CN110603955A

CN110603955A - Fruit picking manipulator

Info

Publication number: CN110603955A
Application number: CN201910780636.5A
Authority: CN
Inventors: 洪文敬
Original assignee: Quanzhou Quangang Xinyue Industrial Technology Co Ltd
Current assignee: Quanzhou Quangang Xinyue Industrial Technology Co Ltd
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2019-12-24

Abstract

The invention discloses a fruit picking manipulator, which structurally comprises a driving mechanism, a holding rod, an anti-skidding rubber sleeve, a loop bar and a picking mechanism, and has the following effects: according to the fruit picking mechanism, the main fruit picking mechanical arm is composed of the driving mechanism, the holding rod, the loop bar and the picking mechanism, the contraction frame arranged at the top end of the loop bar can be contracted inwards by rotating the rocker clockwise, the shearing blade cuts off stems, the fruits fall into the fruit collecting net, and the fruit picking structure composed of the contraction frame and the fruit collecting net can pick a large number of fruits at one time, so that the fruit picking efficiency is improved.

Description

Fruit picking manipulator

Technical Field

The invention relates to the field of manipulators, in particular to a fruit picking manipulator.

Background

The mechanical arm is a controllable mechanical system designed by observing the movement of human arms and the grabbing and lifting of palms in order to complete certain specific production activities, and generally comprises a moving mechanism (arm) for realizing flexible movement and an execution tail end (palm) for realizing final production activities, in recent years, along with the continuous development of national economy, people have greater and greater requirements on fruits and vegetables, the occupation of citrus production is increased day by day in the fruit and vegetable production of China, while the workload of citrus picking is huge in the whole citrus production activity, besides, the quality of fruit picking quality directly influences the subsequent work of fresh-keeping storage, transportation and distribution and the like of the fruits and finally seriously influences the economic benefit, if the original manual picking is continued, not only the working environment is very hard and the efficiency is low, the fruit picking quality can not be guaranteed, and even the accident that a picking worker falls down from a tree carelessly due to the complexity of the environment in the picking process is caused, in order to adapt to the development of the economy of the fruit and vegetable in the current generation, a novel fruit picking manipulator needs to be designed, the economic benefit is improved by the small-sized citrus picking manipulator meeting the working space, and therefore the problem that the accident that the picking worker falls down from the tree carelessly due to the complexity of the environment in the picking process is caused.

Summary of the invention

Aiming at the defects of the prior art, the invention is realized by the following technical scheme: the utility model provides a fruit picking machine hand, its structure includes the drive mechanism, holds holding rod, anti-skidding gum cover, loop bar, picking mechanism, the pole central point of holding put and be equipped with anti-skidding gum cover, anti-skidding gum cover and the pole of holding adopt interference fit, the pole top of holding be equipped with the loop bar, loop bar and the pole of holding looks lock, the pole bottom of holding be equipped with the drive mechanism, the loop bar top be equipped with picking mechanism, picking mechanism and drive mechanism cooperate.

As a further optimization of the technical scheme, the driving mechanism comprises a transmission rod, a slider, a steel wire rope and a screw bracket, the slider is arranged inside the loop bar, the transmission rod is arranged at the center of the top of the slider and vertically arranged on the slider, the transmission rod extends out of the top end of the loop bar, the screw bracket is arranged at the bottom end of the holding rod, and the steel wire rope is arranged between the screw bracket and the slider.

As a further optimization of the technical scheme, the screw support is composed of a bearing support, a screw rod, a ball nut, a fixed pulley and a rocker, the bearing support is arranged below the anti-skidding rubber sleeve, the bearing support is arranged at the front end of the holding rod, the screw rod is arranged below the bearing support, the top end of the screw rod is connected with the bearing support, the ball nut is arranged on the screw rod, the ball nut is matched with the screw rod, the rocker is arranged at the bottom end of the screw rod, the rocker and the screw rod are in interference fit, the fixed pulley is arranged on two sides of the rocker, the fixed pulley is arranged at the bottom end of the holding rod, and the ball nut is connected with the steel wire rope through the fixed pulley.

