CN108476738A - The rotary apple picking device of manipulator - Google Patents
The rotary apple picking device of manipulator Download PDFInfo
- Publication number
- CN108476738A CN108476738A CN201810521899.XA CN201810521899A CN108476738A CN 108476738 A CN108476738 A CN 108476738A CN 201810521899 A CN201810521899 A CN 201810521899A CN 108476738 A CN108476738 A CN 108476738A
- Authority
- CN
- China
- Prior art keywords
- fixed link
- motion bar
- manipulator
- apple
- boss
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000013011 mating Effects 0.000 claims abstract description 3
- 241000220225 Malus Species 0.000 claims description 61
- 230000000694 effects Effects 0.000 claims description 4
- 238000010008 shearing Methods 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 235000011430 Malus pumila Nutrition 0.000 description 56
- 235000015103 Malus silvestris Nutrition 0.000 description 56
- 235000013399 edible fruits Nutrition 0.000 description 7
- 239000002420 orchard Substances 0.000 description 7
- 239000007787 solid Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 244000141359 Malus pumila Species 0.000 description 1
- 206010047571 Visual impairment Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- A01D46/253—Portable motorised fruit pickers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
Abstract
The present invention relates to a kind of rotary apple picking devices of manipulator, there are two mechanical fingers for manipulator tool, one of mechanical finger is as fixed link, another mechanical finger is as motion bar, fixed link lower end is fixedly connected on fixed link boss, motion bar lower end is socketed in by movable rod sleeve on fixed link boss, the positive stop lug boss on limiter and motion bar that fixed link upper end passes through fixed link upper end with motion bar upper end is in mating connection, decelerating motor is housed in fixed link boss, movable rod sleeve is connected with the axis of decelerating motor, it is connected by needle bearing peace dynamicthrust needle bearing between movable rod sleeve socket and fixed link boss, fixed link boss is connect by branch sleeve with telescopic rod；Microswitch inductor and signal lamp are installed in fixed link upper end；Thin double-edged blade is housed, fixed link upper end is fixedly connected with fixed ring below by bolt, and thin double-edged blade is located on fixed ring below motion bar upper end.
Description
Technical field
The present invention relates to a apple picking devices, more particularly, to a kind of wound that picking quick and convenient is efficient, handsome in appearance
Meaning apple picking device.
Background technology
The greatest difficulty that the apple garden on the present more ground in China faces is exactly without operating simpler convenience and putting into
Apple picking device at low cost, thus can not quick and convenient efficiently pick apple.Universal apple garden picking apple is not only wanted
Waste the secondary operation that a large amount of human resources carry out the long base of a fruit of apple, it is necessary to ensure the preservation integrity degree of apple, it is most important
It is that orchard worker climbs up liftoff 3 meters or so of fruit tree and picks, although with safeguard measure, but this still has prodigious danger
Property.The problem of for these apple gardens, needs to design a kind of higher scheme of feasibility, i.e. telescopic rod and rotating machine arm knot
Altogether, do it is a kind of can arbitrarily adjust height, rotating blade deeply cuts away the apple picking devices of apple stems, both reduced orchard worker from
The danger coefficient of body also reduces manually to the secondary operation of the long base of a fruit of apple.It is also reduction pair directly deeply to cut away apple rhizome
Scratch damage between apple.The speed of picking apple can greatly increase, not only efficiently but also convenient.Reduce secondary operation apple rhizome
Labour, greatly reduce picking cost.
Invention content
The purpose of the present invention be exactly greatly reduce picking cost to reduce the labour of secondary operation apple rhizome, and
A kind of rotary apple picking device of manipulator is provided.
