CN108370721B - Fruit picking auxiliary mechanical arm - Google Patents
Fruit picking auxiliary mechanical arm Download PDFInfo
- Publication number
- CN108370721B CN108370721B CN201810148559.7A CN201810148559A CN108370721B CN 108370721 B CN108370721 B CN 108370721B CN 201810148559 A CN201810148559 A CN 201810148559A CN 108370721 B CN108370721 B CN 108370721B
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- shell
- disc
- rocker
- fruit
- clamping
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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
- A01D46/24—Devices for picking apples or like fruit
- A01D46/253—Portable motorised fruit pickers
Abstract
The invention discloses a fruit picking auxiliary mechanical arm, which comprises a clamping envelope mechanism and a rotating mechanism, wherein the clamping envelope mechanism is connected to the rotating mechanism and is used for rotationally grabbing fruits, the rotating mechanism comprises a disc with a rolling bearing in the middle, the rolling bearing is connected with a supporting tube, and the disc is clamped and fixed in a shell and synchronously rotates with the shell. The mechanism is compact and simple to operate, the separation of the clamping and the rotating motion of the manipulator is realized through the rolling bearing, the rolling bearing is arranged between the inner lifting pipe and the disc, the clamping motion of the clamping envelope mechanism is ensured not to be interfered during the clamping motion, the clamping motion is also avoided during the rotating motion, the manufacturing cost is low, the picking of fruits can be conveniently realized, and the fruits are ensured not to fall and be damaged.
Description
Technical Field
The invention provides the field of fruit picking tools, and particularly relates to a fruit picking auxiliary mechanical arm.
Background
The tree shape of the fruit tree is complex, and the mechanization process is slow compared with rice planting and the like. Many fruit picking devices at home and abroad are picked by knocking trunks and using the mode that fruits fall down due to self weight and then are collected. However, this method has a drawback that it cannot be guaranteed that every fruit on the tree falls. Moreover, the fruit tree is generally as high as 3-5 m, and the rest fruits are difficult to be conveniently collected by agricultural personnel under the condition. And the manufacturing cost of other intelligent fruit picking robots is relatively expensive. Therefore, the invention has important application value.
Disclosure of Invention
The invention aims to provide the fruit picking auxiliary mechanical arm which is reasonable in design, simple in structure and convenient to use; can solve the problem that the fruits at high positions are not easy to pick.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a fruit picking auxiliary machinery hand, centre gripping envelope mechanism and rotary mechanism, centre gripping envelope mechanism connects on rotary mechanism for the rotation snatchs fruit, rotary mechanism include that the middle part has antifriction bearing's disc, antifriction bearing connects the stay tube, the disc block is fixed in the shell, can rotate with the shell synchronization.
Furthermore, the clamping envelope mechanism is a three-jaw five-rod-linkage grabbing part which comprises a driving rod, a rocker, a second connecting rod, a first connecting rod and an envelope rod; the lower extreme evenly distributed of three actuating lever connect on the disc, the middle part of rocker rotate and connect on the shell, the medial extremity at the rocker is connected to the upper end of actuating lever, the lower extreme of second connecting rod is connected at the middle part of rocker, the outside end at the rocker is connected to the lower extreme of head rod, the upper end of second connecting rod and head rod all is connected on the envelope pole.
Furthermore, the inner sides of the enveloping rod and the second connecting rod are provided with rubber layers, so that the position of the fruit can be fixed during enveloping, and the quality of the fruit is guaranteed not to be damaged.
Furthermore, the stay tube include outer stay tube and interior tedge, interior tedge is adjusted from top to bottom along outer stay tube is inside, interior elevating system set up the elasticity button, outer stay tube is equipped with the spacing groove for the position control of cooperation elasticity button.
Furthermore, an elastic button on the inner lifting pipe is fixed by adopting a limiting groove type and is embedded in the outer supporting pipe to control the movement of the inner lifting pipe, the inner lifting pipe can move up and down when being pressed down, and the device is self-locked and fixed by utilizing the limiting grooves of the outer supporting pipe at intervals of small circular hole types when being loosened.
Furthermore, the upper part of the outer supporting tube is provided with an annular supporting groove, the supporting groove supports the upper shell, the upper part of the inner lifting tube is sleeved with a disc with a rolling bearing, and a spring is arranged between the bottom of the disc and the inner wall of the shell and used for resetting the inner lifting tube.
Furthermore, the outer wall of the outer supporting pipe is rotatably connected with a rotary rocker, the free end of the rotary rocker is connected with one end of a nylon rope, the other end of the nylon rope is wound and connected on the shell, the nylon rope is in a tight state, and the outer wall of the supporting pipe is further provided with a fixed pulley for changing the direction of the nylon rope.
