CN108811744A - A kind of bionical picking mechanical arm device of indirect labor's fruit - Google Patents
A kind of bionical picking mechanical arm device of indirect labor's fruit Download PDFInfo
- Publication number
- CN108811744A CN108811744A CN201810659405.4A CN201810659405A CN108811744A CN 108811744 A CN108811744 A CN 108811744A CN 201810659405 A CN201810659405 A CN 201810659405A CN 108811744 A CN108811744 A CN 108811744A
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- China
- Prior art keywords
- mechanical arm
- picking
- fruit
- picking mechanical
- stepless
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Classifications
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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
- A01D46/247—Manually operated fruit-picking tools
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of bionical picking mechanical arm devices of indirect labor's fruit, including picking mechanical arm, semi adaptive stepless adjustment telescopic bar and stepless power transmission handle composition, picking mechanical arm to be suitable for picking minitype fruits, such as apple, peach；The bar portion of semi adaptive stepless adjustment telescopic bar extends or is fixed body of rod length by self-locking mechanism after shrinking, self-locking mechanism is made of eccentric wheel and expanding block two parts, and stepless power transmission handle is made of automatic wire winding device, friction clutch, handle, four part of flexible wire ropes；The present invention grabs fruit by picking claw, rotation is carried out simultaneously twists off carpopodium, save manpower, convenient for winning, same branch fruit is avoided to be affected in picking process under the pull effect of external force, the bar portion of semi adaptive stepless adjustment telescopic bar extends or is fixed body of rod length by self-locking device after shrinking, and bar portion can realize that stepless retractable function, free adjustment length realize transmitting mechanical force effect after using this mechanism within the scope of certain length.
Description
Technical field
The present invention relates to agricultural mechanical fields, more specifically, it relates to a kind of bionical picking mechanical of indirect labor's fruit
Arm device.
Background technique
China is the big country of Production of fruit and consumption, currently, China's application area is big, picking task is heavy.With
The reduction of aging of population and agricultural workforce, agriculture production cost increasingly improve, and fruit automation picking, which has become, necessarily to be sent out
Exhibition trend.Some colleges and universities and scientific research institutions made certain gains in the research of fruit picking robot in recent years, however this
A little picking robots cannot achieve picking automated job still in conceptual phase；However at present in terms of fruit picking still with
The amount of labour is big when based on traditional picked by hand, but since fruit tree is higher, needing relevant facility of ascending a height, and causing to pick, imitates
Rate is low, needs to design a kind of fruits picking mechanical hand thus, facilitates picking personnel in the fruit of ground picking eminence.
Fruit random distribution in the tree when existing picking mechanical is due to picking, posture is different, some fruit are hidden by branches and leaves
Gear, to causing visual identity difficulty larger, fruit can not precise positioning, influence the crawl of fruit, gripper crawl is inconvenient；Its
Secondary, manipulator is huge, and structure is complicated, and joint freedom degrees are more, slow in one's movements, and picking efficiency is extremely low, and fruit is easy injury, Er Qie
Certain position manipulators of fruit tree cannot be introduced into because volume is big.Therefore a kind of bionical picking mechanical arm of indirect labor's fruit is needed
Device satisfies the use demand.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of bionical picking machine of indirect labor's fruit
Tool arm device, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides the following technical solutions：
A kind of bionical picking mechanical arm device of indirect labor's fruit, including picking mechanical arm, semi adaptive stepless adjustment telescopic bar
It is formed with stepless power transmission handle,
The picking mechanical arm is by picking claw, rack I, drive rod, reset spring, sliding block, sliding rail, connection sleeve I, preload bullet
14 spring, positioning retainer ring, connection sleeve II, rotating base, bearing, rotary slider and cam sleeve parts are constituted；
The bar portion of the semi adaptive stepless adjustment telescopic bar extends or is fixed body of rod length by self-locking mechanism after shrinking, self-locking
Mechanism is made of eccentric wheel and expanding block two parts, the bottom one of eccentric wheel and semi adaptive stepless adjustment telescopic bar, swelling
The irregular inner sleeve of block designs on eccentric wheel outside expanding block for zigzag；
The stepless power transmission handle is made of automatic wire winding device, friction clutch, handle, four part of flexible wire ropes, described
Automatic wire winding device is made of clockwork spring, reel, main shaft three parts, and the friction clutch is by friction plate, rack II, friction
Wheel, binding nut, five part of main shaft composition.
