CN107736131A - A kind of gravity self-stabilising picking machine - Google Patents
A kind of gravity self-stabilising picking machine Download PDFInfo
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- CN107736131A CN107736131A CN201711190436.1A CN201711190436A CN107736131A CN 107736131 A CN107736131 A CN 107736131A CN 201711190436 A CN201711190436 A CN 201711190436A CN 107736131 A CN107736131 A CN 107736131A
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- 230000005484 gravity Effects 0.000 title claims abstract description 61
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 58
- 210000000078 claw Anatomy 0.000 claims abstract description 24
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Classifications
-
- 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
- A01D46/24—Devices for picking apples or like fruit
Abstract
The invention discloses a kind of gravity self-stabilising picking machine, including three-jaw mechanical arm, support bar and moving cart；Three-jaw mechanical arm includes gravity self-stabilization type base and three-jaw clamping device, and gravity self-stabilization type base includes U-shaped pedestal, adjusting rod and balancing weight；Three-jaw clamping device includes three-jaw clamping device and rotary electric machine, rotary electric machine is fixed on the outside of U-shaped pedestal, three-jaw clamping device includes frame, three claw robot, transmission component and driver, and driver is fixed in frame, the output shaft rotation connection of frame and rotary electric machine.The present invention is provided with gravity self-stabilization type base, and when not plucking picking object, three-jaw mechanical arm center of gravity is on the lower side；When harvesting to picking object after, picking object separates with fruit tree, and now three-jaw mechanical arm center of gravity is on the upper side, cause three-jaw mechanical arm upset, picking object can vertically under drop down onto collecting bag；After picking object drops, three-jaw mechanical arm is overturn again, reinstatement state, prepares lower subjob.
Description
Technical field
The present invention relates to a kind of fruits picking mechanical, more particularly to a kind of gravity self-stabilising picking machine.
Background technology
With going from strength to strength for China's agricultural development, to associated specifications also more and more higher, agricultural starts gradually to realize
Mechanization and intellectuality, therefore agricultural machinery cause necessarily develops rapidly.With the development of industrialization society, a large amount of rural laborer's streams
Lose, at the same it is increasingly severe the problem of China human mortality aging, and agriculture cost of labor starts to uprise, so machine replaces manually
Work turns into a kind of inevitable trend already, researches and develops the amount of lightening one's labor, carries efficient agricultural machinery and have huge potentiality.
The Apple Culture in China has long history, have be suitable for Apple Growth development advantageously
Reason, soil and weather conditions, it is the industry development area of ideal apple.Since the 1980s, the water in China
Fruit industry achieves quick swift and violent development in quality and quantity, but during agricultural production, still by artificial
Harvesting operation is carried out, harvesting turns into the link most to be wasted time and energy in production, and the labour put into during harvest accounts for entirely
During 50% -70%, and picking robot can improve production efficiency, it is ensured that timely collecting, solve manpower shortage
Problem.When operation is plucked, Major Difficulties are：The growing height of apple differs, the crust fragility easy damaged of apple；It is existing
Auxiliary harvesting machinery, most structure is excessively complicated, is mounted with various sensors so that maintenance cost is too high, simple machine
Structure but easily damages apple pulp, in view of various problems, the situation of the above, therefore study a kind of Novel apple device for picking have it is great
Meaning.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that a kind of gravity is provided from steady
Type picking machine, it is provided with gravity self-stabilization type base, and when not plucking picking object, three-jaw mechanical arm center of gravity is on the lower side；When adopting
After picking picking object, picking object separates with fruit tree, and now three-jaw mechanical arm center of gravity moves up, and causes three-jaw mechanical arm to turn over
Turn, picking object can directly under drop down onto collecting bag；After picking object drops, three-jaw mechanical arm center of gravity re-moves go back to original position
Put, overturn again, reinstatement state, prepare lower subjob, balance weight mechanism, including adjusting rod and balancing weight are set, pass through increase and decrease
The weight of balancing weight and the length of regulation adjusting rod reach the purpose of the center of gravity of regulation three-jaw mechanical arm, can make the picking machine
Go for the picking object of a variety of weight and specification.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of gravity self-stabilising picking machine, its feature
It is：Including three-jaw mechanical arm, support bar and moving cart, the support bar is arranged in the moving cart, the three-jaw
Mechanical arm is arranged on the top of the support bar；The three-jaw mechanical arm includes gravity self-stabilization type base and is fixed on the gravity
Three-jaw clamping device on self-stabilization type base, the gravity self-stabilization type base include U-shaped pedestal, are arranged on the U-shaped pedestal envelope
Adjusting rod and the balancing weight for being arranged on remote U-shaped pedestal one end on the adjusting rod, the top of the support bar on the outside of closed end
U-shaped bar is fixed with, the openend both ends of the U-shaped pedestal are rotatably installed in the openend both ends of the U-shaped bar；Three claw clip
Holding device includes three-jaw clamping device and the rotary electric machine for driving the three-jaw clamping device to rotate, and the rotary electric machine is consolidated
The outside of the U-shaped pedestal is scheduled on, the three-jaw clamping device includes frame, three claw robot, transmission component and driver, institute
State driver to be fixed in the frame, the frame is connected with the output shaft rotation of the rotary electric machine.
