CN105325118A - Honeysuckle flower picking manipulator - Google Patents
Honeysuckle flower picking manipulator Download PDFInfo
- Publication number
- CN105325118A CN105325118A CN201510935329.1A CN201510935329A CN105325118A CN 105325118 A CN105325118 A CN 105325118A CN 201510935329 A CN201510935329 A CN 201510935329A CN 105325118 A CN105325118 A CN 105325118A
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- CN
- China
- Prior art keywords
- clamping plate
- housing
- picking
- flowers
- honeysuckle
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
A honeysuckle flower picking manipulator comprises a shell, a cover plate is arranged on the upper portion of the shell, flower picking clamps are installed in the shell, each flower picking clamp is formed by a first clamping plate and a second clamping plate which are hinged through a clamping plate shaft, a second pushing block is arranged on the upper portion of each first clamping plate, a first pushing block is arranged on the upper portion of each second clamping plate, opening and closing of each first pushing block and the corresponding pushing block can drive the corresponding first clamping plate and the corresponding second clamping plate to be synchronously opened and closed, and the two ends of each clamping plate shaft are matched with the shell in a sliding mode through a vertical guide mechanism. According to the honeysuckle flower picking manipulator, the flower picking clamps which are designed according to the specific appearance of honeysuckle flowers are arranged, compound action clamping picking and pushing picking is achieved through the flower picking clamps under driving of the vertical reciprocating movement mechanisms and the restriction of springs, the manipulator can rapidly and accurately pick the honeysuckle flowers by imitating the picking action through human hands, and the honeysuckle flower picking manipulator has the advantages that the picking efficiency is high, and the integrity of the flowers is guaranteed.
Description
Technical field
The present invention relates to a kind of honeysuckle seed harvester, specifically a kind of Honeysuckle picking machine tool hand.
Background technology
Existing honeysuckle is picked flowers device, has the following disadvantages: the structure that 1, picking efficiency is high is too complicated, volume is large, weight is large, and be not easy to pluck use, and cost is too high, flower-grower cannot afford at all; Structure is simple but efficiency is too low, and not handy 2, existing apparatus all cannot imitate the course of action that staff plucks honeysuckle, and picking efficiency is low, low precision, and easily causes certain damage to honeysuckle.
Summary of the invention
The object of this invention is to provide a kind of Honeysuckle picking machine tool hand, its structure be simple, volume is little, lightweight, use light and flexible, be convenient to plucker's long time continuous working use.And it can imitate the course of action that staff is plucked, pluck more precisely efficient, and the integrality of flower can be guaranteed.
The present invention for achieving the above object, be achieved through the following technical solutions: Honeysuckle picking machine tool hand, comprise housing, the top of housing arranges cover plate, in housing, folder of picking flowers is installed, folder of picking flowers is made up of by clamping plate axle is hinged the first clamping plate and the second clamping plate, the top of the first clamping plate arranges the second shifting block, the top of the second clamping plate arranges the first shifting block, first shifting block and the second shifting block folding can drive the first clamping plate and the second clamping plate synchronous on-off, the two ends of clamping plate axle are slidably matched respectively by vertical guiding mechanism and housing, a spring is respectively installed at the two ends of clamping plate axle, spring provides downforce for clamping plate axle, pick flowers on pressing from both sides and drag link mechanism is installed, drag link mechanism is by connecting plate, first pull bar and the second pull bar connect and compose, one end of first pull bar and the second pull bar is hinged with connecting plate respectively, the other end and first shifting block of the first pull bar are hinged, the other end and second shifting block of the second pull bar are hinged, in housing, vertical reciprocating mechanism is installed, vertical reciprocating mechanism is connected with connecting plate, to drive folder folding of picking flowers, housing sidewall is provided with negative pressure discharge nozzle, the charging aperture of negative pressure discharge nozzle communicates with housing cavity.