As a further solution of the present invention, the quantity of the picking claw is three and picking claw is mounted in rack I, three
A picking claw connects drive rod, and drive rod is equipped with reset spring, and sliding block and drive rod are interference fitted, and sliding block is matched with sliding rail gap
It closes, three cooperates jointly prevents drive rod axial-rotation.
As a further solution of the present invention, the connection sleeve I with connect II clearance fit of sleeve and consolidated by positioning retainer ring
Fixed, preloading spring is in compressive state always.
As a further solution of the present invention, the rotating base bottom end embeds bearing, bearing inner race and drive rod gap
Cooperation, rotating base and cam sleeve are interference fitted, and rotary slider and drive rod are interference fitted, in sliding block and cam sleeve
The helical orbit clearance fit of wall.
As a further solution of the present invention, the body of rod, semi adaptive stepless adjustment telescopic bar and bottom end tail are rotated clockwise
Gap between bar reaches locking state by expanding block turgor.
As a further solution of the present invention, the body of rod is rotated counterclockwise, and body of rod band movable eccentric wheel rotates, and expanding block retracts to
Center location, semi adaptive stepless adjustment telescopic bar reach free extension state.
As a further solution of the present invention, the binding nut is made of knurled nut, interior hexagonal transmission nut.
In conclusion the present invention has the advantages that compared with prior art：
The present invention grabs fruit by picking claw, while carrying out rotation and twisting off carpopodium, saves manpower and was picking convenient for winning
Avoid same branch fruit to be affected in journey under the pull effect of external force, the bar portion of semi adaptive stepless adjustment telescopic bar extend or
Body of rod length is fixed by self-locking device after contraction, bar portion can realize stepless stretch after using this mechanism within the scope of certain length
Contracting function, free adjustment length；Stepless power transmission handle realizes transmitting mechanical force effect.
In order to explain the structural features and functions of the invention more clearly, come with reference to the accompanying drawing with specific embodiment to this hair
It is bright to be described in detail.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the structural schematic diagram of gripper in the present invention.
Fig. 3 is the left view of gripper of the invention in Fig. 2.
Fig. 4 is the structural schematic diagram of the body of rod in the present invention.
Fig. 5 is the structural schematic diagram of automatic wire winding device in the present invention.
Fig. 6 is the structural schematic diagram of stepless power transmission handle mechanism in the present invention.
Appended drawing reference in Fig. 1, Fig. 4：
1：Picking mechanical arm, 2：Semi adaptive stepless adjustment telescopic bar, 3：Stepless power transmission handle, 2-1：Expanding block, 2-2：It is eccentric
Wheel, 2-3：Limit sleeve, 3-1：Handle I, 3-10：Flexible wire ropes.
Fig. 2, appended drawing reference in 3：
1-1：Picking claw, 1-2：Rack I, 1-3：Drive rod, 1-4：Reset spring, 1-5：Sliding block, 1-6：Sliding rail, 1-7：Connector sleeve
Cylinder I, 1-8：Preloading spring, 1-9：Positioning retainer ring, 1-10：Connect sleeve II, 1-11：Rotating base, 1-12：Bearing, 1-13：Rotation
Turn sliding block, 1-14：Cam sleeve.
Appended drawing reference in Fig. 5, Fig. 6：
3-2：Handle II, 3-3：Rack II, 3-4：Knurled nut, 3-5：Interior hexagonal transmission nut, 3-6：Main shaft, 3-7：Friction
Piece, 3-8：Reel, 3-9：Clockwork spring.
Specific embodiment
The following further describes the technical solution of the present invention in the following with reference to the drawings and specific embodiments.