A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The frame includes rotating with the rotary electric machine
The Holding seat of connection and the lead on the Holding seat, the quantity of the lead have three, the three-jaw
Manipulator is arranged on three leads.
A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The transmission component is included by the drive belts
Dynamic screw mandrel, the push-plate on the screw mandrel and the push rod being hinged on the push-plate, the quantity of the push rod have three,
The other end of the push rod is connected with the three claw robot, and the push-plate center offers what is coordinated with the screw mandrel
Screwed hole, the push-plate are connected by prismatic pair with the frame.
A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The three claw robot includes palm pedestal and set
Three mechanical fingers on the palm pedestal are put, the palm pedestal is fixed in the frame, and the mechanical finger includes hinge
Pole and being hinged in the finger saves in the finger root pole that is connected on the palm pedestal, the finger being hinged on the finger root pole
Finger tip pole on bar, the root pole opening position be hinged with palm pedestal that refer to are hinged with finger root set square, the finger root three
Gusset is connected with the transmission component, and the pole opening position be hinged with referring to root pole, which is hinged with, in the finger refers to intermediate cam plate, institute
State to refer to root set square and refer to be hinged between intermediate cam plate and refer to root connecting rod, cut with scissors between the finger intermediate cam plate and the finger tip pole
It is connected to connecting rod in finger.
A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The finger tip pole is wedge structure, in the finger
Pole, to refer to root pole and refer to middle connecting rod be rectangular parallelepiped structure.
A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The finger root connecting rod is decoupling rod, the decoupling rod
Including being hinged on the thin bar referred on intermediate cam plate, the stage clip being set in the thin bar and being hinged on the finger root set square
Thick bar, the hole for the thin bar that is slidably installed is provided with the thick bar.
A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The support bar includes installing the three-jaw machinery
The vertical rod of the brace of arm, the slide rail for being fixed on brace lower end and the support brace and slide rail, it is provided with the slide rail and is used for
The clamp system of fixed rack position, the clamp system are fixed in the vertical rod by rod base, are pacified on the rod base
Equipped with pulley, the slide rail is arranged on the bar pulley, and the vertical rod is rotatably installed in moving cart.
A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The slide rail is hollow rod-shaped rail, described hollow
Chute is offered in rod-shaped rail along its length, the pulley through the montant of the chute by being fixed on rod base.
A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：The clamp system is located at institute respectively including two
State the clamping plate of slide rail both sides and for driving clamping plate to clamp the quick-speed jigs of slide rail, the quick-speed jigs are respectively articulated with including two
Clamping bar on two clamping plates and two connecting rods being hinged between two clamping bars, two connecting rod are hinged by gag lever post and L-shaped bar
Form, the limited block for limiting L-shaped bar extreme position is provided with gag lever post, the clamping plate is hinged under the clamping bar
End, two rod hinge connection are hinged on rod base in the middle part of the upper end of the clamping bar, the clamping bar.
A kind of above-mentioned gravity self-stabilising picking machine, it is characterised in that：Collecting bag, the receipts are installed on the support bar
Bag of receiving is located at the underface of the three-jaw mechanical arm, and the collecting bag bottom connects with moving cart.
The present invention has advantages below compared with prior art：
1st, the present invention is provided with gravity self-stabilization type base, and when not plucking picking object, three-jaw mechanical arm center of gravity is on the lower side,
Maintain stable state；After harvesting is to picking object, picking object separates with fruit tree, and now three-jaw mechanical arm center of gravity is on the upper side, causes three
Pawl mechanical arm overturn, picking object can vertically under drop down onto collecting bag；After picking object drops, three-jaw mechanical arm is overturn again,
Reinstatement state, prepare lower subjob.
2nd, the present invention sets balance weight mechanism, including adjusting rod and balancing weight, is adjusted by the weight and regulation that increase and decrease balancing weight
The length of pole come reach regulation three-jaw mechanical arm center of gravity purpose, can make the picking machine go for a variety of weight and
The picking object of specification.
3rd, the present invention sets support bar, and operator realizes that three-jaw mechanical arm moves within the specific limits by manipulating support bar
It is dynamic, so that picking object is located within the clamping range of the three-jaw mechanical arm.
4th, the present invention is provided with moving cart, and convenient picking machine moves, and avoids in picking process in orchard,
Operating personnel are needed to hold act picking machine for a long time.
5th, the present invention is provided with clamp system, slide rail is temporarily fixed, and operating personnel can temporarily unclamp operation handle, institute
Stating three-jaw mechanical arm will not fall on the ground, and avoid damaging mechanical part.
In summary, the present invention is provided with gravity self-stabilization type base, when not plucking picking object, three-jaw mechanical arm weight
The heart is on the lower side, maintains stable state；After harvesting is to picking object, picking object separates with fruit tree, and now three-jaw mechanical arm center of gravity is on the upper side,
Cause three-jaw mechanical arm overturn, picking object can vertically under drop down onto collecting bag；After picking object drops, three-jaw mechanical arm is again
Upset, reinstatement state, prepare lower subjob, balance weight mechanism, including adjusting rod and balancing weight are set, by increasing and decreasing balancing weight
Weight and regulation adjusting rod length come reach regulation three-jaw mechanical arm center of gravity purpose, can be applicable the picking machine
In a variety of weight and the picking object of specification.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the mounting structure schematic diagram of three-jaw mechanical arm of the present invention.