In order to realize object of the present invention further, can also by the following technical solutions: described vertical reciprocating mechanism comprises bent axle, and bent axle is provided with crank and pitman shaft, the pitman shaft of bent axle and one end of connecting rod hinged, the other end and the connecting plate of connecting rod are hinged.Be arranged side by side multiple folder of picking flowers in described housing, the upper each peace drag link mechanism of each folder of picking flowers, a spring is respectively installed at each clamping plate axle two ends of picking flowers folder, and all connecting plates are connected by connecting rod, and one of them connecting plate is connected with vertical reciprocating mechanism.A pulley is respectively installed, the contact internal walls of pulley and housing in the two ends of described connecting rod.On the inwall of described housing, corresponding chute offered by corresponding pulley, and pulley is along chute vertically movement.On the inwall of described housing, the wheel carrier of corresponding pulley offers link slot, and wheel carrier is along link slot vertically movement.Described vertical guiding mechanism is the gathering sill that corresponding clamping plate axle two ends are opened in inner walls, and a gathering sill is respectively offered at the two ends of each clamping plate axle, and clamping plate axle is along gathering sill vertically movement, and spring is positioned at gathering sill, and gathering sill is that spring play the guiding role.Described charging aperture is opened on inwall corresponding to first clamping plate one end.The bottom of described housing arranges filter, filter is offered bar shaped charging hole, bar shaped charging hole with pick flowers press from both sides corresponding.The lower edge of described first clamping plate and the second clamping plate is provided with soft silica gel.
The invention has the advantages that: it is provided with the folder of picking flowers designed for honeysuckle given configuration.Pick flowers be clipped in vertical reciprocating mechanism drive under, and under the constraint of spring, realize the composite move of gripping and allocation, the action that staff plucks can be imitated and pluck honeysuckle accurately at a high speed, there is the advantage that picking efficiency is high, guarantee flower integrality.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of Honeysuckle picking machine tool hand of the present invention; Fig. 2 is the A-A sectional structure schematic diagram of Fig. 1; Fig. 3 is the B-B sectional structure schematic diagram of Fig. 1; Fig. 4 is that the C of Fig. 1 is to structural representation.
Reference numeral: 1 housing 2 filter 3 cover plate 4 bent axle 5 negative pressure discharge nozzle 6 crank 7 pitman shaft 8 charging aperture 9 connecting rod 10 connecting rod 11 connecting plate 12 first pull bar 13 second pull bar 14 first shifting block 15 second shifting block 16 first clamping plate 17 second clamping plate 18 clamping plate axle 19 spring 20 gathering sill 21 wheel carrier 22 pulley 23 chute 24 link slot 25 bar shaped charging hole 26 handle 27 guide pad 28 soft silica gel.
Embodiment
Honeysuckle picking machine tool hand of the present invention, as shown in Figure 1, comprises housing 1.The top of housing 1 arranges cover plate 3.As shown in Figure 2, in housing 1, folder of picking flowers is installed.As shown in Figure 3, folder of picking flowers is made up of by clamping plate axle 18 is hinged the first clamping plate 16 and the second clamping plate 17.The top that the top of the first clamping plate 16 arranges the second shifting block 15, second clamping plate 17 arranges the first shifting block 14.First shifting block 14 and the second shifting block 15 folding can drive the first clamping plate 16 and the second clamping plate 17 synchronous on-off.The two ends of clamping plate axle 18 are slidably matched respectively by vertical guiding mechanism and housing 1, guarantee that clamping plate axle 18 only vertically can move relative to housing 1.A spring 19 is respectively installed at the two ends of clamping plate axle 18, and spring 19 provides downforce for clamping plate axle 18.Pick flowers on pressing from both sides and install drag link mechanism, drag link mechanism is connected and composed by connecting plate 11, first pull bar 12 and the second pull bar 13.One end of first pull bar 12 and the second pull bar 13 is hinged with connecting plate 11 respectively, and the other end and first shifting block 14 of the first pull bar 12 are hinged, and the other end and second shifting block 15 of the second pull bar 13 are hinged.Install vertical reciprocating mechanism in housing 1, vertical reciprocating mechanism is connected with connecting plate 11, to drive folder folding of picking flowers.Housing 1 sidewall is provided with negative pressure discharge nozzle 5, and the charging aperture 8 of negative pressure discharge nozzle 5 communicates with housing 1 inner chamber.For guaranteeing that spring 19 pairs of clamping plate axles 18 effectively apply to press down elastic force, as shown in Figure 2, the two ends of clamping plate axle 18 respectively can be provided with a guide pad 27, and guide pad 27 coordinates with 19 one_to_one corresponding.Guide pad 27 both along gathering sill 20 precisely movement, can increase lifting surface area again, effectively passed the elastic force that spring 19 pairs of clamping plate axles 18 exert a force.
