CN108811763A - Manipulator suitable for the picking of woods fruit - Google Patents

Abstract

The invention discloses a manipulator suitable for fruit picking, comprising: an automatic jacking mechanism and an adaptive opening and closing locking mechanism; the automatic jacking mechanism includes: a rack push rod, a sleeve, and a push rod spring; The rod slides relative to the sleeve; the push rod spring connects the rack push rod and the sleeve; one end of the rack push rod is provided with a top block for tightening the branches; the self-adaptive opening and closing locking mechanism includes: left mechanical claw, right mechanical Claw, mechanical claw return spring, upper left link, left middle link, left lower link, right upper link, right middle link, right lower link, left upper slider, left middle slider, left lower slider, right upper slider , right middle slider and right lower slider; left mechanical claw and right mechanical claw are rotationally connected to the rack push rod; left upper slider, left middle slider, left lower slider, right upper slider, right middle slider and right lower The slider is slidably connected to the sleeve. The manipulator suitable for forest fruit picking can realize the picking of forest fruit, has small size and low cost.

Description

Manipulator for fruit picking

technical field

The invention relates to a manipulator suitable for fruit picking.

Background technique

The traditional manual picking method is inefficient and cannot achieve the best picking effect in a short period of time, and it is particularly difficult to pick densely packed fruits such as cherries and dates on trees with different heights.

The traditional equipment for picking this kind of fruit is large-scale hydraulic picking equipment. However, due to the strong power of this kind of picking equipment, it will cause damage to the tree itself to a certain extent, and the price is high.

Contents of the invention

In order to solve the deficiencies of the prior art, the invention provides a small manipulator suitable for fruit picking.

In order to achieve the above object, the present invention adopts the following technical solutions:

A manipulator suitable for fruit picking, including: an automatic jacking mechanism and an adaptive opening and closing locking mechanism; the automatic jacking mechanism includes: a rack push rod, a sleeve, and a push rod spring; the rack push rod is relatively The barrel slides; the push rod spring connects the rack push rod and the sleeve; one end of the rack push rod is provided with a top block for tightening the branches; the self-adaptive opening and closing locking mechanism includes: left mechanical claw, right mechanical claw, mechanical claw Return spring, left upper link, left middle link, left lower link, right upper link, right middle link, right lower link, left upper slider, left middle slider, left lower slider, right upper slider, right middle slider block and right lower slider; left mechanical claw and right mechanical claw are rotationally connected to the rack push rod; left upper slider, left middle slider, left lower slider, right upper slider, right middle slider and right lower slider are slidingly connected To the sleeve; the sliding direction of the upper left slider, the lower left slider, the upper right slider and the lower right slider relative to the sleeve is parallel to the sliding direction of the rack push rod relative to the sleeve; the left middle slider and the right middle slider The sliding direction relative to the sleeve is perpendicular to the sliding direction of the rack push rod relative to the sleeve; the left upper link connects the left mechanical claw and the left upper slider; the left middle link connects the left upper slider and the left middle slider; the left lower link Connect the left middle slider and the left lower slider; the right upper link connects the right gripper and the right upper slider; the right middle link connects the right upper slider and the right middle slider; the right lower link connects the right middle slider and the right lower slider ;The return spring of the mechanical claw connects the left middle slider and the right middle slider so that the left middle slider and the right middle slider are close to each other; both the left middle slider and the right middle slider have a position for locking the rack push rod locking teeth.

Further, the manipulator suitable for fruit picking also includes: a manual opening and closing mechanism that can be operated by the user to control the opening of the left mechanical claw and the right mechanical claw: the manual opening and closing mechanism includes: a connecting piece and a drawstring; the drawstring is connected to the connecting piece ; The pull cord can be operated by the user to drive the connecting piece to move relative to the sleeve.