Fig. 3 is the structural representation of three-jaw clamping device of the present invention.
Fig. 4 is the structural representation of three claw robot of the present invention (lacking an activation lacking mechanical to refer to).
Fig. 5 is the structural representation of support bar of the present invention.
Fig. 6 is the structural representation of slide rail of the present invention.
Fig. 7 is the mounting structure schematic diagram of clamp system of the present invention.
Fig. 8 is the structural representation of clamp system of the present invention.
Description of reference numerals:
1-moving cart；2-pedestal；3-balancing weight；
4-adjusting rod；5-finger tip pole；6-refer to middle pole；
7-refer to root pole；8-palm pedestal；9-1-refer to intermediate cam plate；
9-2-refer to root set square；10-1-refer to middle connecting rod；10-2-refer to root connecting rod；
11-1-rotary electric machine；11-2-driver；12-screw mandrel；
13-push-plate；14-push rod；15-Holding seat；
16-lead；17-brace；18-slide rail；
19-vertical rod；20-clamping plate；21-clamping bar；
22-rod base；23-gag lever post；24-L-shaped bar；
25-collecting bag；26-pulley；27-montant；
28-torsion spring；29-thin bar；30-stage clip；
31-thick bar.
Embodiment
As shown in Figure 1, Figure 2 and Figure 3, the present invention includes three-jaw mechanical arm, support bar and moving cart 1, the support bar
In the moving cart 1, the three-jaw mechanical arm is arranged on the top of the support bar；The three-jaw mechanical arm includes
Gravity self-stabilization type base and the three-jaw clamping device being fixed on the gravity self-stabilization type base, the gravity self-stabilization type base bag
Include U-shaped pedestal 2, the adjusting rod 4 being arranged on the outside of the blind end of U-shaped pedestal 2 and be arranged on the adjusting rod 4 away from U-shaped
The balancing weight 3 of the one end of pedestal 2, the top of the support bar are fixed with U-shaped bar, and the openend both ends of the U-shaped pedestal 2 rotate peace
Mounted in the openend both ends of the U-shaped bar；The three-jaw clamping device includes three-jaw clamping device and for driving the three-jaw
The rotary electric machine 11-1, the rotary electric machine 11-1 that clamping device rotates are fixed on the outside of the U-shaped pedestal 2, the three-jaw
Clamping device includes frame, three claw robot, transmission component and driver 11-2, the driver 11-2 and is fixed on the frame
On, the frame is fixed on the output shaft of the rotary electric machine 11-1.
The three-jaw mechanical arm is designed according to bionic principle according to human hand harvesting action, and effect is to replace people
Hand carries out harvesting action to picking object, and according to the analysis acted to human hand collection, to complete once to pluck at least needs two
Action, is clamped to picking object first, then clamps picking object and is rotated, picking object is separated from tree, complete
Acted into harvesting, in the present embodiment, three-jaw mechanical arm needs to meet at least to complete two kinds of different actions, including gripping action and
Rotational action, the present embodiment use three-jaw mechanical arm, the harvesting action of reproduction human hand that can be vivid, use rationally reliable, institute
The effect for stating support bar is the working range for making picking object be located at the three-jaw mechanical arm three-jaw mechanical arm movement
Interior, the moving cart conveniently drives the three-jaw mechanical arm to move on the ground, avoids in picking process, it is necessary to grasp
Make personnel and hold act picking machine for a long time.The three-jaw mechanical arm is after the picking object is clamped, if directly by the harvesting
Object, which unclamps, falls picking object, and the picking object can be caused to be touched in dropping process with the three-jaw mechanical arm
Hit, the picking object is sustained damage, three-jaw mechanical arm described in the present embodiment includes gravity self-stabilization type base and is fixed on
Three-jaw clamping device on the gravity self-stabilization type base, the operation principle of the gravity self-stabilization type base are：When the three-jaw
When mechanical arm is in blank state, the center of gravity of the three-jaw mechanical arm is on the lower side, and three-jaw mechanical arm upward, conveniently carries out clamping collection
Action；When the three-jaw mechanical arm picks picking object, because three-jaw mechanical arm is clamped with picking object, cause whole
The center of gravity of body is on the upper side, three-jaw mechanical arm is driven picking object upset down, facilitates the picking object to fall, and avoids described adopt
Object is plucked to collide with the three-jaw mechanical arm in dropping process；Treat that the three-jaw mechanical arm unclamps and put down picking object
Afterwards, center of gravity comes back to original position, the three-jaw mechanical arm is flipped back to original position again.Due to different harvestings
Object has different density and quality, and similar picking object also tends to size and is not quite similar, therefore the gravity self-stabilization type bottom
Seat includes U-shaped pedestal 2, the adjusting rod 4 being arranged on the outside of the blind end of U-shaped pedestal 2 and is arranged on remote on the adjusting rod 4
The balancing weight 3 of the one end of U-shaped pedestal 2, can be before carrying out plucking work progress, with less picking object and larger harvesting
Object is tested the three-jaw mechanical arm respectively, adjusts the weight of the balancing weight 3 and the length synthesis of the adjusting rod 4