Before using, vertical reciprocating mechanism is connected with drive units such as motors, negative pressure discharge nozzle 5 is connected with vacuum equipment.During use, vertical reciprocating mechanism drives drag link mechanism vertical toward motion; When drag link mechanism is up, by the first shifting block 14 and the second shifting block 15, pulling force is applied with to folder of picking flowers, meanwhile, spring 19, by compressive deformation, applies downforce to clamping plate axle 18, making a concerted effort of two power, make the first pull bar 12 and the second pull bar 13 pull the first shifting block 14 and the second shifting block 15 to close, thus the first clamping plate 16 that making picks flowers presss from both sides and closed realization of the second clamping plate 17 clamp, simultaneously with the up certain distance of drag link mechanism, realize the action of picked by hand; When drag link mechanism is descending, by the first shifting block 14 and the second shifting block 15, downforce is applied to folder of picking flowers, simultaneously, spring 19 pairs of clamping plate axles 18 apply downforce, making a concerted effort of two power, make the first pull bar 12 and the second pull bar 13 promote the first shifting block 14 and the second shifting block 15 opens, thus, the first clamping plate 16 that making picks flowers presss from both sides and the second clamping plate 17 open, and come downwards to initial position simultaneously, prepare for winning action next time with drag link mechanism.Pick flowers folder by above-mentionedly opening, closed alternate cycles action, realize high frequency and pluck.By the elastic force of regulating spring 19, just adjustable pick flowers folder clamping dynamics.
As shown in Figure 1, described vertical reciprocating mechanism comprises bent axle 4, and bent axle 4 is provided with crank 6 and pitman shaft 7, and the pitman shaft 7 of bent axle 4 is hinged with one end of connecting rod 10, and the other end and the connecting plate 11 of connecting rod 10 are hinged.This structure is simple, stable, long service life, and, to be adapted in housing 1 high-efficiency operation in the confined space.Described vertical reciprocating mechanism can also be other reciprocating mechanisms existing such as cylinder.
Be arranged side by side multiple folder of picking flowers in described housing 1, as shown in Figure 2, three folders of picking flowers be installed in housing 1 side by side.The upper each peace drag link mechanism of each folder of picking flowers, a spring 19 is respectively installed at each clamping plate axle 18 two ends of picking flowers folder, i.e. three total six roots of sensation springs 19 of folder of picking flowers.All connecting plates 11 are connected by connecting rod 9, and one of them connecting plate 11 is connected with vertical reciprocating mechanism, realize the synchronous vertical of all connecting plates 11 to movement.
For guaranteeing connecting rod 9 two ends synchronization lifting, reduce running resistance, as shown in Figure 1, a pulley 22 is respectively installed at the two ends of described connecting rod 9 simultaneously, the contact internal walls of pulley 22 and housing 1.
As shown in Figure 3, on the inwall of described housing 1, corresponding chute 23 offered by corresponding pulley 22, and pulley 22 is along chute 23 vertically movement.Can play the guiding role to pulley 22 further.
As shown in Figure 3, on the inwall of described housing 1, the wheel carrier 21 of corresponding pulley 22 offers link slot 24, and wheel carrier 21 is along link slot 24 vertically movement, and link slot 24 also can play the guiding role to wheel carrier 21.。
As shown in Figure 3, described vertical guiding mechanism can be the gathering sill 20 that corresponding clamping plate axle 18 two ends are opened on housing 1 inwall.A gathering sill 20 is respectively offered at the two ends of each clamping plate axle 18, and clamping plate axle 18, along gathering sill 20 vertically movement, guarantees clamping plate axle 18 two ends synchronization lifting.In addition, spring 19 is positioned at gathering sill 20, and gathering sill 20 play the guiding role for spring 19, guarantees that spring 19 pairs of clamping plate axles 18 effectively apply downforce, guarantees folder normally closed of picking flowers.To sum up, gathering sill 20 1 structures just can realize two functions, and, low cost of manufacture, good operation stability.Described vertical guiding mechanism can also be made up of guide rod and guide pin bushing, vertically installs guide rod in housing 1, and guide rod is slidably installed guide pin bushing, a guide pin bushing is respectively installed at the two ends of clamping plate axle 18, but this structure comparatively gathering sill 20 is complicated, and not only manufacturing cost is high, and running resistance is also excessive.
As shown in Figure 3, described charging aperture 8 is opened on inwall corresponding to first clamping plate 16 one end, and namely the air intake direction of charging aperture 8 is parallel with the direction of clamping plate axle 18, is more convenient for collecting the flower of picking flowers and pressing from both sides and winning, and collects resistance less.