Further, the manual opening and closing mechanism also includes a pulley and a wire rope tension spring; the pulley is rotatably connected to the sleeve; a spring limiter is fixed on the pull cord; the wire rope tension spring connects the spring limiter and the connecting piece to the spring limiter A force is applied away from the attachment; one end of the pull cord is looped over the pulley to attach to the attachment.

Further, one end of the stay rope passes through the wire rope tension spring and the connecting piece, and then goes around the pulley and is fixed to the connecting piece.

Further, a rubber block is installed at one end of the top block.

Further, the sleeve is formed with a guide groove for guiding the movement of the rack push rod; the push rod spring is located in the guide groove; the two ends of the push rod spring respectively contact the groove bottom of the guide groove and the rack push rod.

Further, the two sides of the rack push rod are respectively formed with matching teeth that cooperate with the locking teeth.

Further, the left mechanical claw is provided with a left roller group that is in contact with the branch; the right mechanical claw is provided with a right roller group that is in contact with the branch; the left roller group and the right roller group can contact the branch to drive the left mechanical claw and the right mechanical claw to rotate.

Further, the left upper link and the left middle link are coaxially connected to the left upper slider; the left middle link and the left lower link are coaxially connected to the left middle slider; the right upper link and the right middle link are coaxially connected To the right upper slider; the right middle connecting rod and the right lower connecting rod are coaxially rotated and connected to the right middle slider.

Further, the adaptive opening and closing locking mechanism includes: a left pin shaft and a right pin shaft; the left pin shaft is fixed to the left middle slider; the right pin shaft is fixed to the right middle slider; the left lower link and the left middle link pass through the left The pin shaft constitutes a rotational connection; the lower right link and the right middle link form a rotational connection through the right pin shaft; the mechanical pawl return spring connects the left pin shaft and the right pin shaft; the mechanical pawl return spring is an extension spring.

The advantage of the present invention is that the provided manipulator suitable for fruit picking can automatically clamp branches to realize automatic picking. Compared with large-scale picking equipment, the cost is low.

Description of drawings

Fig. 1 is a kind of manipulator that is applicable to forest fruit picking of the present invention and the assembly diagram that is applicable to the balance mechanical arm of forest fruit picking;

Fig. 2 is the schematic diagram of the manipulator applicable to fruit picking in Fig. 1;

Fig. 3 is an exploded view of a manipulator suitable for fruit picking in Fig. 1;

Fig. 4 is the schematic diagram of the rack pusher that is applicable to the manipulator of fruit picking in Fig. 1;

Fig. 5 is a schematic diagram of a balanced mechanical arm suitable for fruit picking in Fig. 1;

Fig. 6 is a schematic diagram of another perspective of the balanced mechanical arm suitable for fruit picking in Fig. 1;

Fig. 7 is a partial exploded view of the balanced mechanical arm suitable for fruit picking in Fig. 1;

Fig. 8 is a schematic diagram of the counterweight of the mechanical arm of the balanced mechanical arm suitable for fruit picking in Fig. 1;

Fig. 9 is the handle of the balanced mechanical arm suitable for fruit picking in Fig. 1;

Fig. 10 is a schematic diagram of the double-rotational different-lead lead screw of the balanced mechanical arm suitable for fruit picking in Fig. 1 .

Manipulator 100 suitable for fruit picking, automatic jacking mechanism 10, rack push rod 11, matching teeth 111, top block 12, rubber block 13, sleeve 14, guide groove 141, adaptive opening and closing locking mechanism 20, Left mechanical claw 21, left roller group 211, right mechanical claw 22, right roller group 221, mechanical claw return spring 23, left upper link 24, left middle link 25, left lower link 26, right upper link 27, right middle link Rod 28, right lower link 29, left upper slider 30, left middle slider 31, left lower slider 32, right upper slider 33, right middle slider 34, right lower slider 35, locking teeth 36, left pin shaft 37, right pin shaft 38, manual opening and closing mechanism 40, connector 41, stay cord 42, pulley 43;