As a further optimization of the technical scheme, the picking mechanism consists of a picking basket, a support rod and a positioning plate, the support rod is vertically installed at the top of the positioning plate, and the picking basket is arranged above the positioning plate.

As a further optimization of the technical scheme, the picking basket consists of a shrinkage frame, a spring ring and a fruit collecting net, the fruit collecting net is woven on the shrinkage frame, the spring ring is arranged on the shrinkage frame, and the spring ring is matched with the shrinkage frame.

As a further optimization of the technical scheme, the shrinking frame comprises a shearing blade, a driven supporting rod, a blade holder and a directional base, the central position of the bottom of the directional base is connected with the transmission rod, the top of the directional base is provided with the driven supporting rod, the bottom of the driven supporting rod is movably connected with the directional base, the top of the driven supporting rod is provided with the blade holder, the top of the blade holder is provided with the shearing blade, the shearing blade is buckled with the blade holder, and the driven supporting rod is movably connected with the top of the supporting rod from the bottom to the top of the supporting rod.

Advantageous effects

The fruit picking manipulator disclosed by the invention is reasonable in design and strong in functionality, and has the following beneficial effects:

the invention forms a main fruit picking mechanical arm by the active mechanism, the holding rod, the loop bar and the picking mechanism, the shrinking frame arranged at the top end of the loop bar can be shrunk inwards through the clockwise rotating rocker, the stem is cut off by the shearing blade, the fruit falls into the fruit collecting net, the fruit picking structure consisting of the shrinking frame and the fruit collecting net can pick a large number of fruits at one time, the fruit picking efficiency is improved, when the rocker is reversed, the external force of the spring ring is eliminated, the spring ring is recovered to the original shape after the external force is removed, so that the contraction frame is expanded outwards, through simple structural design, the fruit can be picked efficiently under the condition of saving labor, thereby solving the problems that the prior manual fruit picking not only has very hard working environment and low efficiency, the fruit picking quality can not be guaranteed, and even more, the problem that picking workers are injured due to careless falling from trees due to the complex environment in the picking process occurs sometimes;

the ball nut is arranged on the screw rod, the ball nut is connected with the sliding block through the steel wire rope, the fixed pulley is arranged at the bottom end of the holding rod and used for changing the force application direction of the steel wire rope, the bottom end of the screw rod is connected with the rocker, so that the screw rod can rotate according to the rotating lead of the rocker when the rocker is rotated, the ball nut moves linearly upwards along the screw rod when the rocker rotates forwards, the sliding block is pulled by the steel wire rope to slide downwards along the loop bar, the spring ring is stressed and deformed at the moment, and the contraction frame contracts inwards under the;

the invention has a directional base connected with a transmission rod, the transmission rod is connected with a slide block, six driven supporting rods are arranged at the top of the directional base, and on the premise of being movably connected with the directional base, the driven supporting rods are sequentially enclosed into a circular wall structure along the directional base, the driven supporting rod is movably connected with the supporting rod from the lower part to the upper part, the directional base, the transmission rod, the driven supporting rod and the supporting rod form a lever structure, therefore, when the transmission rod moves linearly downwards, the driven supporting rods tilt upwards, because the spring ring is arranged in the annular wall structure formed by the surrounding of the driven supporting rods, when the driven supporting rods are tilted upwards simultaneously, the spring ring is compressed under the action of external force, the fruit picking opening arranged at the top of the fruit collecting net is gradually reduced, the spring ring can be quickly restored after the external force is removed, and drives each driven supporting rod to reset, so that the fruit picking port arranged at the top of the fruit collecting net is expanded again;

the knife rest is horizontally and vertically arranged on the driven supporting rod, the shearing blades are arranged at the top of the knife rest, when the contraction frame expands outwards, the knife heads of the shearing blades face upwards, so that the phenomenon that the fruit picking space of a fruit picking opening arranged above the fruit collecting net is excessively occupied is avoided, when the contraction frame contracts inwards, the shearing blades are closed in a staggered mode, stems of connected fruits are sheared, the fruits fall into the fruit collecting net, and the fruit damage caused in the pulling process is avoided.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic front view of a fruit picking robot according to the present invention;

FIG. 2 is a schematic front view of the active mechanism of the present invention;

FIG. 3 is a schematic front view of a lead screw bracket according to the present invention;

FIG. 4 is a schematic side view of the picker mechanism of the present invention;

FIG. 5 is a schematic top view of a picking basket according to the present invention;

fig. 6 is a schematic top view of the retractable rack of the present invention.