The center of gravity of the three-jaw mechanical arm is adjusted, ensures that the three-jaw mechanical arm in the less picking object and larger can be adopted
Gravity can be realized from steady by plucking within the mass range of object, the top of the support bar is fixed with U-shaped bar, the U-shaped pedestal 2
Openend both ends be rotatably installed in the openend both ends of the U-shaped bar, in the present embodiment, it is only necessary to by 2 turns of the U-shaped pedestal
The dynamic top installed in the support bar spins upside down the U-shaped pedestal 2, can pass through various structures and form
Realize, one end of U-shaped pedestal 2 can be hinged on the supporting bar top, the both ends of U-shaped pedestal 2 can also be respectively articulated with
On the support bar, but there is the problem of structural strength is poor, and kinetic stability is low, the present embodiment in both the above fixing means
In, U-shaped bar is fixed with the top of the support bar, the openend both ends of the U-shaped pedestal 2 are rotatably installed in the U-shaped
The openend both ends of bar, structural strength is higher, motion stabilization.The three-jaw clamping device is used for realizing the three-jaw mechanical arm
Harvesting acts, and the harvesting action includes clamping and rotating two independent actions, a motor can be used to drive, pass through biography
Motivation structure will move separately transmission, can also be driven respectively using two motors, and the present embodiment uses Dual-motors Driving, save
The part of componental movement in transmission mechanism is gone to, structure is simpler, and the three-jaw clamping device includes three-jaw clamping device and use
Realized after clamping picking object in driving rotary electric machine 11-1, the rotary electric machine 11-1 that the three-jaw clamping device rotates
Rotational action, the three-jaw clamping device include frame, three claw robot, transmission component and driver 11-2, three claw clip
The action that mechanism is used for realizing clamping picking object is held, the driver 11-2 is fixed in the frame, and the frame is fixed
On the output shaft of the rotary electric machine 11-1, the rotary electric machine 11-1 is fixed on the outside of the U-shaped pedestal 2, it is necessary to say
Bright, the rotary electric machine 11-1 and driver 11-2 can be respectively positioned on the outside of the U-shaped pedestal 2, can also be respectively positioned on
The inner side of the U-shaped pedestal 2, the outside and inner side of the U-shaped pedestal 2 can also be located at respectively, used in the present embodiment described
Driver 11-2 is located at the inner side of the U-shaped pedestal 2, and the rotary electric machine 11-1 is located at the outside of the U-shaped pedestal 2, convenient
Two motor radiatings, and two motors can be made to be respectively positioned on straight line, it is convenient to adjust center of gravity.
In the present embodiment, the frame is including the Holding seat 15 with rotary electric machine 11-1 rotation connections and is arranged on
Lead 16 on the Holding seat 15, the quantity of the lead 16 have three, and the three claw robot is arranged on three
On the lead 16.
The Holding seat 15 is used to install the driver 11-2 and supports the whole three-jaw clamping device, the folder
Hold the base 15 and rotary electric machine 11-1 to be rotatablely connected, in the specific implementation, the Holding seat 15 can pass through reductor
Structure is connected with the output shaft of the rotary electric machine 11-1.The rotary electric machine 11-1 is made by driving the Holding seat 15 to rotate
Whole three-jaw clamping device rotates, and realizes rotational action, and the lead 16 is used for the palm pedestal for fixing the three claw robot
8, in the present embodiment, the lead 16 is used for accessory drive component and is driven for three claw robot, and the lead 16 has three
Individual, structure is more stable.
In the present embodiment, the transmission component is included with the screw mandrel 12 of driver 11-2 rotation connections, installed in institute
The push rod 14 stated push-plate 13 on screw mandrel 12 and be hinged on the push-plate 13, the quantity of the push rod 14 have three and and institute
Three claw robot drive connection is stated, the push-plate 13 is provided centrally with the screwed hole coordinated with the screw mandrel 12, the push-plate 13
It is connected by prismatic pair with the frame.
The output shaft of the driver 11-2 is fixedly connected with the screw mandrel 12, is opened the driver 11-2 and is driven screw mandrel
12 rotations, drive moving up and down for the push-plate 13, when the push-plate 13 moves up, drive push rod 14 to promote the three-jaw machine
Tool hand is closed, and picking object is clamped, and when the push-plate 13 moves down, drives push rod 14 to pull the three claw robot
Open, picking object is loosened, the quantity of the push rod 14 is three, respectively three fingers of promotion three claw robot, three
The push rod 14 is hinged on the push-plate 13, simultaneously synchronous can promote the activation lacking mechanical fingering row holding action,
The thrust of push-plate 13 is effectively passed to three fingers of three claw robot.The push-plate 13 is oriented to by prismatic pair and three
Post 16 connects, and the lead 16 can ensure that the various pieces of push-plate 13 produce identical displacement each along the direction of motion, prevent
Thrust button 13 produces inclination, and the displacement difference of various pieces causes three mechanical fingers closure degree of three claw robot to differ, made
Situation about being loosened into clamping.