A balance mechanical arm 200 suitable for fruit picking, a telescopic mechanical arm 50, a telescopic arm 51, a transmission link group 52, a crank 53, a mounting hole 54, an eccentric wheel link 55, a link pin 56, a first motor 57, The first motor seat 58, the self-balancing telescopic mechanism 60, the telescopic arm sleeve 61, the double-rotation different lead screw 62, the first screw section 63, the second screw section 64, the mechanical arm counterweight 65, the second Motor 67, telescopic force guide rod 68, limit bolt 69, multi-degree-of-freedom control mechanism 70, rotation degree of freedom control part 71, pitch degree of freedom control part 72, left and right rotation degree of freedom control part 73, lifting connection part 74, handle 75 , Electric push rod 76, mechanical arm support 77, first fixed plate 78, second fixed plate 79.

Detailed ways

The present invention will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.

As shown in FIGS. 1 to 10 , a manipulator 100 suitable for fruit picking includes: an automatic tightening mechanism 10 , an adaptive opening and closing mechanism 20 and a manual opening and closing mechanism 40 . The self-adaptive opening and closing locking mechanism 20 can automatically clamp and lock the branches. The automatic tightening mechanism 10 tightens the branches when the self-adaptive opening and closing locking mechanism 20 clamps the branches. The manual opening and closing mechanism 40 is for the user to manually open the self-adaptive opening and closing locking mechanism 20, and manually open the self-adapting opening and closing locking mechanism 20 when the branches need to be loosened.

Automatic jacking mechanism 10 comprises: rack push rod 11, sleeve 14, push rod spring. The rack push rod 11 slides relative to the sleeve 14 . The push rod spring connects the rack push rod 11 and the sleeve 14 . One end of the rack push rod 11 is provided with a top block 12 for tightening branches.

As a preferred embodiment, the sleeve 14 is formed with a guide groove 141 for guiding the movement of the rack push rod 11 . The push rod spring is located in the guide groove 141 . Two ends of the push rod spring contact the groove bottom of the guide groove 141 and the rack push rod 11 respectively.

Specifically, when the manipulator 100 suitable for fruit picking is in a free state, since the push rod spring is pressed by the bottom of the rack push rod 11 and the guide groove 141, the rack push rod 11 is always driven to move along The sliding thrust of the guide groove 141.

Adaptive opening and closing locking mechanism 20 comprises: left mechanical claw 21, right mechanical claw 22, mechanical claw reset spring 23, left upper link 24, left middle link 25, left lower link 26, right upper link 27, right middle link Bar 28, right lower link 29, left upper slider 30, left middle slider 31, left lower slider 32, right upper slider 33, right middle slider 34 and right lower slider 35. The left claw 21 and the right claw 22 are rotatably connected to the rack push rod 11 . The upper left slider 30 , the middle left slider 31 , the lower left slider 32 , the upper right slider 33 , the middle right slider 34 and the lower right slider 35 are slidably connected to the sleeve 14 . The sliding direction of the upper left slider 30 , the lower left slider 32 , the upper right slider 33 and the lower right slider 35 relative to the sleeve 14 is parallel to the sliding direction of the rack push rod 11 relative to the sleeve 14 . The direction in which the left middle slider 31 and the right middle slider 34 slide relative to the sleeve 14 is perpendicular to the direction in which the rack push rod 11 slides relative to the sleeve 14 . The left upper link 24 connects the left mechanical claw 21 and the left upper slider 30 . The left middle link 25 connects the left upper slider 30 and the left middle slider 31 . The left lower link 26 connects the left middle slider 31 and the left lower slider 32 . The upper right connecting rod 27 connects the right mechanical claw 22 and the upper right slider 33 . The right middle link 28 connects the right upper slider 33 and the right middle slider 34. The lower right link 29 connects the middle right slider 34 and the lower right slider 35. The mechanical claw return spring 23 connects the left middle slider 31 and the right middle slider 34 so that the left middle slider 31 and the right middle slider 34 are close to each other.

