CN104145614A - Hydraulic fruit picking manipulator - Google Patents
Hydraulic fruit picking manipulator Download PDFInfo
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- CN104145614A CN104145614A CN201410427540.8A CN201410427540A CN104145614A CN 104145614 A CN104145614 A CN 104145614A CN 201410427540 A CN201410427540 A CN 201410427540A CN 104145614 A CN104145614 A CN 104145614A
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- manipulator
- spring
- hydraulic cylinder
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Abstract
The invention provides a hydraulic fruit picking manipulator, and belongs to agricultural tools. The manipulator comprises wheels, a chassis, a rotary device, a supporting rod, a pitching hydraulic cylinder, a telescopic hydraulic cylinder, a spring, a manipulator body, a spring base, a hinge rod, a connection rod, manipulator claws and rollers. The wheels are arranged on the chassis so that the manipulator can operate stably, the supporting rod and the chassis are hinged together through the rotary device, the supporting rod can rotate by 360 degrees, and the pitching hydraulic cylinder and the telescopic hydraulic cylinder enable the manipulator body to pitch and stretch and retract respectively. The manipulator body is composed of the three manipulator claws which are hinged through the connection rod and the hinge rod, the tops of the three manipulator claws are provided with the rollers, the hinge rod and the spring base are connected through the spring, and a locking device is an electromagnetic device. When the manipulator is locked, the spring base is powered on and attracts an iron core, and accordingly the spring has no effect. The manipulator has the advantages that safe picking of fruits is finally achieved by means of the hydraulic cylinders, the rollers, a connection rod mechanism, the spring and the like, and economic benefits are improved.
Description
Technical field
The present invention relates to a kind of hydraulic pressure fruits picking mechanical hand, specifically apply hydraulic cylinder, linkage, a kind of hydraulic pressure fruits picking mechanical hand that the elements such as roller etc. form, belongs to agricultural tools class.
Background technology
Fruit picking is that orchard worker is favorite time, but also there is certain difficulty in fruit picking, it is unfavorable that the fruit of eminence is difficult for being adopted or plucking, directly have influence on orchard worker's economic benefit, therefore being badly in need of the manipulator that can conveniently pluck the position that eminence or staff be inconvenient to reach replaces staff to pluck, and can guarantee the integrality of fruit, thereby increase economic efficiency, but there is no in the market this type of manipulator.
Summary of the invention
For above-mentioned deficiency, the invention provides a kind of hydraulic pressure fruits picking mechanical hand.
The present invention is achieved by the following technical solutions: a kind of hydraulic pressure fruits picking mechanical hand is by wheel, chassis, whirligig, support bar, pitching hydraulic cylinder, telescopic hydraulic cylinder, spring, manipulator, spring pedestal, hinge bar, connecting rod, mechanical paw, roller, locking device forms, wheel is equipped with on chassis, and support bar and chassis link together by whirligig, can 360 ° of rotations; Pitching hydraulic cylinder and telescopic hydraulic cylinder link together by hinged and support bar, manipulator is comprised of three mechanical paws, and linked mutually by connecting rod and hinge bar, at three mechanical paw tops, there is roller, and between hinge bar and spring pedestal, by spring, connect, locking device is an electromagnet apparatus.
The usefulness of this invention is: the retractility that this manipulator takes full advantage of hydraulic cylinder makes the degree of freedom of manipulator work become large, and handled easily can be plucked the fruit that staff does not reach or is inconvenient to pluck easily; The design of roller is fine should right pericarp surface be the feature of irregular curved surface, can not destroy the integrality of fruit surface, and linkage also allows paw more flexible, moves more accurate; By the link of spring, roller is attached to pericarp surface always, remains contraction state; The locking device of electromagnet fixedly becomes convenient and swift by paw; Finally realize the safety of fruit and pluck, increase economic efficiency.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention,
Fig. 2 is manipulator partial structurtes schematic diagrames.
In figure, 1, wheel, 2, chassis, 3, whirligig, 4, support bar, 5, pitching hydraulic cylinder, 6, telescopic hydraulic cylinder, 7, spring, 8, manipulator, 9, spring pedestal, 10, hinge bar, 11, connecting rod, 12, mechanical paw, 13, roller 14, locking device
Embodiment
As shown in the figure, a kind of hydraulic pressure fruits picking mechanical hand, is by wheel 1, chassis 2, whirligig 3, support bar 4, pitching hydraulic cylinder 5, telescopic hydraulic cylinder 6, spring 7, manipulator 8, spring pedestal 9, hinge bar 10, connecting rod 11, mechanical paw 12, roller 13, locking device 14 forms, wheel 1 is equipped with on chassis 3, for supporting and moving, and lowers the center of gravity, make to operate steadily, support bar 4 links together by whirligig 3 with chassis, can 360 degree rotations.Pitching hydraulic cylinder 5 and telescopic hydraulic cylinder 6 allow respectively manipulator do elevating movement and stretching motion.Manipulator is comprised of three mechanical paws 3, and linked mutually by connecting rod 11 and hinge bar 10, at three mechanical paw 12 tops, there is roller 13, and by spring, connect between hinge bar 10 and spring pedestal 9, guarantee when three rollers 13 are not worked to withstand on together, and the epidermis that when work can make roller 13 be attached to fruit rolls.Locking device 14 is an electromagnet apparatus, and during locking, spring pedestal energising holds iron core, makes spring inoperative, and mechanical paw and roller can not move.