The purpose of the present invention can be realized by following scheme：
A kind of rotary apple picking device of manipulator, including manipulator, manipulator central shaft, telescopic rod, the manipulator
Tool is there are two mechanical finger, and one of mechanical finger is as fixed link, another mechanical finger is as motion bar, in manipulator
Mandrel is by branch sleeve, decelerating motor, axis, fixed link boss, needle bearing, translation needle roller thrust bearing, movable rod sleeve, solid
Determine fang platform composition, fixed link lower end is fixedly connected on fixed link boss, and motion bar lower end is socketed in solid by movable rod sleeve
On fixed pole boss, the positive stop lug boss phase on limiter and motion bar that fixed link upper end passes through fixed link upper end with motion bar upper end
It is connected, decelerating motor is housed in fixed link boss, movable rod sleeve is connected with the axis of decelerating motor, movable rod sleeve set
Connect and connect by needle bearing peace dynamicthrust needle bearing between fixed link boss, fixed link boss by branch sleeve with
Telescopic rod connects；Microswitch inductor and signal lamp are installed in fixed link upper end；Thin twolip is housed below motion bar upper end
Blade, fixed link upper end is fixedly connected with fixed ring below by bolt, and thin double-edged blade is located on fixed ring；Under telescopic rod
End is equipped with starting switch, and starting switch connects decelerating motor by electric wire.
Further, the fixed ring is made of two handgrips, and two handgrip one end are linked together by bolt, the other end
Form female ends.
Further, one circle elastic sheet metal of attachment on peripheral circular arc of the fixed ring from bolt to female ends.
When microswitch touches apple, microswitch inductor has sent out signal to signal lamp, and signal lamp is made to light, and presses
Dynamic telescopic rod lower end starting switch starts to shear, and decelerating motor drives motion bar to rotate, with the activity of thin double-edged blade
Bar quickly cuts off apple rhizome.
The beneficial effects of the invention are as follows：
The rotary apple picking device of manipulator of the present invention, at low cost, low cost are taken conveniently, easy to operate, Guo Nongshi
It uses conveniently, the design of structure solves program of the apple because of secondary operation stem, a large amount of loss for solving financial resource and material resource.
Product is cheap without low side, simple in structure, of low cost, still, structure it is ingenious, significantly reduce many unnecessary damages
It loses, greatly improves the economic benefit of orchard worker.
Description of the drawings
Fig. 1 is the rotary apple picking device axonometric drawing of manipulator of the present invention；
Fig. 2 is the rotary apple picking device part explosive view of manipulator of the present invention；
Fig. 3 is the rotary apple picking device sectional view of manipulator of the present invention；
Fig. 4 be Fig. 3 in along the sectional view of A-A；
Fig. 5 is the sectional view along B-B in Fig. 4；
Fig. 6 is that apple rhizome cuts Principle of Process figure.
Specific implementation mode
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 5, the rotary apple picking device of manipulator of the invention, including telescopic rod, manipulator 2, Bao Shuan
Angle of throat piece 3, microswitch inductor 4, bolt 9, fixed ring 6, manipulator central shaft 7 etc..There are two manipulators for the tool of manipulator 2
Refer to, one of mechanical finger as fixed link 2-1, another mechanical finger as motion bar 2-2, manipulator central shaft 7 by
Branch sleeve 7-1, decelerating motor 7-2, axis 7-3, fixed link boss 7-4, needle bearing 7-5, translation needle roller thrust bearing 7-6,
Movable rod sleeve 7-7, fixed fang platform 7-8 are constituted, and the lower ends fixed link 2-1 are fixedly connected on fixed link boss 7-4, motion bar 2-
2 lower ends are socketed in by movable rod sleeve 7-7 on fixed link boss, and the upper ends fixed link 2-1 pass through fixation with the upper ends motion bar 2-2
Positive stop lug boss 8 on the limiter 1 and motion bar of bar upper end is in mating connection, and decelerating motor 7- is housed in fixed link boss 7-4
2, movable rod sleeve 7-7 is connected with the axis 7-3 of decelerating motor, passes through rolling between movable rod sleeve 7-7 and fixed link boss 7-4
Needle bearing 7-5 peace dynamicthrust needle bearing 7-6 connections, fixed link boss 7-4 are connect by branch sleeve 7-1 with telescopic rod.
Fixed link 2-1 is equipped with microswitch inductor 4 and signal lamp in upper end；Thin double-edged blade is housed below the upper ends motion bar 2-2
3, the upper ends fixed link 2-1 are fixedly connected with fixed ring 6 below by bolt 9, and thin double-edged blade 3 is located on fixed ring 6, fixed
Ring 6 is made of two handgrips (handgrip A6-1, handgrip B6-2).Two handgrip outermosts (remove the female ends of two handgrips composition
Place circular arc) adhere to a circle elastic sheet metal.Two handgrips (handgrip A6-1, handgrip B6-2) can play fixed apple bar and protect
The complete effect of card shearing.