As a preferred embodiment, the left mechanical gripper 21 is provided with a left roller set 211 that is in contact with the branch. The right mechanical claw 22 is provided with the right roller group 221 that contacts with branch. The left roller group 211 and the right roller group 221 can contact the branch to drive the left mechanical claw 21 and the right mechanical claw 22 to rotate.

As a preferred embodiment, the left upper link 24 and the left middle link 25 are coaxially connected to the left upper slider 30 . The left middle connecting rod 25 and the left lower connecting rod 26 are coaxially connected to the left middle sliding block 31 . The right upper link 27 and the right middle link 28 are coaxially connected to the right upper slider 33 for rotation. The right middle connecting rod 28 and the right lower connecting rod 29 are coaxially connected to the right middle sliding block 34 .

As a specific implementation manner, the adaptive opening and closing locking mechanism 20 includes: a left pin shaft 37 and a right pin shaft 38 . The left pin shaft 37 is fixed to the left middle slider 31 . The right pin shaft 38 is fixed to the right middle slider 34 . The lower left link 26 and the middle left link 25 form a rotational connection through a left pin 37 . The lower right connecting rod 29 and the middle connecting rod 28 form a rotational connection by a right bearing pin 38 . Mechanical pawl return spring 23 connects left pin shaft 37 and right pin shaft 38. The mechanical pawl return spring 23 is an extension spring.

Specifically, when the left mechanical claw 21 and the right mechanical claw 22 are pushed to the branch at the same time, the left roller group 211 and the right roller group 221 are in contact with the branch, and the branch exerts force on the left mechanical claw 21 and the right mechanical claw 22 to drive the left mechanical claw. The claw 21 and the right mechanical claw 22 are opened to the left and right sides simultaneously. The left mechanical claw 21 and the right mechanical claw 22 drive the left upper link 24, the left middle link 25, the right upper link 27 and the right middle link 28 to rotate relatively. The torsional force exerted by the left middle link 25 and the right middle link 28 on the left middle slider 31 and the right middle slider 34 overcomes the pulling force of the mechanical claw return spring 23, and drives the left middle slider 31 and the right middle slider 34 to move away from each other. direction of movement. After the left mechanical claw 21 and the right mechanical claw 22 rotate to a certain angle to the left and right sides at the same time, the left roller group 211 and the right roller group 221 lose the thrust applied by the branches, and the mechanical claw reset spring 23 pulls through the left pin shaft 37 and the right The pin shaft 38 pulls the left middle slider 31 and the right middle slider 34 to move toward each other. The left middle slider 31 and the right middle slider 34 drive the left middle connecting rod 25 and the right middle connecting rod 28 to rotate relatively, thereby driving the left mechanical claw 21 and the right mechanical claw 22 to rotate until the branches are clamped.

As a preferred embodiment, both the left middle slider 31 and the right middle slider 34 are formed with locking teeth 36 for locking the position of the rack push rod 11 . The locking teeth 36 are located on both sides of the rack push rod 11 . The two sides of the rack push rod 11 are respectively formed with matching teeth 111 that cooperate with the locking teeth 36 . During the opening process of the left mechanical claw 21 and the right mechanical claw 22, the left middle slider 31 and the right middle slider 34 move away from each other, the locking teeth 36 release the rack push rod 11, and the rack push rod 11 Under the action of the push rod spring, it moves against the branches. When the left mechanical claw 21 and the right mechanical claw 22 clamped the branch, the mechanical claw return spring 23 pulled the left middle slider 31 and the right middle slider 34 to make them close to each other, and the mating teeth 111 meshed with the locking teeth 36, and the teeth were locked. The bar push rod 11 is fixed in a locking position that locks the branch.