Referring to Fig. 1, a kind of bionical picking mechanical arm device of indirect labor's fruit, including picking mechanical arm 1, semi adaptive without
Grade adjusting telescopic rod 2 and stepless power transmission handle 3 composition, the picking mechanical arm 1 is suitable for picking minitype fruits, such as apple, peach
Son etc..The picking mechanical arm 1 is by picking claw 1-1, I 1-2 of rack, drive rod 1-3, reset spring 1-4, sliding block 1-5, sliding rail 1-
6, connect I 1-7 of sleeve, preloading spring 1-8, positioning retainer ring 1-9, connection II 1-10 of sleeve, rotating base 1-11, bearing 1-12,
14 parts of rotary slider 1-13 and cam sleeve 1-14 constitute (as shown in Figure 2 and Figure 3).Water is grabbed by picking claw 1-1
Fruit, while carrying out rotation and twisting off carpopodium, it saves manpower and avoids same branch fruit in the drawing of external force in picking process convenient for winning
It is affected under the effect of dragging.Picking claw 1-1 is used to grab fruit, and I 1-2 of rack plays the work of fixed picking claw 1-1, compressed spring
With, by drive rod 1-3 and load transfer device cooperation grabbed.Three picking claw 1-1 realizations are driven to grab by drive rod 1-3 first
Function is taken, the reset effect of picking claw 1-1 is realized by the rebound of reset spring 1-4.Sliding block 1-5 matches with drive rod 1-3 interference
It closes, sliding block 1-5 and sliding rail 1-6 clearance fit, three cooperates jointly prevents drive rod 1-3 axial-rotation；Connect I 1-7 of sleeve with
Connection II 1-10 clearance fit of sleeve is fixed by positioning retainer ring 1-9, so that preloading spring 1-8 is in compressive state always, is reached pre-
Phase pretightning force；The bottom end rotating base 1-11 embeds bearing 1-12, bearing inner race and drive rod 1-3 clearance fit, rotating base 1-
11 are interference fitted with cam sleeve 1-14, and rotary slider 1-13 and drive rod 1-3 are interference fitted, sliding block 1-13 and cam sleeve
The helical orbit clearance fit of cylinder 1-14 inner wall drives drive rod 1-3 rotation, final to realize that picking claw 1-1 rotation and crawl are dynamic
Make synchronous carry out.Picking claw 1-1 is first directed at fruit when use, then pulls stepless power transmission handle 3, shrinks picking claw 1-1
Promptly while fruit, carries out rotation and twist off carpopodium, complete picking process.
The bar portion of the semi adaptive stepless adjustment telescopic bar 2 extends or needs self-locking mechanism to consolidate body of rod length after shrinking
Fixed (as shown in Figure 4), self-locking mechanism are made of eccentric wheel 2-2 and expanding block 2-1 two parts, eccentric wheel 2-2 and semi adaptive without
The bottom one of grade adjusting telescopic rod 2, the irregular inner sleeve of expanding block 2-1 are adopted outside expanding block 2-1 on eccentric wheel 2-2
It is designed with zigzag, is capable of increasing frictional force.After bar portion is extended to required length when use, the body of rod is rotated clockwise, at this time
The body of rod band movable eccentric wheel 2-1 rotation jack up expanding block 2-1, between semi adaptive stepless adjustment telescopic bar 2 and bottom end foot piece between
Gap reaches locking state by expanding block 2-1 turgor；When wanting to withdraw semi adaptive stepless adjustment telescopic bar 2, rotate counterclockwise
The body of rod, body of rod band movable eccentric wheel 2-2 rotates at this time, and expanding block 2-1 retracts to center location, semi adaptive stepless adjustment telescopic bar
2 reach free extension state.Bar portion can realize stepless retractable function after using this mechanism within the scope of certain length, freely adjust
Save length.