In the figure: the device comprises a driving mechanism-1, a transmission rod-1 a, a sliding block-1 b, a steel wire rope-1 c, a screw rod bracket-1 d, a bearing support-1 d1, a screw rod-1 d2, a ball nut-1 d3, a fixed pulley-1 d4, a rocker-1 d5, a holding rod-2, an anti-skid rubber sleeve-3, a loop rod-4, a picking mechanism-5, a picking blue-5 a, a shrinkage frame-5 a1, a shearing blade-5 a11, a driven support rod-5 a12, a cutter seat-5 a13, a directional base-5 a14, a spring ring-5 a2, a fruit collecting net-5 a3, a support rod-5 b and a positioning plate-5 c.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the following description and the accompanying drawings further illustrate the preferred embodiments of the invention.

Examples

Referring to fig. 1-6, the present invention provides a fruit picking robot, in which:

please refer to fig. 1, a fruit picking robot hand structurally comprises a driving mechanism 1, a holding rod 2, an anti-slip rubber sleeve 3, a loop bar 4 and a picking mechanism 5, wherein the anti-slip rubber sleeve 3 is arranged at the center of the holding rod 2, the anti-slip rubber sleeve 3 and the holding rod 2 are in interference fit, the loop bar 4 is arranged at the top end of the holding rod 2, the loop bar 4 is buckled with the holding rod 2, the holding rod 2 and the loop bar 4 are both in a hollow cylindrical structure, the preferred material is aluminum alloy, the driving mechanism 1 is arranged at the bottom end of the holding rod 2, the picking mechanism 5 is arranged at the top end of the loop bar 4, and the picking mechanism 5 is matched with the driving mechanism 1.

Referring to fig. 2, the driving mechanism 1 is composed of a transmission rod 1a, a slider 1b, a steel wire rope 1c and a lead screw bracket 1d, the slider 1b is arranged inside the loop bar 4, the slider 1b is of a circular structure and is in sliding fit with the loop bar 4, the transmission rod 1a is arranged at the center of the top of the slider 1b, the transmission rod 1a is vertically arranged on the slider 1b, the transmission rod 1a extends out of the top of the loop bar 4, the lead screw bracket 1d is arranged at the bottom end of the holding rod 2, and two steel wire ropes 1c are arranged between the lead screw bracket 1d and the slider 1b in parallel at equal intervals.

Referring to fig. 3, the screw bracket 1d is composed of a bearing support 1d1, a screw 1d2, a ball nut 1d3, a fixed pulley 1d4, and a rocker 1d5, the bearing support 1d1 is disposed below the anti-skid rubber sleeve 3, the bearing support 1d1 is mounted at the front end of the holding rod 2, a screw 1d2 is disposed below the bearing support 1d1, the top end of the screw 1d2 is connected with the bearing support 1d1, a ball nut 1d3 is disposed on the screw 1d2, the ball nut 1d3 is matched with the screw 1d2, when the screw 1d2 is used as an active body, the ball nut 1d3 is converted into a linear motion along with the rotation angle of the screw 1d2 according to the lead of the corresponding specification, so as to realize the linear motion corresponding to the ball nut 1d3, a rocker 1d5 is disposed at the bottom end of the screw 1d2, and the rocker 1d5 is in interference fit with the screw 1d2, two sides of the rocker 1d5 are provided with fixed pulleys 1d4 which are parallel to each other, the fixed pulley 1d4 is arranged at the bottom end of the holding rod 2, and the ball nut 1d3 is connected with the steel wire rope 1c through the fixed pulley 1d 4.