As a preferred embodiment, a rubber block 13 is installed at one end of the top block 12 . When the top block 12 tightens the branches, the rubber block 13 can protect the branches and prevent the branches from being damaged due to excessive tightening force.

The manual opening and closing mechanism 40 can be operated and controlled by the user to open the left mechanical claw 21 and the right mechanical claw 22 . As a preferred implementation manner, the manual opening and closing mechanism 40 includes: a connecting piece 41 and a pull cord 42 . A pull cord 42 is connected to the connector 41 . The pull cord 42 can be operated by a user to drive the connecting member 41 to move relative to the sleeve 14 .

As a preferred embodiment, the manual opening and closing mechanism 40 also includes a pulley 43 and a wire rope tensioning spring. A pulley 43 is rotatably connected to the sleeve 14 . A spring limiter is fixed on the stay cord 42 . The wire rope tensioning spring connects the spring limiting part and the connecting part 41 to apply an active force away from the connecting part 41 to the spring limiting part. One end of the pull cord 42 is connected to the connecting piece 41 around the pulley 43 .

As a preferred embodiment, one end of the pull rope 42 passes through the wire rope tension spring and the connecting piece 41 and then goes around the pulley 43 and is fixed to the connecting piece 41 .

Specifically, when the branch needs to be released, the pull cord 42 is manually pulled, and the pull cord 42 pulls the connecting member 41 to move toward the pulley 43 along the extending direction of the guide groove 141 . The left lower link 26 and the right lower link 29 are respectively rotatably connected to the connecting member 41 . When the connecting piece 41 moves to the pulley 43, it drives the lower left link 26 and the lower right link 29 to rotate. Rotating left lower link 26 and right lower link 29 drive left middle slider 31 and right middle slider 34 away from each other to drive left upper link 24, left middle link 25, right upper link 27 and right middle link 28 to generate The relative rotation drives the left mechanical claw 21 and the right mechanical claw 22 to rotate left and right respectively until they are opened. The left middle slider 31 and the right middle slider 34 move away from each other, and the clamping of the rack push rod 11 is released. The push rod spring promotes the rack push rod 11 to eject the branch.

The spring limiter cooperates with the wire rope tension spring to keep the stay rope 42 between the connecting piece 41 and the spring limiter in tension.

A balanced robotic arm 200 suitable for fruit picking includes: a telescopic robotic arm 50 , a self-balancing telescopic mechanism 60 and a multi-degree-of-freedom manipulation mechanism 70 . The telescopic mechanical arm 50 can adjust the length of itself according to the distance of the branch, so that the manipulator can hold the branch. The self-balancing telescopic mechanism 60 can maintain the balance of the balanced mechanical arm 200 suitable for fruit picking, so as to prevent the balanced mechanical arm 200 suitable for fruit picking from being out of balance when the telescopic arm 51 of the telescopic mechanical arm 50 is adjusted to a length that is too long. A dump occurs. The balanced manipulator 200 suitable for fruit picking can adjust the angle and orientation of the telescopic manipulator 50 through the multi-degree-of-freedom manipulating mechanism 70, so that the manipulator can clamp branches in different positions for picking.

The telescopic mechanical arm 50 includes: a telescopic arm 51 , a transmission link group 52 , a crank 53 , an eccentric wheel link 55 and a first motor 57 . The transmission link set 52 is slidably connected to the telescopic arm 51 . One end of the transmission link group 52 is connected with a manipulator for grabbing branches. The other end of the transmission link group 52 is connected to one end of the eccentric wheel link 55 . The other end of the eccentric wheel connecting rod 55 is fixed with a connecting rod pin 56 . A mounting hole 54 for mounting a link pin 56 is formed in the crank 53 . The first motor 57 drives the crank 53 to rotate so as to drive the transmission connecting rod set 52 to reciprocate.