As shown in Figure 2, Figure 3 and Figure 4, in the present embodiment, the three claw robot includes palm pedestal 8 and is arranged on described
Three mechanical fingers on palm pedestal 8, the palm pedestal 8 are fixed in the frame, and the mechanical finger includes being hinged on institute
The finger root pole 7 on palm pedestal 8 is stated, pole 6 in the finger referred on root pole 7 is hinged on and is hinged on pole in the finger
Finger tip pole 5 on 6, the opening position be hinged with palm pedestal 8 of root pole 7 that refer to are hinged with finger root set square 9-2, the finger
Root set square 9-2 is connected with the transmission component, and the opening position be hinged with referring to root pole 7 of pole 6 is hinged with finger in the finger
Set square 9-1, the finger root set square 9-2 and refer to be hinged between intermediate cam plate 9-1 and refer to root connecting rod 10-2, the finger intermediate cam
Connecting rod 10-1 in finger is hinged between plate 9-1 and the finger tip pole 5.
The palm pedestal 8 of the three claw robot is fixed on the top of three leads 16, imitates the structure of human hand,
The three claw robot includes palm pedestal 8 and three mechanical fingers being arranged on the palm pedestal 8, and the mechanical finger includes
Pole 6 and it is hinged on described in the finger root pole 7 that is hinged on the palm pedestal 8, the finger being hinged on the finger root pole 7
Finger tip pole 5 in finger on pole 6, in the present embodiment, the finger tip pole 5 with refer in the be hinged opening position of pole 6 be provided with
Torsion spring 28, the opening position be hinged with referring to root pole 7 of pole 6 is provided with torsion spring 28 in the finger, and the torsion spring 28 can be to described
Finger root pole 5 forms counter-force with pole 6 in finger, facilitates the finger root pole 5 and pole 6 in finger when three claw robot loosens,
It can as possible open, avoid colliding with picking object, picking object is sustained damage.The mechanical finger of the present embodiment drives to be deficient
Dynamic mechanical finger, the finger tip pole 5, refers to middle pole 6, refers to intermediate cam plate 9-1 and refers to middle connecting rod 10-1 by pin to rotate
Pair connection one quadric chain of composition, the finger intermediate cam plate 9-1, refers to root pole 7, refers to root set square 9-2 and refers to root connecting rod
10-2 forms a quadric chain by pin with revolute pair connection, and two quadric chains mutually link composition one
Individual activation lacking mechanical refers to, and the mechanical finger possesses the free degree of 3 and a driving, i.e. every activation lacking mechanical of push rod 14 refer to
Unique driving force, the activation lacking mechanical, which refers to, can avoid because machine driving makes mechanical finger during picking object is clamped, and use
Power is too quickly to cause picking object to be damaged.The finger intermediate cam plate 9-1 and finger root set square 9-2 can make the finger that activation lacking mechanical refers to
Root portion and part is angled all the time in referring to, avoids the activation lacking mechanical from referring to when not driven, activation lacking mechanical refers to
State it is uncontrolled, so easily in driving, the shape errors that cause activation lacking mechanical to refer to, it is difficult to carry out holding action.
In the present embodiment, the finger tip pole 5 is wedge structure, pole 6 in the finger, refers to root pole 7 and refers to middle connecting rod
10-1 is rectangular-shape bar.
Pole during major part one end of the finger tip pole 5 of the wedge structure is connected to connecting rod 10-1 in the finger and referred to
6, the other end light weight of the finger tip pole 5 of the wedge structure is easily controlled, and shape is similar to human hand finger end, tool
There is certain bionic principle, pole 6 in the finger, to refer to root pole 7 and refer to middle connecting rod 10-1 be rectangular-shape bar, easy to process
Manufacture, is also convenient for clamping picking object.Pole 6 in the finger of the rectangular parallelepiped structure, refer to root pole 7 and refer to middle connecting rod
10-1 is easy to process and manufactured, and convenient installation, convenient that picking object is clamped.
In the present embodiment, the finger root connecting rod 10-2 is decoupling rod, and the decoupling rod, which includes being hinged on, refers to intermediate cam plate 9-1
On thin bar 29, the stage clip 30 that is set in the thin bar 29 and the thick bar 31 being hinged on the finger root set square 9-2, it is described
The hole for the thin bar 29 that is slidably installed is provided with thick bar 31.
In the present embodiment, the activation lacking mechanical that is arranged to of the decoupling rod refers to and adds one degree of freedom, Ke Yijin
One step buffering refer to root pole 7 it is driven after to the power of picking object, it is relatively near apart from the push rod 14 due to referring to root pole 7,
During transmission, the power being subject to is also larger, therefore the finger root connecting rod 10-2 is arranged into decoupling rod, it is possible to prevente effectively from referring to root pole
7 produce damage in clamping process to the picking object.The decoupling rod includes being hinged on the thin bar referred on intermediate cam plate 9-1
29th, the stage clip 30 that is set in the thin bar 29 and the thick bar 31 being hinged on the finger root set square 9-2, in the thick bar 31
It is provided with the hole for the thin bar 29 that is slidably installed.The decoupling rod is simple in construction, enters row buffering to mechanical force using spring.
As shown in Fig. 5, Fig. 7 and Fig. 8, in the present embodiment, the support bar includes the brace for installing the three-jaw mechanical arm
17th, the vertical rod 19 of the slide rail 18 and the support brace 17 and slide rail 18 of the lower end of brace 17 is fixed on, is set on the slide rail 18
There is the clamp system for the position of fixed rack 18, the clamp system is fixed in the vertical rod 19 by rod base 22, institute
State and pulley 26 is installed on rod base 22, the slide rail 18 is arranged on the bar pulley 26, and the vertical rod 19 is rotatably installed in
In moving cart 1.