The stepless power transmission handle 3 (as shown in Figure 5) is by automatic wire winding device, friction clutch, handle, flexible wire ropes
Tetra- part 3-10 forms (as shown in Fig. 1, Fig. 6)；The automatic wire winding device is by clockwork spring 3-9, reel 3-8, main shaft 3-6 tri-
It is grouped as.Torsion is laid in by the clockwork spring 3-9 inside reel 3-8, achievees the effect that automatic takeup；The friction clutch by
Friction plate 3-7, II 3-3 of rack, friction pulley, binding nut, five part main shaft 3-6 composition.Wherein binding nut is by knurled nut
3-4, interior hexagonal transmission nut 3-5 composition.By manually adjusting binding nut, increase friction pulley, friction plate 3-7, II 3-3 of rack
Between frictional force, realize transmitting mechanical force effect.
Operating process of the invention is：
Semi adaptive stepless adjustment telescopic bar 2 is adjusted to the length for adapting to picking first, it is stepless to rotate clockwise semi adaptive
Telescopic rod 2 is adjusted, band movable eccentric wheel 2-2 jacks up expanding block 2-1, is interference fitted it with bar inner wall, fixed picking pole length.It twists
After tight binding nut, by pulling II 3-2 of handle that drive rod 1-3 is driven to be grabbed with load transfer device cooperation.After use
Unscrew binding nut, rotate semi adaptive stepless adjustment telescopic bar 2 counterclockwise, passes through clockwork spring 3-9 deposit inside reel 3-8
Torsion automatic takeup withdraws semi adaptive stepless adjustment telescopic bar 2.
The technical principle of the invention is described above in combination with a specific embodiment, is only the preferred embodiment of the present invention.This
The protection scope of invention is not limited merely to above-described embodiment, and all technical solutions belonged under thinking of the present invention belong to the present invention
Protection scope.Those skilled in the art, which does not need to pay for creative labor, can associate other specific realities of the invention
Mode is applied, these modes will fall within the scope of protection of the present invention.
Claims (7)
1. a kind of bionical picking mechanical arm device of indirect labor's fruit, including picking mechanical arm (1), semi adaptive step-less adjustment are stretched
Contracting bar (2) and stepless power transmission handle (3) composition, it is characterised in that：
The picking mechanical arm (1) is by picking claw (1-1), rack I (1-2), drive rod (1-3), reset spring (1-4), sliding block
(1-5), sliding rail (1-6), connection sleeve I (1-7), preloading spring (1-8), positioning retainer ring (1-9), connection sleeve II (1-10),
14 rotating base (1-11), bearing (1-12), rotary slider (1-13) and cam sleeve (1-14) parts are constituted；
The bar portion of the semi adaptive stepless adjustment telescopic bar (2) extends or is fixed body of rod length by self-locking mechanism after shrinking,
Self-locking mechanism is made of eccentric wheel (2-2) and expanding block (2-1) two parts, and eccentric wheel (2-2) is stretched with semi adaptive step-less adjustment
The bottom one of contracting bar (2), the irregular inner sleeve of expanding block (2-1) are outside expanding block (2-1) on eccentric wheel (2-2)
Zigzag design；
The stepless power transmission handle (3) is by automatic wire winding device, friction clutch, handle, four part of flexible wire ropes (3-10)
Composition, the automatic wire winding device are made of clockwork spring (3-9), reel (3-8), main shaft (3-6) three parts, the friction clutch
Device is made of friction plate (3-7), rack II (3-3), friction pulley, binding nut, five part of main shaft (3-6).
2. a kind of bionical picking mechanical arm device of indirect labor's fruit according to claim 1, which is characterized in that described to adopt
The quantity for plucking pawl (1-1) is three and picking claw (1-1) is mounted on rack I (1-2), three picking claw (1-1) connection transmissions
Bar (1-3), drive rod (1-3) are equipped with reset spring (1-4), and sliding block (1-5) and drive rod (1-3) are interference fitted, sliding block (1-
5) with sliding rail (1-6) clearance fit, three cooperates jointly prevents drive rod (1-3) axial-rotation.