Specifically, the first motor 57 drives the crank 53 to rotate, and the crank 53 drives the eccentric wheel connecting rod 55 to reciprocate along the extension direction of the telescopic arm 51 through the connecting rod pin 56 . The eccentric wheel connecting rod 55 drives the transmission link group 52 to reciprocate in the extension direction of the telescopic arm 51 , thereby driving the manipulator fixed at one end of the transmission link group 52 to reciprocate in the extension direction of the telescopic arm 51 . At this time, if the manipulator clamps the branch, the branch will vibrate, so that the fruit on the branch will be vibrated and fall down.

As a preferred embodiment, the crank 53 is formed with a plurality of installation holes 54 . Specifically, the plurality of mounting holes 54 can be used to adjust the reciprocating stroke of the transmission link set 52 . The farther the distance from the mounting hole 54 where the connecting rod pin 56 is installed to the rotation axis of the crank 53 is, the greater the vibration amplitude of the manipulator is. The closer the distance from the mounting hole 54 where the connecting rod pin 56 is installed to the rotation axis of the crank 53 is, the smaller the vibration amplitude of the manipulator is.

The self-balancing telescopic mechanism 60 includes: a telescopic arm sleeve 61 , a screw with double rotation and different leads 62 , a mechanical arm counterweight 65 , a second motor 67 and a telescopic force guide rod 68 . The telescopic arm 51 slides relative to the telescopic arm sleeve 61 . The telescopic dowel 68 is fixed to the telescopic arm 51 . The double-rotation double-different-lead lead screw includes a first lead screw segment 63 and a second lead screw segment 64 . The helical direction of the first lead screw segment 63 is opposite to the helical direction of the second lead screw segment 64 . The lead of the first screw segment 63 is greater than the lead of the second screw segment 64 . The telescopic force guiding rod 68 is threadedly engaged with the first lead screw section 63 . The counterweight 65 of the mechanical arm is threadedly engaged with the second lead screw section 64 . The second motor 67 drives the screw 62 with double rotation and different lead to rotate to drive the telescopic force guiding rod 68 and the counterweight 65 of the mechanical arm to move in opposite directions.

Specifically, since the helical direction of the first lead screw segment 63 is opposite to that of the second lead screw segment 64, when the second motor 67 rotates forwardly to drive the double-rotation double-different-lead lead screw to rotate, the mechanical arm The counterweight 65 and the telescopic force guide rod 68 are far away from each other. The telescopic force guide rod 68 pushes the telescopic arm 51 to move relative to the telescopic sleeve in a direction away from the counterweight 65 of the mechanical arm, so that the scissors can clamp farther branches.

Because the lead of the first leading screw section 63 is greater than the lead of the second leading screw section 64, and the ratio of the lead of the first leading screw section 63 and the second leading screw section 64 is greater than that of the mechanical arm counterweight 65 and the telescopic arm 51. The weight ratio of all the parts above the bottom is inversely proportional, so the two sides almost maintain the balance of gravity. The balance robot arm 200 suitable for fruit picking will keep the center of gravity almost unchanged during the process of driving the manipulator to expand and contract, so as to realize self-balancing. So people can still easily control the manipulator.

As a preferred implementation manner, the sliding direction of the telescopic arm 51 relative to the telescopic arm sleeve 61 is parallel to the sliding direction of the transmission link group 52 relative to the telescopic arm 51 .

As a preferred implementation manner, the first motor 57 is fixed to the telescopic arm 51 .

The multi-degree-of-freedom manipulation mechanism 70 includes: a rotation degree of freedom control member 71 , a pitch degree of freedom control member 72 , a left and right rotation degree of freedom control member 73 and a lifting connection member 74 . The telescoping arm sleeve 61 is fixed to a rotational degree of freedom control 71 . The rotational degree of freedom control member 71 is provided with a handle 75 for the user to hold. The rotational degree of freedom control member 71 is rotationally connected to the pitch degree of freedom control member 72 around the first straight line. The pitch degree of freedom control member 72 is rotatably connected to the left and right rotation degree of freedom control member 73 around the second straight line. The left and right rotational degree of freedom control member 73 is connected to the lifting connecting member 74 in rotation around the third straight line. The first straight line, the second straight line and the third straight line are perpendicular to each other.