Furthermore, a clockwork spring is arranged in the supporting groove, surrounds the lower part of the shell, and is connected with the supporting groove at one end and the shell at the other end for resetting after the shell rotates.
Furthermore, 3 grooves are uniformly formed in the circumference of the disc, the grooves and the protruding portions are arranged at intervals, the driving rod is arranged above the groove portions, the shell and the disc are correspondingly arranged, and the disc is clamped in the shell.
According to the fruit clamping and enveloping device, the elastic button is pressed to unlock the fruit clamping and enveloping device, the fruit clamping and enveloping device can move in the vertical direction, the inner lifting pipe can descend by pulling the elastic button down, and the disc connected with the inner lifting pipe is driven to descend, so that the clamping and enveloping mechanism is pulled to clamp and envelop fruits.
According to the clamping and enveloping mechanism, the descending driving force is provided for the driving rod through the descending disc, the rocker is driven to rotate, the rocker drives the first connecting rod and the second connecting rod to move downwards, and the first connecting rod and the second connecting rod drive the enveloping rod to rotate and tighten to form clamping and enveloping.
According to the invention, the rotating remote lever is pulled, the direction of the applied force is changed through the fixed pulley, the force transmission is realized through the nylon rope, the integral rotation of the shell is driven, and the shell rotates around the center to complete the action of twisting off the fruit stem; when the rotating remote lever is released, the restoring force is provided by the clockwork spring stored in the supporting groove, so that the device returns to the initial state.
Has the advantages that: according to the invention, the separation of the clamping and the rotating motion of the manipulator is realized through the rolling bearing, the rolling bearing is arranged between the inner lifting pipe and the disc, the clamping motion of the clamping envelope mechanism cannot be interfered by the rotating motion of the clamping envelope mechanism, the mechanism is compact and simple to operate, the manufacturing cost is low, the picking of fruits can be conveniently realized, and the fruits cannot fall and be damaged.
Drawings
FIG. 1 is a partial three-dimensional modeling diagram of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a cross-sectional view of the invention A-A;
FIG. 4 is a diagrammatic view of a clamping portion of the present invention;
FIG. 5 is a schematic view of the present invention in clamping fruit;
FIG. 6 is a view of the outer support tube retaining groove of the present invention;
wherein: 1-inner lifting pipe, 2-outer supporting pipe, 3-clockwork spring, 4-supporting groove, 5-disc, 6-rolling bearing, 7-shell, 8-clamping enveloping mechanism, 9-rubber layer, 10-spring, 11-fixed pulley, 12-nylon rope, 13-rotary remote rod, 14-elastic button and 15-limiting groove.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, 2 and 3, the present embodiment provides: the utility model provides an auxiliary machinery hand is picked to fruit, centre gripping envelope mechanism 8 and rotary mechanism, centre gripping envelope mechanism 8 connect on rotary mechanism for the rotation snatchs fruit, rotary mechanism include that the middle part has antifriction bearing 6 disc 5, antifriction bearing 6 joint support pipe, 5 circumferences of disc on evenly set up 3 recesses, recess and bulge interval set up, actuating lever 81 set up in the concave part top, shell 7 and disc 5 correspond the setting, 5 blocks of disc are in shell 7, rotate with shell 7 synchronous, antifriction bearing adopts two deep groove ball bearings, bears great load.
As shown in fig. 4 and 5, the clamping envelope mechanism 8 of the present embodiment is a three-jaw five-bar linkage grasping portion, which includes a driving rod 81, a rocker 82, a first connecting rod 83, a second connecting rod 84, and an envelope rod 85; the first connecting rod 83 is longer than the second connecting rod 84, the housing 7 is provided with a gap for extending the driving rods 81, the lower ends of the three driving rods 81 are uniformly distributed and connected on the disc 5, the middle part of the rocker 82 is rotatably connected on the housing 7, the upper end of the driving rod 81 is connected with the inner side end of the rocker 82, the lower end of the second connecting rod 84 is connected with the middle part of the rocker 82, the lower end of the first connecting rod 83 is connected with the outer side end of the rocker 82, and the upper ends of the second connecting rod 84 and the first connecting rod 83 are both connected on the enveloping rod 85; the inner sides of the enveloping rod 85 and the second connecting rod 84 are provided with the rubber layers 9, so that the position of the fruit can be fixed during enveloping, and the quality of the fruit is not damaged.
The position B is the initial position of the clamping envelope mechanism, the position C is the envelope position of the clamping envelope mechanism, the clamping envelope mechanism provides descending driving force for the driving rod through the descending disc to drive the rocker to rotate, the rocker drives the first connecting rod and the second connecting rod to move downwards, the first connecting rod and the second connecting rod drive the envelope rod to rotate and tighten, and clamping envelope is formed from the position B to the position C.