The three-jaw mechanical arm is arranged on the top of the brace 17, and the three-jaw mechanical arm is driven by brace 17, described
The lower end of brace 17 is fixed with slide rail 18, and the slide rail 18 is arranged on the bar pulley 26, and slide rail 18 passes through in pulley 26
Motion drives the brace 17 to move, including advances up, and retreats downwards and passes through folder in vertical plane internal rotation, the slide rail 18
The relative position of the slide rail 18 and pulley 26 is fixed by tight mechanism, then can be clamped with operating the three-jaw mechanical arm
Action, the pulley 26 are arranged in vertical rod 19 by rod base 22, and the vertical rod 19 is rotatably installed in the moving cart 2
On, the vertical rod 19, which rotates, can drive the rod base 22, pulley 26, slide rail 18, brace 17 and the three-jaw mechanical arm,
When specifically used, ground that first moving cart 2 is moved near picking object, then rotate vertical rod 19 and adjust slide rail 18
Position makes the three-jaw mechanical arm be fixed slide rail 18 by clamping device, then carry out harvesting work close to the picking object.
As shown in fig. 6, in the present embodiment, the slide rail 18 is hollow rod-shaped rail, along length in the hollow rod-shaped rail
Degree direction offers chute 18-1, and the pulley 26 through the montant 27 of the chute 18-1 by being fixed on rod base 22.
The hollow rod-shaped rail is square, is to coordinate the pulley 26, enables the pulley 26 in the cunning
Rotated inside rail 18 with the movement of slide rail 18, in the present embodiment, the end two sides of the chute 18 are offered for fixing
Mounting hole 18-2, pin or screw can be used to be fixed.Pulley 26 described in the slide rail 18 is arranged on montant 27, can
With the height of lifting tackle 26, make the rotational angle of slide rail 18 bigger, anti-anti-slip track 18 and the collision limitation slide rail 18 of rod base 22
Rotational angle.
In the present embodiment, the clamp system includes two clamping plates 20 for being separately positioned on the both sides of slide rail 18 and is used for
Clamping plate 20 is driven to clamp the quick-speed jigs of slide rail 18, the quick-speed jigs include two folders being respectively hinged on two clamping plates 20
Bar 21 and two connecting rods being hinged between two clamping bars 21, two connecting rod is formed by gag lever post 23 and L-shaped bar 24 are be hinged, spacing
The limited block for limiting the extreme position of L-shaped bar 24 is provided with bar 23, the clamping plate 20 is hinged on the lower end of the clamping bar 21,
Two rod hinge connection is hinged on rod base 22 at the upper end of the clamping bar 21, the middle part of the clamping bar 21.
In the present embodiment, the clamping plate 20 is arranged on the both sides of slide rail 18 and slide rail 18 directly can be clamped, can
So that operating personnel vacate hand and carry out holding action, in the present embodiment, multiple hemispherical rubbers are provided with the clamping plate 20
Glue projection, can be effectively increased the frictional force of slide rail 18 and clamping plate 20, and the clamping plate 20 is clamped slide rail 18 by quick-speed jigs
Fixed, the quick-speed jigs include two clamping bars 21 being respectively hinged on two clamping plates 20 and are hinged between two clamping bars 21
Two connecting rods, the quick-speed jigs are simple in construction, easy to use quick, the quick-speed jigs when in use, by the L-shaped bar 24
Be pressed downward until the L-shaped bar 24 be in contact with the limited block on the gag lever post 23, by the upper end of two clamping bars 21 to
Strut outside, because the middle part of the clamping bar 21 is hinged on the rod base 22, when the upper end of two clamping bars 21 is outwards opened
When opening, the lower end of two clamping bars 21 inwardly closes up, and drives the clamping plate 20 to clamp the slide rail 18, makes slide rail 18 temporarily solid
It is fixed.
In the present embodiment, the lower end of the slide rail 18 is fixed with handle.
Being shaped as the slide rail 18 is square, is unfavorable for operating personnel's gripping, therefore pass through mounting hole 18- in the present embodiment
2 are fixed with handle in the lower end of the slide rail 18, make operation more comfortably and conveniently, design more hommization.
As shown in figure 1, in the present embodiment, collecting bag 25 is installed, the collecting bag 25 is positioned at described on the support bar
The underface of three-jaw mechanical arm, the bottom of collecting bag 25 connect with moving cart 1.