As a preferred embodiment, the counterweight 65 of the manipulator is formed with a counterweight chute that guides the counterweight 65 of the manipulator to slide relative to the rotational degree of freedom control member 71 . The self-balancing telescopic mechanism 60 also includes: a limit bolt 69 . The limit bolt 69 is fixed to the rotational degree of freedom control member 71 and goes deep into the counterweight chute.

As a specific implementation, the rotational degree of freedom control member 71 is provided with two handles 75 . Two handles 75 are located on either side of the rotational degree of freedom control 71 .

Specifically, holding the handle 75 can rotate the rotational degree of freedom control part 71 to make the manipulator rotate around the first straight line, turn the pitch degree of freedom control part 72 to make the telescopic arm 51 rotate around the second straight line, and turn the left and right rotational degree of freedom control part 73 makes the telescopic arm 51 rotate around the third straight line. In this way, the position of the manipulator can be adjusted so that the manipulator can accurately grip the pre-target tree branch. Through the rotational cooperation of the rotational degree of freedom control part 71 and the pitching degree of freedom control part 72, the rotational degree of freedom of the manipulator is controlled, and it is flexibly positioned so that it is close to the branch. Each degree of freedom can control the rotation resistance through the pre-tightening screw, so that the flexible control has a certain resistance to prevent loss of control due to excessive flexibility.

As a preferred implementation manner, the multi-degree-of-freedom manipulation mechanism 70 includes: an electric push rod 76 . The electric push rod 76 promotes the lifting connection 74 to move up and down.

Specifically, the electric push rod 76 pushes the lifting connector 74 up and down to drive the telescopic arm 51 and the manipulator up and down, so that the manipulator reaches a preset height.

As a preferred implementation manner, the multi-degree-of-freedom manipulation mechanism 70 further includes: a mechanical arm support 77 . The mechanical arm support 77 guides the lifting connector 74 to move up and down.

Specifically, the robot arm mount 77 is mounted to the vehicle seat. Wheels for moving the seat relative to the ground are mounted on the seat. The vehicle seat is also provided with a push handle for the user to push the vehicle seat. The push handle is attached to the saddle.

As a preferred embodiment, the sliding direction of the telescopic arm 51 relative to the telescopic arm sleeve 61 is parallel to the rotation axis of the rotation degree of freedom control member 71 relative to the pitch degree of freedom control member 72 .

As a preferred embodiment, the balanced robotic arm 200 suitable for fruit picking further includes a first fixing plate 78 and a second fixing plate 79 . The first fixing plate 78 is engaged with the telescopic arm 51 to fix the side plates on both sides of the telescopic arm 51 . The second fixing plate 79 is engaged with the telescopic arm sleeve 61 to fix the side plates on both sides of the telescopic arm sleeve 61 .

As a specific implementation, the handle 75 is fixed to one end of the telescopic arm sleeve. The first motor is fixed to the telescopic arm 51 through a first motor mount 58 .

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the above-mentioned embodiments do not limit the present invention in any form, and all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims (10)