When needing adjustable telescopic rod height, spiral fastener is unscrewed；When reaching requirement length, screw-tightened is tightened
Part, you can reach requirement.Manipulator has two mechanical fingers, wherein a mechanical finger plays the role of fixed and steps up, it is another
Only carry rotating blade.When telescopic rod is directed at apple, fixed finger can wrap up apple, and give branch of the apple in shearing
Support.Another finger is by circumgyration incision, cutting off the base of a fruit in apple rapidly and efficiently.When manipulator control lives apple, slightly
For mobile manipulator when microswitch touches apple, microswitch inductor can send out downwards signal, and bottom end signal lamp lights,
Thus the dysopia that difference in height is brought can be reduced.
In use, a little there are two the device of the control apple rhizome of handgrip composition below the limiter, apple at this time
Microswitch is touched, signal lamp lights, and presses telescopic rod lower switch and starts to shear, and motor drives motion bar to rotate
Come, quickly cuts off apple rhizome with the motion bar of blade, operation quick and convenient is efficient.
As shown in fig. 6, when shearing apple bar, first have to accomplish is that apple bar is fixed.By being fixed by bolt and
The fixed ring of two handgrips (handgrip A, handgrip B) composition can play the role of fixed apple bar and ensure to shear complete.
At position of the apple bar by the recess of fixed ring, that is, enter fixed ring internal cavities, but due to fixed ring
Internal cavities cyclotomy week is made of tangent circular arc, so apple bar can only enter but will not come out.
In the initial state, that apple bar initially enters is the second cavity of fixed ring B.With shown in schematic diagram originally according to
The motion bar of fixed link left side is attached to by the way that during switching and starting and do counter-clockwise rotary motion, apple bar is in solid always
It is movable in the second cavity of ring B to determine.Simultaneously during I~IV, the first cavity of fixed ring A is smaller and smaller until disappearance, fixed
Since ring third cavity C increasing generating.
When with turning to V step in schematic diagram, the first cavity of fixed ring A is completely disappeared, solid during VI~VIII
Determine the 4th cavity D of ring generate and gradually increase, the second cavity of fixed ring B where apple bar is tapered into, up to apple bar with
The diminution of the second cavity of fixed ring B, and due to inside handgrip groove and blade fix, and finally cut off by double-edged blade.
Last motion bar is returned to the right side of fixed link.
Equally, when the right side that motion bar is in fixed link can lead to second apple bar is being allowed to enter fixed ring cavity
Afterwards, switch is opened, in motion bar next clockwise rotation, shear action can be completed.
Embodiment：
It, can be according to the height of different apple trees when fruit orchard worker picks up this product (the rotary apple picking device of manipulator)
High adjustment and matched height have connection electric wire in telescopic rod, are responsible for the movement of the upper some mechanical hand of control and touch
Sense switch, flexible to be easy to cause electric wire extruding, the mode that then we take spring wire solves the above problem, and orchard worker is by machine
Tool is manually placed into ripe apple position, finds suitable position, adjusts a lower angle, and manipulator is allowed to be held in both hands as being slapped a human hand
Apple, when the thoughts and feelings of robot section switch is triggered, it is meant that manipulator has arrived suitable picking position, and orchard worker obtains
Information, by lower switch, manipulator starts rotary work, and blade rotation is by Apple stem from the position cut-out less than apple surface, apple
Fruit falls into the string bag beside pole.
The present invention is suitable for minitype fruits base, plays assisting well important for the picking of orchard worker, decreases two
The cost of secondary processing, it is convenient and practical.
Claims (4)
1. a kind of rotary apple picking device of manipulator, including manipulator, manipulator central shaft, telescopic rod, it is characterised in that：Institute
Manipulator tool is stated there are two mechanical finger, one of mechanical finger as fixed link, another mechanical finger as motion bar,
Manipulator central shaft is by branch sleeve, decelerating motor, axis, fixed link boss, needle bearing, translation needle roller thrust bearing, activity
Rod sleeve, fixed fang platform are constituted, and fixed link lower end is fixedly connected on fixed link boss, and motion bar lower end passes through movable rod sleeve
It is socketed on fixed link boss, the limit on limiter and motion bar that fixed link upper end passes through fixed link upper end with motion bar upper end
Position boss is in mating connection, and decelerating motor is housed in fixed link boss, and movable rod sleeve is connected with the axis of decelerating motor, activity
Rod sleeve, which is socketed, to be connected between fixed link boss by needle bearing peace dynamicthrust needle bearing, and fixed link boss passes through company
Female connector cylinder is connect with telescopic rod；Microswitch inductor and signal lamp are installed in fixed link upper end；Motion bar fills below upper end
Have a thin double-edged blade, fixed link upper end is fixedly connected with fixed ring below by bolt, and thin double-edged blade be located at fixed ring it
On；Telescopic rod lower end is equipped with starting switch, and starting switch connects decelerating motor by electric wire.