Referring to fig. 4, the picking mechanism 5 is composed of a picking basket 5a, support rods 5b and a positioning plate 5c, the positioning plate 5c is of a circular structure and is horizontally installed on the loop bar 4, six support rods 5b are vertically installed at the top of the positioning plate 5c, the support rods 5b surround the positioning plate 5c to form a circular wall structure, and the picking basket 5a is arranged above the positioning plate 5 c.

Referring to fig. 5, the picking basket 5a is composed of a shrinkage frame 5a1, a spring ring 5a2 and a fruit collection net 5a3, the fruit collection net 5a3 is woven on the shrinkage frame 5a1, the fruit collection net 5a3 surrounds the shrinkage frame 5a1 to form a circular wall structure, the spring ring 5a2 is arranged on the shrinkage frame 5a1, and the spring ring 5a2 is matched with the shrinkage frame 5a 1.

Referring to fig. 6, the retraction rack 5a1 comprises a cutting blade 5a11, a driven rod 5a12, a knife seat 5a13, and a directional base 5a14, said orienting base 5a14 is of circular configuration and the central position of the bottom is connected to the driving rod 1a, six driven supporting rods 5a12 are uniformly arranged at the top of the directional base 5a14 at equal intervals, each driven supporting rod 5a12 forms a circular wall structure along the directional base 5a14, each driven supporting rod 5a12 is connected with a spring ring 5a2, the bottom end of the driven strut 5a12 is movably connected with a directional base 5a14, the top end of the driven strut 5a12 is provided with a knife seat 5a13, the knife seat 5a13 is installed on the driven pole support 5a12 in a horizontal and vertical state, the top of the knife seat 5a13 is provided with a shearing blade 5a11, the shearing blade 5a11 and the knife holder 5a13 are buckled, and the driven supporting rod 5a12 is movably connected with the top end of the supporting rod 5b from the lower part to the upper part.

The specific realization principle is as follows:

the invention relates to a fruit picking manipulator which is mainly composed of an active mechanism 1, a holding rod 2, a loop bar 4 and a picking mechanism 5, a contraction frame 5a1 arranged at the top end of the loop bar 4 can be contracted inwards by rotating a rocker 1d5 clockwise, a stem is cut off by a shearing blade 5a11, fruits fall into a fruit collecting net 5a3, and the fruit picking structure composed of the contraction frame 5a1 and the fruit collecting net 5a3 can pick a large number of fruits at one time, the fruit picking efficiency is improved, when the rocker 1d5 is reversed, the external force of a spring ring 5a2 is eliminated, the spring ring 5a2 is recovered after the external force is removed, the contraction frame 5a1 is expanded outwards, the high-efficiency picking of the fruits can be realized under the condition of labor saving by simple structural design, because a ball nut 1d3 is arranged on the screw 1d2, the ball nut 1d3 is connected with a sliding block 1b through a fixed pulley 1d4 which is arranged at the bottom end of the holding rod 2, for changing the force application direction of the steel wire rope 1c, because the bottom end of the screw rod 1d2 is connected with the rocker 1d5, when the rocker 1d5 is rotated, the screw rod 1d2 rotates according to the lead of the rotation of the rocker 1d5, when the rocker 1d5 rotates clockwise, the ball nut 1d3 moves linearly upwards along the screw rod 1d2, and pulls the slider 1b to slide downwards along the loop bar 4 through the steel wire rope 1c, at this time, the spring ring 5a2 deforms under stress, the contraction rack 5a1 contracts inwards under the action of external force, because the orientation base 5a14 is connected with the transmission rod 1a, the transmission rod 1a is connected with the slider 1b, the top of the orientation base 5a14 is provided with six driven struts 5a12, and under the condition of being movably connected with the orientation base 5a14, each driven strut 5a12 sequentially surrounds into a circular wall structure along the orientation base 5a14, and the driven struts 5a12 are movably connected with the struts 5b from the upper third, and the, The driving rod 1a, the driven supporting rod 5a12 and the supporting rod 5b form a lever structure, so when the driving rod 1a moves linearly downwards, the driven supporting rod 5a12 tilts upwards, because the spring ring 5a2 is arranged in the annular wall structure enclosed by the driven supporting rods 5a12, when the driven supporting rods 5a12 tilt upwards simultaneously, the spring ring 5a2 is compressed under the action of external force, the fruit picking openings arranged at the tops of the fruit collecting nets 5a3 are gradually reduced, the spring ring 5a2 can be rapidly restored after the external force is removed, and drives the driven supporting rods 5a12 to reset, so that the fruit picking openings arranged at the tops of the fruit collecting nets 5a3 are expanded again, because the knife holder 5a13 is arranged on the driven supporting rod 5a12 in a horizontal and vertical state, the knife holder 5a11 is arranged at the top of the knife holder 5a13, when the shrinkage frame 5a1 expands outwards, the knife head of the knife 5a11 faces upwards, and the fruit picking space above the fruit picking openings arranged on the fruit collecting nets 5a3 is prevented from being excessively occupied, when the contraction frame 5a1 contracts inwards, the shearing blades 5a11 are closed in a staggered mode, stems connected with fruits are cut off, the fruits fall into the fruit collection net 5a3, fruit damage caused in the dragging process is avoided, the main fruit picking mechanical arm is formed by the driving mechanism 1, the holding rod 2, the loop bar 4 and the picking mechanism 5, the problem that the existing manual fruit picking mechanical arm can solve the problem that the existing manual fruit picking mechanical arm is damaged due to the fact that a picking worker falls down from a tree carelessly due to the fact that the environment is complex in the picking process is solved, the efficiency is low, fruit picking quality cannot be guaranteed, and even the problem that the picking worker is damaged due to the fact that the environment is not careful.