The picking object put down by three-jaw clamping limb can be collected by the collecting bag 25, prevent that three-jaw mechanical arm is high
Height is spent, picking object is received damage in dropping process, the bottom of the collecting bag 25 is connected with the moving cart 2
It is logical, the picking object for falling into the collecting bag 25 can be allow to fall into moving cart 2 and stored and carried.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and the equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (10)
- A kind of 1. gravity self-stabilising picking machine, it is characterised in that：It is described including three-jaw mechanical arm, support bar and moving cart (1) Support bar is arranged in the moving cart (1), and the three-jaw mechanical arm is arranged on the top of the support bar；The three-jaw machine Tool arm includes gravity self-stabilization type base and the three-jaw clamping device that is fixed on the gravity self-stabilization type base, and the gravity is from steady Formula base includes U-shaped pedestal (2), the adjusting rod (4) being arranged on the outside of U-shaped pedestal (2) blind end and is arranged on the tune Balancing weight (3) away from U-shaped pedestal (2) one end on pole (4), the top of the support bar is fixed with U-shaped bar, the U-shaped base The openend both ends of seat (2) are rotatably installed in the openend both ends of the U-shaped bar；The three-jaw clamping device clamps including three-jaw Mechanism and the rotary electric machine (11-1) for driving the three-jaw clamping device to rotate, the rotary electric machine (11-1) are fixed on institute The outside of U-shaped pedestal (2) is stated, the three-jaw clamping device includes frame, three claw robot, transmission component and driver (11- 2), the driver (11-2) is fixed in the frame, the frame and the output shaft rotation of the rotary electric machine (11-1) Connection.
- 2. according to a kind of gravity self-stabilising picking machine described in claim 1, it is characterised in that：The frame includes and described turn The Holding seat (15) and the lead (16) on the Holding seat (15) of dynamic motor (11-1) rotation connection, it is described The quantity of lead (16) has three, and the three claw robot is arranged on three leads (16).
- 3. according to a kind of gravity self-stabilising picking machine described in claim 1, it is characterised in that：The transmission component is included by institute State the screw mandrel (12) of driver (11-2) drive, the push-plate (13) on the screw mandrel (12) and be hinged on the push-plate (13) push rod (14) on, the quantity of the push rod (14) have three, the other end of the push rod (14) with the three-jaw machine Tool hand is connected, and push-plate (13) center offers the screwed hole coordinated with the screw mandrel (12), and the push-plate (13) is logical Prismatic pair is crossed to be connected with the frame.
- 4. according to a kind of gravity self-stabilising picking machine described in claim 1, it is characterised in that：The three claw robot includes hand Palm pedestal (8) and three mechanical fingers being arranged on the palm pedestal (8), the palm pedestal (8) are fixed on the frame On, finger root pole (7) that the mechanical finger includes being hinged on the palm pedestal (8), it is hinged on finger root pole (7) Finger in pole (6) and the finger tip pole (5) that is hinged in the finger on pole (6), the finger root pole (7) and palm pedestal (8) be hinged opening position, which is hinged with, refers to root set square (9-2), and the finger root set square (9-2) is connected with the transmission component, institute State the opening position that pole (6) is be hinged with referring to root pole (7) in referring to and be hinged with and refer to intermediate cam plate (9-1), the finger root set square (9- 2) it is hinged between finger intermediate cam plate (9-1) and refers to root connecting rod (10-2), the finger intermediate cam plate (9-1) and the finger tip pole (5) connecting rod (10-1) in finger is hinged between.
- 5. according to a kind of gravity self-stabilising picking machine described in claim 4, it is characterised in that：The finger tip pole (5) is wedge Shape structure, pole (6) in the finger, refer to root pole (7) and refer in connecting rod (10-1) be rectangular parallelepiped structure.
- 6. according to a kind of gravity self-stabilising picking machine described in claim 4, it is characterised in that：It is described finger root connecting rod (10-2) be Decoupling rod, the decoupling rod include being hinged on the thin bar (29) referred on intermediate cam plate (9-1), are set in the thin bar (29) Stage clip (30) and the thick bar (31) being hinged on finger root set square (9-2), it is provided with the thick bar (31) and is slidably installed The hole of the thin bar (29).
- 7. according to a kind of gravity self-stabilising picking machine described in claim 1, it is characterised in that：The support bar includes installation institute State the brace (17) of three-jaw mechanical arm, the slide rail (18) for being fixed on brace (17) lower end and the support brace (17) and slide rail (18) vertical rod (19), the clamp system for fixed rack (18) position, the clamping machine are provided with the slide rail (18) Structure is fixed in the vertical rod (19) by rod base (22), and pulley (26), the slide rail are provided with the rod base (22) (18) it is arranged on the bar pulley (26), the vertical rod (19) is rotatably installed in moving cart (1).
- 8. according to a kind of gravity self-stabilising picking machine described in claim 7, it is characterised in that：The slide rail (18) is hollow stem Shape guide rail, offers chute (18-1) in the hollow rod-shaped rail along its length, and the pulley (26) is by through described The montant (27) of chute (18-1) is fixed on rod base (22).
- 9. according to a kind of gravity self-stabilising picking machine described in claim 7, it is characterised in that：The clamp system includes two Respectively positioned at the clamping plate (20) of the slide rail (18) both sides and for driving clamping plate (20) to clamp the quick-speed jigs of slide rail (18), institute Stating quick-speed jigs includes two clamping bars (21) being respectively hinged on two clamping plates (20) and is hinged between two clamping bars (21) Two connecting rods, two connecting rod forms by gag lever post (23) and L-shaped bar (24) are be hinged, is provided with gag lever post (23) for limiting The limited block of L-shaped bar (24) extreme position, the clamping plate (20) are hinged on the lower end of the clamping bar (21), two rod hinge connection It is hinged in the middle part of the upper end of the clamping bar (21), the clamping bar (21) on rod base (22).