The supporting tube comprises an outer supporting tube 2 and an inner lifting tube 1, wherein the inner lifting tube 1 is adjusted up and down along the inside of the outer supporting tube 2, an elastic button 14 is arranged in an inner lifting hall, and a limiting groove 15 is formed in the outer supporting tube 2 and used for being matched with the elastic button 14 to adjust the position; the elastic button 14 on the inner lifting pipe 1 is fixed in a limiting groove 15 mode, is embedded in the outer supporting pipe 2 and is used for controlling the movement of the inner lifting pipe 1, can move up and down when pressed down, and when loosened, the device is self-locked and fixed by utilizing the limiting groove 15 on the outer supporting pipe 2 with small round hole intervals; the upper part of the outer supporting tube 2 is provided with an annular supporting groove 4, the annular supporting groove 4 is a supporting box body with an opening, the upper edge of the outer supporting tube is provided with an annular supporting part for placing and fixing the supporting groove, the supporting groove 4 supports the upper shell 7, a sliding groove corresponding to the lower end of the shell 7 is arranged in the supporting groove 4, the lower end of the shell 7 is placed in the sliding groove through the opening of the supporting groove to rotate, the upper part of the inner lifting tube 1 is sleeved with a disc 5 with a rolling bearing 6, and a spring 10 is arranged between the bottom of the disc 5 and the inner wall of the shell 7 and used for resetting the inner lifting tube 1; after interior fall way is fixed, interior fall way is the tight fit with antifriction bearing, and antifriction bearing is the tight fit with the disc to fixed disc, then be fixed between disc and the spring and link the exercise, but because the spring is so control unstable, insert the gapped support groove in the shell below again and make it stable.
As shown in fig. 6, the outer support tube is provided with a plurality of spacing grooves 15 with small round holes at intervals, and the spacing grooves 15 are used for being matched with the elastic buttons to be clamped and limited.
The outer wall of an outer supporting tube 2 of the embodiment is rotatably connected with a rotary rocker 13, the free end of the rotary rocker 13 is connected with one end of a nylon rope 12, the other end of the nylon rope 12 is wound on a shell 7, the lower end of the shell is integrally provided with a circular ring for connecting the nylon rope, the initial position of the circular ring is farthest away from a fixed pulley, the nylon rope 12 is in a tight state, the outer wall of the supporting tube is also provided with the fixed pulley 11, and the outer wall of the supporting tube is provided with an L-shaped fixed seat for fixing the fixed pulley and changing the direction of the nylon rope 12; and a clockwork spring 3 is arranged in the support groove 4, the clockwork spring 3 surrounds the lower part of the shell 7, one end of the clockwork spring is connected with the support groove 4, and the other end of the clockwork spring is connected with the shell 7 and is used for resetting after the shell 7 rotates.
This embodiment is pressed the elasticity button, makes its unblock, can follow vertical direction motion, and the elasticity button of pulling down can make interior fall way descend, drives the disc that links to each other with it and descends to pulling centre gripping envelope mechanism realizes the centre gripping envelope to fruit, and centre gripping envelope mechanism adopts high density polyethylene as the material of mechanism, in order to reduce weight, further realizes laborsavingly.
In the embodiment, the rotating remote lever is pulled, the direction of the applied force is changed through the fixed pulley, the force is transmitted through the nylon rope, the shell is driven to integrally rotate, and the shell rotates around the center to complete the action of twisting off the fruit stem; when the rotating remote lever is released, the restoring force is provided by the clockwork spring stored in the supporting groove, so that the device returns to the initial state.
The operation method of the embodiment comprises the following steps: the manipulator snatchs the portion and is in the state of opening, when the spring is in the nature, stretch out near manipulator to fruit, press the elastic button, and pull the elastic button downwards, the manipulator snatchs the portion and accomplishes the envelope fixed to fruit, pull rotatory rocker again, the manipulator snatchs the portion along with the shell is rotatory, twist off the fruit stem, accomplish breaking away from of fruit and branch, loosen rotatory rocker, the shell resumes former attitude back along with clockwork spring, place the manipulator snatchs the portion and place before holding the case, press the elastic button, and upwards promote, the manipulator snatchs the portion and resumes to the state of opening gradually, fruit is taken off the manipulator and is snatched the portion, get into and hold the case.
In the embodiment, the manipulator clamping and the rotating motion are separated through the rolling bearing, the clamping motion is realized by the up-and-down motion of the inner rod, and the motion process is that the clamping is realized by the up-and-down motion first and then the rotation is performed; the fruit picking device has the advantages that the mechanism is compact and simple to operate, the manufacturing cost is low, the fruit picking at high positions of fruit trees can be conveniently realized, and the fruit can be prevented from falling and being damaged.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The utility model provides an auxiliary machinery hand is picked to fruit, its characterized in that, includes centre gripping envelope mechanism and rotary mechanism, centre gripping envelope mechanism connects on rotary mechanism for the rotation snatchs fruit, rotary mechanism include that the middle part has antifriction bearing's disc, antifriction bearing joint stay tube, the disc block is fixed in the shell, rotates with the shell is synchronous, the stay tube include outer stay tube and interior fall way, interior fall way is adjusted from top to bottom along outer stay tube is inside, outer stay tube upper portion set up the annular and support the groove, support the groove and support the top shell, the disc that has antifriction bearing is cup jointed on the upper portion of interior fall way, be equipped with the spring between disc bottom and the shell inner wall, be used for the restoration of interior fall way.