When this hydraulic efficiency manipulator in use, pitching hydraulic cylinder 5 and telescopic hydraulic cylinder 6 and whirligig 3 each self-applyings, aim at the direction of fruit and make the intersection point of three rollers 13 be attached to fruit bottom, then pitching hydraulic cylinder 5 and whirligig 3 maintain static, telescopic hydraulic cylinder 6 extends promotion spring pedestal 9 and moves forward, through linkage, make robot movement simultaneously, roller rolls along fruit surface, when moving to fruit head nearest between three rollers time, locking device 14 works, mechanical paw is fixed, then telescopic hydraulic cylinder 6 shrinks, by under fruit.
For the ordinary skill in the art, according to instruction of the present invention, in the situation that not departing from principle of the present invention and spirit, within the change that embodiment is carried out, modification, replacement and modification still fall into protection scope of the present invention.
Claims (1)
1. a hydraulic pressure fruits picking mechanical hand, it is characterized in that: by wheel, chassis, whirligig, support bar, pitching hydraulic cylinder, telescopic hydraulic cylinder, spring, manipulator, spring pedestal, hinge bar, connecting rod, mechanical paw, roller, formed, wheel is equipped with on chassis, support bar and chassis link together by whirligig, can 360 ° of rotations; Pitching hydraulic cylinder and telescopic hydraulic cylinder link together by hinged and support bar, manipulator is comprised of three mechanical paws, and linked mutually by connecting rod and hinge bar, at three mechanical paw tops, there is roller, and between hinge bar and spring pedestal, by spring, connect, locking device is an electromagnet apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410427540.8A CN104145614A (en) | 2014-08-27 | 2014-08-27 | Hydraulic fruit picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410427540.8A CN104145614A (en) | 2014-08-27 | 2014-08-27 | Hydraulic fruit picking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104145614A true CN104145614A (en) | 2014-11-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410427540.8A Pending CN104145614A (en) | 2014-08-27 | 2014-08-27 | Hydraulic fruit picking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104145614A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104641797A (en) * | 2015-02-09 | 2015-05-27 | 河南万相农林实业股份有限公司 | Fruit picker |
| CN104904424A (en) * | 2015-06-25 | 2015-09-16 | 湖州市千金宝云机械铸件有限公司 | Fruit harvest machine |
| CN105379507A (en) * | 2015-12-25 | 2016-03-09 | 广德县金土地农产品专业合作社 | Miniature electric three-arm corn harvesting robot with adjusting arm |
| CN105409452A (en) * | 2015-12-24 | 2016-03-23 | 米莹莹 | Multifunctional fruit picking machine |
| CN105409438A (en) * | 2015-12-25 | 2016-03-23 | 广德县金土地农产品专业合作社 | Miniature electric three-arm four-wheel corn harvesting robot with adjusting arms |
| CN105474877A (en) * | 2015-12-25 | 2016-04-13 | 广德县金土地农产品专业合作社 | Miniature electric single-arm four-wheel corn harvesting robot |
| CN105474876A (en) * | 2015-12-25 | 2016-04-13 | 广德县金土地农产品专业合作社 | Miniature electric four-arm four-wheel corn harvesting robot |
| CN105532181A (en) * | 2015-12-25 | 2016-05-04 | 广德县金土地农产品专业合作社 | Mini electric four-arm corn harvesting robot |
| CN105532180A (en) * | 2015-12-25 | 2016-05-04 | 广德县金土地农产品专业合作社 | Mini electric double-arm and four-wheel corn harvesting robot |
| CN105594361A (en) * | 2015-12-25 | 2016-05-25 | 广德县金土地农产品专业合作社 | Miniature electric two-arm harvesting robot for corn |
| CN105612918A (en) * | 2015-12-25 | 2016-06-01 | 广德县金土地农产品专业合作社 | Miniature and electric corn single-arm harvesting robot |
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
| CN106508283A (en) * | 2016-09-30 | 2017-03-22 | 广西大学 | Banana-picking-machine auxiliary device |
| CN107333529A (en) * | 2017-08-14 | 2017-11-10 | 仲恺农业工程学院 | Blueberry picking device and system |
| CN108370723A (en) * | 2018-04-26 | 2018-08-07 | 梧州学院 | A kind of apple picking |