3. a kind of bionical picking mechanical arm device of indirect labor's fruit according to claim 1 or 2, which is characterized in that institute
State connection sleeve I (1-7) with connect (1-10) clearance fit of sleeve II by positioning retainer ring (1-9) fixation, preloading spring (1-8) beginning
It is in compressive state eventually.
4. a kind of bionical picking mechanical arm device of indirect labor's fruit according to claim 3, which is characterized in that the rotation
Turn the pedestal bottom end (1-11) and embed bearing (1-12), bearing inner race and drive rod (1-3) clearance fit, rotating base (1-11) with
Cam sleeve (1-14) interference fit, rotary slider (1-13) and drive rod (1-3) are interference fitted, sliding block (1-13) with it is convex
The helical orbit clearance fit of wheel sleeve (1-14) inner wall.
5. a kind of bionical picking mechanical arm device of indirect labor's fruit according to claim 1, which is characterized in that clockwise
The body of rod is rotated, the gap between semi adaptive stepless adjustment telescopic bar (2) and bottom end foot piece is reached by expanding block (2-1) turgor
Locking state.
6. a kind of bionical picking mechanical arm device of indirect labor's fruit according to claim 1, which is characterized in that counterclockwise
The body of rod is rotated, body of rod band movable eccentric wheel (2-2) rotates, and expanding block (2-1) retracts to center location, and semi adaptive step-less adjustment is stretched
Contracting bar (2) reaches free extension state.
7. a kind of bionical picking mechanical arm device of indirect labor's fruit according to claim 1, which is characterized in that the folder
Tight nut is made of knurled nut (3-4), interior hexagonal transmission nut (3-5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810659405.4A CN108811744A (en) | 2018-06-25 | 2018-06-25 | A kind of bionical picking mechanical arm device of indirect labor's fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810659405.4A CN108811744A (en) | 2018-06-25 | 2018-06-25 | A kind of bionical picking mechanical arm device of indirect labor's fruit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108811744A true CN108811744A (en) | 2018-11-16 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810659405.4A Pending CN108811744A (en) | 2018-06-25 | 2018-06-25 | A kind of bionical picking mechanical arm device of indirect labor's fruit |
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| CN (1) | CN108811744A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041782A (en) * | 2018-08-24 | 2018-12-21 | 张振阳 | Semi-automatic high-altitude fruit picking device |
| CN111264179A (en) * | 2018-12-04 | 2020-06-12 | 山东交通职业学院 | Rose picking hand manufacturing method |
| CN112005720A (en) * | 2020-08-17 | 2020-12-01 | 浙江理工大学 | Tea leaf picking manipulator complete machine based on iris mechanism |
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| CN108040605A (en) * | 2018-02-09 | 2018-05-18 | 河北工业大学 | Device for picking and seed harvester |
| CN108064557A (en) * | 2017-12-15 | 2018-05-25 | 中南林业科技大学 | Fruit picking apparatus |
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|---|---|---|---|---|
| CZ277844B6 (en) * | 1989-01-20 | 1993-06-16 | Mezogazdasa Elelmiszerip | Picking apparatus, particularly for automatic machines for fruit gathering |
| CN2218192Y (en) * | 1994-10-10 | 1996-01-24 | 鲁杰 | Freely telescopic fixing rod |
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN202664043U (en) * | 2012-07-09 | 2013-01-16 | 叶世渊 | Brake adjusting device for fishing winder |
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| KR200468131Y1 (en) * | 2013-03-04 | 2013-07-24 | 한우석 | Apparatus of Harvest for fruit |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041782A (en) * | 2018-08-24 | 2018-12-21 | 张振阳 | Semi-automatic high-altitude fruit picking device |
| CN111264179A (en) * | 2018-12-04 | 2020-06-12 | 山东交通职业学院 | Rose picking hand manufacturing method |
| CN112005720A (en) * | 2020-08-17 | 2020-12-01 | 浙江理工大学 | Tea leaf picking manipulator complete machine based on iris mechanism |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181116 |
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| RJ01 | Rejection of invention patent application after publication |