1. A manipulator suitable for fruit picking, characterized in that it includes: an automatic jacking mechanism and an adaptive opening and closing locking mechanism; the automatic jacking mechanism includes: a rack push rod, a sleeve, a push rod spring ; the rack push rod slides relative to the sleeve; the push rod spring connects the rack push rod and the sleeve; one end of the rack push rod is provided with a top block for tightening branches The self-adaptive opening and closing locking mechanism includes: left mechanical claw, right mechanical claw, mechanical claw return spring, left upper link, left middle link, left lower link, right upper link, right middle link, right lower link rod, left upper slider, left middle slider, left lower slider, right upper slider, right middle slider and right lower slider; the left mechanical claw and the right mechanical claw are rotatably connected to the rack push rod; The upper left slider, the middle left slider, the lower left slider, the upper right slider, the middle right slider and the lower right slider are slidably connected to the sleeve; the upper left slider block, the left lower slider, the right upper slider, and the right lower slider slide relative to the sleeve in parallel to the direction in which the rack push rod slides relative to the sleeve; the left The direction in which the middle slider and the right middle slider slide relative to the sleeve is perpendicular to the direction in which the rack push rod slides relative to the sleeve; the left upper link connects the left mechanical claw and the left upper slider; the left middle link connects the left upper slider and the left middle slider; the left lower link connects the left middle slider and the left lower slider; the right upper link connects the The right mechanical claw and the right upper slider; the right middle link connects the right upper slider and the right middle slider; the right lower link connects the right middle slider and the right lower slider ; The mechanical claw return spring connects the left middle slider and the right middle slider so that the left middle slider and the right middle slider are close to each other; the left middle slider and the right middle slider The sliders are all formed with locking teeth for locking the position of the rack push rod. 2. The manipulator applicable to fruit picking according to claim 1, characterized in that, The manipulator suitable for fruit picking also includes: a manual opening and closing mechanism that can be operated by the user to control the opening of the left mechanical claw and the right mechanical claw: the manual opening and closing mechanism includes: a connecting piece and a drawstring; The pull cord is connected to the connector; the pull cord can be operated by a user to drive the connector to move relative to the sleeve. 3. The manipulator applicable to fruit picking according to claim 2, characterized in that, The manual opening and closing mechanism also includes a pulley and a wire rope tension spring; the pulley is rotatably connected to the sleeve; a spring limiter is fixed on the pull cord; the wire rope tension spring is connected to the spring limiter The connecting piece and the connecting piece exert an active force on the spring limiting piece away from the connecting piece; one end of the pull cord is connected to the connecting piece by going around the pulley. 4. The manipulator applicable to fruit picking according to claim 3, characterized in that, One end of the pull rope passes through the tension spring of the wire rope and the connecting piece, and then goes around the pulley and is fixed to the connecting piece. 5. The manipulator applicable to fruit picking according to claim 1, characterized in that, A rubber block is installed at one end of the top block. 6. The manipulator applicable to fruit picking according to claim 1, characterized in that, The sleeve is formed with a guide groove that guides the movement of the rack push rod; the push rod spring is located in the guide groove; the two ends of the push rod spring respectively contact the groove bottom of the guide groove and the Rack push rod. 7. The manipulator applicable to fruit picking according to claim 6, characterized in that, Cooperating teeth cooperating with the locking teeth are respectively formed on both sides of the rack push rod. 8. The manipulator applicable to fruit picking according to claim 1, characterized in that, The left mechanical claw is provided with a left roller group that is in contact with a branch; the right mechanical claw is provided with a right roller group that is in contact with a branch; the left roller group and the right roller group can drive the left machine in contact with a branch The claw and the right mechanical claw rotate. 9. The manipulator applicable to fruit picking according to claim 1, characterized in that, The left upper link and the left middle link are coaxially connected to the left upper slider; the left middle link and the left lower link are coaxially connected to the left middle slider; the right upper The connecting rod and the right middle connecting rod are coaxially connected to the right upper slider; the right middle connecting rod and the right lower connecting rod are coaxially connected to the right middle slider. 10. The manipulator suitable for fruit picking according to claim 9, characterized in that, The adaptive opening and closing locking mechanism includes: a left pin shaft and a right pin shaft; the left pin shaft is fixed to the left middle slider; the right pin shaft is fixed to the right middle slider; the left lower The connecting rod and the left middle link form a rotational connection through the left pin; the right lower link and the right middle link form a rotational connection through the right pin; Described left pin shaft and described right pin shaft; Described mechanical pawl return spring is extension spring.