Pluck the length of honeysuckle for limiting, as shown in Figure 3, the bottom of described housing 1 arranges filter 2, filter 2 is offered bar shaped charging hole 25, bar shaped charging hole 25 with pick flowers press from both sides corresponding.As shown in Figure 3, in housing 1, three folders of picking flowers are installed, then correspondingly on filter 2 offer three bar shaped charging holes 25, bar shaped charging hole 25 and folder one_to_one corresponding of picking flowers.The honeysuckle only having length to be greater than the degree of depth of bar shaped charging hole 25 can be plucked, thus can exempt to keep away adopt by mistake immature children flower, guarantee pluck precision.During harvesting, according to different plot, the honeysuckle length in different picking season and size, the filter 2 of different-thickness can be changed.
For convenience of workman by holding described manipulator, as shown in Figure 1, described cover plate 3 is provided with handle 26.
As shown in Figure 3, the lower edge of described first clamping plate 16 and the second clamping plate 17 is equipped with soft silica gel 28, and flower can not press from both sides bad by soft silica gel 28 folder of can guaranteeing further to pick flowers.Described first clamping plate 16 and the second clamping plate 17 can be made of plastics, both can weight reduction, can have certain elasticity again, prevent flower to press from both sides bad.
Technical scheme of the present invention is not restricted in the scope of embodiment of the present invention.The technology contents of the not detailed description of the present invention is known technology.
Claims (10)
1. Honeysuckle picking machine tool hand, it is characterized in that: comprise housing (1), the top of housing (1) arranges cover plate (3), in housing (1), folder of picking flowers is installed, folder of picking flowers is made up of by clamping plate axle (18) is hinged the first clamping plate (16) and the second clamping plate (17), the top of the first clamping plate (16) arranges the second shifting block (15), the top of the second clamping plate (17) arranges the first shifting block (14), first shifting block (14) and the second shifting block (15) folding can drive the first clamping plate (16) and the second clamping plate (17) synchronous on-off, the two ends of clamping plate axle (18) are slidably matched respectively by vertical guiding mechanism and housing (1), a spring (19) is respectively installed at the two ends of clamping plate axle (18), spring (19) provides downforce for clamping plate axle (18), pick flowers on pressing from both sides and drag link mechanism is installed, drag link mechanism is by connecting plate (11), first pull bar (12) and the second pull bar (13) connect and compose, one end of first pull bar (12) and the second pull bar (13) is hinged with connecting plate (11) respectively, the other end and first shifting block (14) of the first pull bar (12) are hinged, the other end and second shifting block (15) of the second pull bar (13) are hinged, in housing (1), vertical reciprocating mechanism is installed, vertical reciprocating mechanism is connected with connecting plate (11), to drive folder folding of picking flowers, housing (1) sidewall is provided with negative pressure discharge nozzle (5), the charging aperture (8) of negative pressure discharge nozzle (5) communicates with housing (1) inner chamber.
2. Honeysuckle picking machine tool hand according to claim 1, it is characterized in that: described vertical reciprocating mechanism comprises bent axle (4), bent axle (4) is provided with crank (6) and pitman shaft (7), the pitman shaft (7) of bent axle (4) is hinged with one end of connecting rod (10), and the other end and the connecting plate (11) of connecting rod (10) are hinged.
3. Honeysuckle picking machine tool hand according to claim 1 and 2, it is characterized in that: in described housing (1), be arranged side by side multiple folder of picking flowers, the upper each peace drag link mechanism of each folder of picking flowers, a spring (19) is respectively installed at each clamping plate axle (18) two ends of picking flowers folder, all connecting plates (11) are connected by connecting rod (9), and one of them connecting plate (11) is connected with vertical reciprocating mechanism.
4. Honeysuckle picking machine tool hand according to claim 3, is characterized in that: a pulley (22) is respectively installed at the two ends of described connecting rod (9), the contact internal walls of pulley (22) and housing (1).
5. Honeysuckle picking machine tool hand according to claim 4, it is characterized in that: on the inwall of described housing (1), corresponding chute (23) offered by corresponding pulley (22), pulley (22) is along chute (23) vertically movement.
6. Honeysuckle picking machine tool hand according to claim 4, it is characterized in that: on the inwall of described housing (1), the wheel carrier (21) of corresponding pulley (22) offers link slot (24), and wheel carrier (21) is along link slot (24) vertically movement.
7. Honeysuckle picking machine tool hand according to claim 1 and 2, it is characterized in that: described vertical guiding mechanism is the gathering sill (20) that corresponding clamping plate axle (18) two ends are opened on housing (1) inwall, a gathering sill (20) is respectively offered at the two ends of each clamping plate axle (18), clamping plate axle (18) is along gathering sill (20) vertically movement, spring (19) is positioned at gathering sill (20), and gathering sill (20) play the guiding role for spring (19).