2. The fruit picking auxiliary manipulator according to claim 1, wherein the clamping envelope mechanism is a three-jaw five-link grabbing part, and the three-jaw five-link grabbing part comprises a driving rod, a rocker, a second connecting rod, a first connecting rod and an envelope rod; the lower extreme evenly distributed of three actuating lever connect on the disc, the middle part of rocker rotate and connect on the shell, the medial extremity at the rocker is connected to the upper end of actuating lever, the lower extreme of second connecting rod is connected at the middle part of rocker, the outside end at the rocker is connected to the lower extreme of head rod, the upper end of second connecting rod and head rod all is connected on the envelope pole.
3. The fruit picking auxiliary mechanical arm as claimed in claim 1, wherein the outer wall of the outer support tube is rotatably connected with a rotary rocker, the free end of the rotary rocker is connected with one end of a nylon rope, the other end of the nylon rope is wound on the housing, and the outer wall of the support tube is further provided with a fixed pulley for changing the direction of the nylon rope.
4. The fruit picking auxiliary manipulator according to claim 1, wherein a clockwork spring is arranged in the support groove, surrounds the lower part of the shell, and is connected with the support groove at one end and the shell at the other end for resetting after the shell rotates.
5. The fruit picking auxiliary manipulator of claim 1, wherein the inner lifting tube is provided with an elastic button, and the outer support tube is provided with a limiting groove for adjusting the position of the elastic button.
6. The fruit picking auxiliary manipulator according to claim 2, wherein 3 grooves are uniformly formed in the circumference of the disk, the grooves and the protruding parts are arranged at intervals, the driving rod is arranged in the groove part, the shell is arranged corresponding to the disk, and the disk is clamped in the shell.
7. The fruit picking auxiliary manipulator according to claim 2, wherein rubber layers are arranged on the inner sides of the enveloping rod and the second connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810148559.7A CN108370721B (en) | 2018-02-13 | 2018-02-13 | Fruit picking auxiliary mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810148559.7A CN108370721B (en) | 2018-02-13 | 2018-02-13 | Fruit picking auxiliary mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108370721A CN108370721A (en) | 2018-08-07 |
| CN108370721B true CN108370721B (en) | 2021-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810148559.7A Active CN108370721B (en) | 2018-02-13 | 2018-02-13 | Fruit picking auxiliary mechanical arm |
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| Country | Link |
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| CN (1) | CN108370721B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100087906A (en) * | 2009-01-29 | 2010-08-06 | 황경봉 | The supporter pole of elasticity adjustment |
| CN102282973A (en) * | 2011-07-11 | 2011-12-21 | 浙江理工大学 | Multi-finger under-actuated end effector with sensing function |
| CN102656997A (en) * | 2012-05-23 | 2012-09-12 | 沈福兴 | Citrus picker |
| CN104782325A (en) * | 2015-04-30 | 2015-07-22 | 浙江海洋学院 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
| CN105993383A (en) * | 2016-05-23 | 2016-10-12 | 北京农业智能装备技术研究中心 | Stem-removing picking gripper |
| CN206909158U (en) * | 2017-07-10 | 2018-01-23 | 奉节县冬有农业开发有限公司 | A kind of pomegranate stripper unit |
-
2018
- 2018-02-13 CN CN201810148559.7A patent/CN108370721B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100087906A (en) * | 2009-01-29 | 2010-08-06 | 황경봉 | The supporter pole of elasticity adjustment |
| CN102282973A (en) * | 2011-07-11 | 2011-12-21 | 浙江理工大学 | Multi-finger under-actuated end effector with sensing function |
| CN102656997A (en) * | 2012-05-23 | 2012-09-12 | 沈福兴 | Citrus picker |
| CN104782325A (en) * | 2015-04-30 | 2015-07-22 | 浙江海洋学院 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
| CN105993383A (en) * | 2016-05-23 | 2016-10-12 | 北京农业智能装备技术研究中心 | Stem-removing picking gripper |
| CN206909158U (en) * | 2017-07-10 | 2018-01-23 | 奉节县冬有农业开发有限公司 | A kind of pomegranate stripper unit |
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| Publication number | Publication date |
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| CN108370721A (en) | 2018-08-07 |
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