2. according to the rotary apple picking device of manipulator described in claim 1, it is characterised in that：The fixed ring is by two
Handgrip forms, and two handgrip one end are linked together by bolt, and the other end forms female ends.
3. the rotary apple picking device of manipulator according to claim 2, it is characterised in that：The fixed ring is from bolt
One circle elastic sheet metal of attachment on to the peripheral circular arc of female ends.
4. according to the rotary apple picking device of manipulator described in claim 1, it is characterised in that：When microswitch touches
When apple, microswitch inductor has sent out signal to signal lamp, and signal lamp is made to light, and presses telescopic rod lower end starting switch and starts
Shearing, decelerating motor drive motion bar to rotate, apple rhizome are quickly cut off with the motion bar of thin double-edged blade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810521899.XA CN108476738A (en) | 2018-05-28 | 2018-05-28 | The rotary apple picking device of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810521899.XA CN108476738A (en) | 2018-05-28 | 2018-05-28 | The rotary apple picking device of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108476738A true CN108476738A (en) | 2018-09-04 |
Family
ID=63352212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810521899.XA Pending CN108476738A (en) | 2018-05-28 | 2018-05-28 | The rotary apple picking device of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108476738A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937702A (en) * | 2019-03-11 | 2019-06-28 | 湘潭大学 | Self-action fruit picking apparatus |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN203505088U (en) * | 2013-10-21 | 2014-04-02 | 赵着 | Multifunctional electric apple picking machine |
| CN203590732U (en) * | 2013-11-08 | 2014-05-14 | 贺亚男 | Fruit picking machine |
| CN104584779A (en) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | Apple maturity automatic detection and picking robot based on binocular vision |
| DE102015111682A1 (en) * | 2015-07-17 | 2017-02-02 | Klaus Spies | Fully automatic picking system and method for operating the picking system |
| CN206923322U (en) * | 2017-07-19 | 2018-01-26 | 李林书 | A kind of agricultural plucks servicing unit with mango |
| CN107852957A (en) * | 2017-12-06 | 2018-03-30 | 长江大学 | A kind of hand-push electrical apple-picking car |
| CN207219435U (en) * | 2017-09-26 | 2018-04-13 | 赵瑜 | A kind of hand-held apple picking device |
| CN208300344U (en) * | 2018-05-28 | 2019-01-01 | 上海电力学院 | The rotary apple picking device of manipulator |
-
2018
- 2018-05-28 CN CN201810521899.XA patent/CN108476738A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN203505088U (en) * | 2013-10-21 | 2014-04-02 | 赵着 | Multifunctional electric apple picking machine |
| CN203590732U (en) * | 2013-11-08 | 2014-05-14 | 贺亚男 | Fruit picking machine |
| CN104584779A (en) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | Apple maturity automatic detection and picking robot based on binocular vision |
| DE102015111682A1 (en) * | 2015-07-17 | 2017-02-02 | Klaus Spies | Fully automatic picking system and method for operating the picking system |
| CN206923322U (en) * | 2017-07-19 | 2018-01-26 | 李林书 | A kind of agricultural plucks servicing unit with mango |
| CN207219435U (en) * | 2017-09-26 | 2018-04-13 | 赵瑜 | A kind of hand-held apple picking device |
| CN107852957A (en) * | 2017-12-06 | 2018-03-30 | 长江大学 | A kind of hand-push electrical apple-picking car |
| CN208300344U (en) * | 2018-05-28 | 2019-01-01 | 上海电力学院 | The rotary apple picking device of manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937702A (en) * | 2019-03-11 | 2019-06-28 | 湘潭大学 | Self-action fruit picking apparatus |
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