8. Honeysuckle picking machine tool hand according to claim 1, is characterized in that: described charging aperture (8) is opened on inwall corresponding to the first clamping plate (16) one end.
9. Honeysuckle picking machine tool hand according to claim 1, it is characterized in that: the bottom of described housing (1) arranges filter (2), filter (2) is offered bar shaped charging hole (25), bar shaped charging hole (25) with pick flowers press from both sides corresponding.
10. Honeysuckle picking machine tool hand according to claim 1, is characterized in that: the lower edge of described first clamping plate (16) and the second clamping plate (17) is equipped with soft silica gel (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510935329.1A CN105325118B (en) | 2015-12-15 | 2015-12-15 | Honeysuckle picking machine tool hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510935329.1A CN105325118B (en) | 2015-12-15 | 2015-12-15 | Honeysuckle picking machine tool hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105325118A true CN105325118A (en) | 2016-02-17 |
| CN105325118B CN105325118B (en) | 2018-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510935329.1A Expired - Fee Related CN105325118B (en) | 2015-12-15 | 2015-12-15 | Honeysuckle picking machine tool hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105325118B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109792888A (en) * | 2019-03-25 | 2019-05-24 | 山东交通学院 | The trapezoidal classification collecting robot people of both arms apple-picking and its picking graded operation method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191409263A (en) * | 1914-04-14 | 1914-10-15 | Robert Samuel Inkpen | Improvements in Fruit-pickers. |
| CN2527086Y (en) * | 2002-03-21 | 2002-12-25 | 李忠真 | Combined secateurs with long handle for garden |
| CN202153865U (en) * | 2011-04-21 | 2012-03-07 | 赵朝坤 | Honeysuckle picking machine |
| CN202979684U (en) * | 2012-11-14 | 2013-06-12 | 岳崇平 | Honeysuckle flower picker |
| CN103210744A (en) * | 2013-05-08 | 2013-07-24 | 齐国崴 | Honeysuckle flower picking machine |
| CN204031841U (en) * | 2014-08-20 | 2014-12-24 | 青岛理工大学 | A kind of fruits picking mechanical hand |
| CN204539985U (en) * | 2015-04-01 | 2015-08-12 | 东北林业大学 | A kind of forestry get fruit device |
| CN205232832U (en) * | 2015-12-15 | 2016-05-18 | 山东交通学院 | Honeysuckle picking manipulator |
-
2015
- 2015-12-15 CN CN201510935329.1A patent/CN105325118B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191409263A (en) * | 1914-04-14 | 1914-10-15 | Robert Samuel Inkpen | Improvements in Fruit-pickers. |
| CN2527086Y (en) * | 2002-03-21 | 2002-12-25 | 李忠真 | Combined secateurs with long handle for garden |
| CN202153865U (en) * | 2011-04-21 | 2012-03-07 | 赵朝坤 | Honeysuckle picking machine |
| CN202979684U (en) * | 2012-11-14 | 2013-06-12 | 岳崇平 | Honeysuckle flower picker |
| CN103210744A (en) * | 2013-05-08 | 2013-07-24 | 齐国崴 | Honeysuckle flower picking machine |
| CN204031841U (en) * | 2014-08-20 | 2014-12-24 | 青岛理工大学 | A kind of fruits picking mechanical hand |
| CN204539985U (en) * | 2015-04-01 | 2015-08-12 | 东北林业大学 | A kind of forestry get fruit device |
| CN205232832U (en) * | 2015-12-15 | 2016-05-18 | 山东交通学院 | Honeysuckle picking manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109792888A (en) * | 2019-03-25 | 2019-05-24 | 山东交通学院 | The trapezoidal classification collecting robot people of both arms apple-picking and its picking graded operation method |
| CN109792888B (en) * | 2019-03-25 | 2023-08-15 | 山东交通学院 | Double-arm apple picking trapezoid grading collection robot and picking grading operation method thereof |
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| Publication number | Publication date |
|---|---|
| CN105325118B (en) | 2018-01-05 |
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Inventor after: Yue Chongping Inventor after: Chen Yongzheng Inventor after: Yang Xiuhong Inventor after: Pan Huirui Inventor before: Yue Chongping Inventor before: Chen Yongzheng |
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Granted publication date: 20180105 Termination date: 20181215 |