- 10. according to a kind of gravity self-stabilising picking machine described in claim 1, it is characterised in that：It is provided with the support bar Collecting bag (25), the collecting bag (25) are located at the underface of the three-jaw mechanical arm, collecting bag (25) bottom and movement Dolly (1) connects.
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| CN201711190436.1A CN107736131B (en) | 2017-11-24 | 2017-11-24 | Gravity self-stabilizing picking machine |
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| CN108377742A (en) * | 2018-04-27 | 2018-08-10 | 温州大学 | A kind of lichee picking machinery |
| CN108419525A (en) * | 2018-04-08 | 2018-08-21 | 湖北工业大学 | A kind of interchangeable cutter head electric fruit picker |
| CN108450149A (en) * | 2018-04-24 | 2018-08-28 | 河南工业大学 | A kind of fruits picking mechanical hand device |
| CN108557143A (en) * | 2018-05-01 | 2018-09-21 | 浙江工业大学 | A kind of fruit picking packing machine |
| CN108575301A (en) * | 2018-07-04 | 2018-09-28 | 仲恺农业工程学院 | A kind of rotary machine for picking fruits |
| CN108713392A (en) * | 2018-07-27 | 2018-10-30 | 黄冈师范学院 | A kind of machinery self balancing device |
| CN108738678A (en) * | 2018-05-31 | 2018-11-06 | 安徽农业大学 | A kind of eminence woods fruit indirect labor turns round device and picking automatically |
| CN108781746A (en) * | 2018-05-11 | 2018-11-13 | 温州职业技术学院 | Fruit picks suit automatically |
| CN108811756A (en) * | 2018-08-03 | 2018-11-16 | 华中农业大学 | A kind of multi-functional pear device for picking and picking method |
| CN108811767A (en) * | 2018-07-10 | 2018-11-16 | 陕西智多搭智能科技有限公司 | Apple-picking rotates collection device |
| CN108834566A (en) * | 2018-08-16 | 2018-11-20 | 刘仁炯 | A kind of fort formula high-altitude fruit picking machine |
| CN110111491A (en) * | 2019-05-21 | 2019-08-09 | 杭州良淋电子科技股份有限公司 | A kind of shuttlecock self-service sale device |
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| CN112273054A (en) * | 2020-11-30 | 2021-01-29 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
| CN112840857A (en) * | 2021-01-18 | 2021-05-28 | 汪忠荣 | Use nimble arm-type agricultural picking machine of machinery |
| CN114474114A (en) * | 2022-01-17 | 2022-05-13 | 桂林航天工业学院 | Manipulator for automatically overturning workpieces on production line |
| CN114431004B (en) * | 2021-12-23 | 2023-11-14 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
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| CN108419525A (en) * | 2018-04-08 | 2018-08-21 | 湖北工业大学 | A kind of interchangeable cutter head electric fruit picker |
| CN108450149A (en) * | 2018-04-24 | 2018-08-28 | 河南工业大学 | A kind of fruits picking mechanical hand device |
| CN108450149B (en) * | 2018-04-24 | 2023-10-10 | 河南工业大学 | Fruit picking manipulator device |
| CN108377742A (en) * | 2018-04-27 | 2018-08-10 | 温州大学 | A kind of lichee picking machinery |
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| CN108557143A (en) * | 2018-05-01 | 2018-09-21 | 浙江工业大学 | A kind of fruit picking packing machine |
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| CN108738678A (en) * | 2018-05-31 | 2018-11-06 | 安徽农业大学 | A kind of eminence woods fruit indirect labor turns round device and picking automatically |
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| CN108575301B (en) * | 2018-07-04 | 2024-01-30 | 仲恺农业工程学院 | Rotary fruit picker |
| CN108575301A (en) * | 2018-07-04 | 2018-09-28 | 仲恺农业工程学院 | A kind of rotary machine for picking fruits |
| CN108811767A (en) * | 2018-07-10 | 2018-11-16 | 陕西智多搭智能科技有限公司 | Apple-picking rotates collection device |
| CN108713392A (en) * | 2018-07-27 | 2018-10-30 | 黄冈师范学院 | A kind of machinery self balancing device |
| CN108811756A (en) * | 2018-08-03 | 2018-11-16 | 华中农业大学 | A kind of multi-functional pear device for picking and picking method |
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| CN111301725A (en) * | 2020-03-20 | 2020-06-19 | 上海大学 | Balancing structure and balancing method of mechanical wrist |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
| CN112273054B (en) * | 2020-11-30 | 2022-06-17 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN112273054A (en) * | 2020-11-30 | 2021-01-29 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN112840857B (en) * | 2021-01-18 | 2023-03-14 | 汪忠荣 | Use nimble arm-type agricultural picking machine of machinery |
| CN112840857A (en) * | 2021-01-18 | 2021-05-28 | 汪忠荣 | Use nimble arm-type agricultural picking machine of machinery |
| CN114431004B (en) * | 2021-12-23 | 2023-11-14 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
| CN114474114B (en) * | 2022-01-17 | 2023-08-15 | 桂林航天工业学院 | Automatic manipulator that overturns of production line work piece |
| CN114474114A (en) * | 2022-01-17 | 2022-05-13 | 桂林航天工业学院 | Manipulator for automatically overturning workpieces on production line |
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