik Ilshofen GmbH + Co. KG | Device for filling an injection body with a liquid comprises a weighing unit having a lifting mechanism for lifting the injection body from its seat in the carrier plate |
| US20060196707A1 (en) * | 2005-03-07 | 2006-09-07 | Lobo Wang | Robot hand with weighting device |
| CN201464014U (en) * | 2009-03-26 | 2010-05-12 | 北京兆维电子(集团)有限责任公司 | Manipulator cantilever weighing device |
| CN202292771U (en) * | 2011-09-26 | 2012-07-04 | 桐乡市中辰化纤有限公司 | Automatic weighing device of manipulator |
| CN202704551U (en) * | 2012-07-27 | 2013-01-30 | 苏州捷力新能源材料有限公司 | Manipulator weighing device produced by EVA (Ethylene Vinyl Acetate) adhesive film |
| CN203409774U (en) * | 2013-11-11 | 2014-01-29 | 太仓市旭冉机械有限公司 | Manipulator with weighing function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071376A (en) * | 2014-06-25 | 2014-10-01 | 来安县新元机电设备设计有限公司 | Gold ring weighting and packaging equipment |
| CN110653167A (en) * | 2019-10-31 | 2020-01-07 | 苏州超群智能科技有限公司 | Manipulator for injection molding machine capable of automatically weighing |
| CN113303669A (en) * | 2021-07-06 | 2021-08-27 | 上海皮几科技有限公司 | Full-automatic milk tea machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20131127 |