| CN108401666A (en) * | 2018-05-14 | 2018-08-17 | 吉林大学 | Swinging fruit picker |
| CN108886967A (en) * | 2018-07-05 | 2018-11-27 | 西京学院 | A kind of fruit picking apparatus |
| CN109566090A (en) * | 2019-01-09 | 2019-04-05 | 山西农机新技术服务中心 | Apple harvests all-in-one machine |
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| US3405515A (en) * | 1962-05-24 | 1968-10-15 | Dittmer Theodore | Fruit harvester |
| CN2731955Y (en) * | 2004-08-16 | 2005-10-12 | 林瑞兴 | Automatic tree trimmer |
| CN102612926A (en) * | 2012-04-01 | 2012-08-01 | 华南农业大学 | Mechanized fruit picking, collecting and transporting system and method |
| CN103331760A (en) * | 2013-07-05 | 2013-10-02 | 安庆玉明达工程机电设备有限责任公司 | Internal combustion engine valve clamping manipulator |
| CN104255193A (en) * | 2014-08-19 | 2015-01-07 | 刘宝帅 | Apple picking machine and method for operating same |
-
2014
- 2014-08-27 CN CN201410427540.8A patent/CN104145614A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3405515A (en) * | 1962-05-24 | 1968-10-15 | Dittmer Theodore | Fruit harvester |
| CN2731955Y (en) * | 2004-08-16 | 2005-10-12 | 林瑞兴 | Automatic tree trimmer |
| CN102612926A (en) * | 2012-04-01 | 2012-08-01 | 华南农业大学 | Mechanized fruit picking, collecting and transporting system and method |
| CN103331760A (en) * | 2013-07-05 | 2013-10-02 | 安庆玉明达工程机电设备有限责任公司 | Internal combustion engine valve clamping manipulator |
| CN104255193A (en) * | 2014-08-19 | 2015-01-07 | 刘宝帅 | Apple picking machine and method for operating same |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104641797A (en) * | 2015-02-09 | 2015-05-27 | 河南万相农林实业股份有限公司 | Fruit picker |
| CN104904424A (en) * | 2015-06-25 | 2015-09-16 | 湖州市千金宝云机械铸件有限公司 | Fruit harvest machine |
| CN105409452B (en) * | 2015-12-24 | 2017-09-22 | 米莹莹 | Multi-functional fruit picker |
| CN105409452A (en) * | 2015-12-24 | 2016-03-23 | 米莹莹 | Multifunctional fruit picking machine |
| CN105612918A (en) * | 2015-12-25 | 2016-06-01 | 广德县金土地农产品专业合作社 | Miniature and electric corn single-arm harvesting robot |
| CN105379507A (en) * | 2015-12-25 | 2016-03-09 | 广德县金土地农产品专业合作社 | Miniature electric three-arm corn harvesting robot with adjusting arm |
| CN105474876A (en) * | 2015-12-25 | 2016-04-13 | 广德县金土地农产品专业合作社 | Miniature electric four-arm four-wheel corn harvesting robot |
| CN105532181A (en) * | 2015-12-25 | 2016-05-04 | 广德县金土地农产品专业合作社 | Mini electric four-arm corn harvesting robot |
| CN105532180A (en) * | 2015-12-25 | 2016-05-04 | 广德县金土地农产品专业合作社 | Mini electric double-arm and four-wheel corn harvesting robot |
| CN105594361A (en) * | 2015-12-25 | 2016-05-25 | 广德县金土地农产品专业合作社 | Miniature electric two-arm harvesting robot for corn |
| CN105409438A (en) * | 2015-12-25 | 2016-03-23 | 广德县金土地农产品专业合作社 | Miniature electric three-arm four-wheel corn harvesting robot with adjusting arms |
| CN105474877A (en) * | 2015-12-25 | 2016-04-13 | 广德县金土地农产品专业合作社 | Miniature electric single-arm four-wheel corn harvesting robot |
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
| CN106508283A (en) * | 2016-09-30 | 2017-03-22 | 广西大学 | Banana-picking-machine auxiliary device |
| CN106508283B (en) * | 2016-09-30 | 2019-06-18 | 广西大学 | A kind of banana picking mechanical auxiliary device |
| CN107333529A (en) * | 2017-08-14 | 2017-11-10 | 仲恺农业工程学院 | Blueberry picking device and system |
| CN108370723A (en) * | 2018-04-26 | 2018-08-07 | 梧州学院 | A kind of apple picking |
| CN108401666A (en) * | 2018-05-14 | 2018-08-17 | 吉林大学 | Swinging fruit picker |
| CN108886967A (en) * | 2018-07-05 | 2018-11-27 | 西京学院 | A kind of fruit picking apparatus |
| CN109566090A (en) * | 2019-01-09 | 2019-04-05 | 山西农机新技术服务中心 | Apple harvests all-in-one machine |
| CN109566090B (en) * | 2019-01-09 | 2023-09-22 | 山西农机新技术服务中心 | Apple harvesting all-in-one machine |
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Legal Events
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| 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: 20141119 |