While there have been shown and described what are at present considered the fundamental principles of the invention, the essential features and advantages thereof, it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but rather, is capable of numerous changes and modifications in various forms without departing from the spirit or essential characteristics thereof, and it is intended that the invention be limited not by the foregoing descriptions, but rather by the appended claims and their equivalents.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a fruit picking machine hand, its structure includes drive mechanism (1), holds pole (2), anti-skidding gum cover (3), loop bar (4), picking mechanism (5), its characterized in that:

hold holding rod (2) central point put and be equipped with anti-skidding gum cover (3), hold holding rod (2) top be equipped with loop bar (4), loop bar (4) with hold holding rod (2) looks lock, hold holding rod (2) bottom be equipped with drive mechanism (1), loop bar (4) top be equipped with picking mechanism (5), picking mechanism (5) cooperate with drive mechanism (1).

2. A fruit picking robot as claimed in claim 1, wherein: the driving mechanism (1) is composed of a transmission rod (1a), a sliding block (1b), a steel wire rope (1c) and a lead screw support (1d), the transmission rod (1a) is arranged at the top of the sliding block (1b), the lead screw support (1d) is arranged below the sliding block (1b), and the steel wire rope (1c) is arranged between the lead screw support (1d) and the sliding block (1 b).

3. A fruit picking robot as claimed in claim 2, wherein: lead screw support (1d) constitute by bearing support (1d1), screw rod (1d2), ball nut (1d3), fixed pulley (1d4), rocker (1d5), bearing support (1d1) below be equipped with screw rod (1d2), screw rod (1d2) on be equipped with ball nut (1d3), screw rod (1d2) bottom be equipped with rocker (1d5), rocker (1d5) both sides be equipped with fixed pulley (1d 4).

4. A fruit picking robot as claimed in claim 1, wherein: picking mechanism (5) constitute by picking blue (5a), branch (5b), locating plate (5c) top install branch (5b) perpendicularly, locating plate (5c) top be equipped with and pick blue (5 a).

5. A fruit picking robot as claimed in claim 4, wherein: the picking basket (5a) consists of a contraction rack (5a1), a spring ring (5a2) and a fruit collecting net (5a3), the fruit collecting net (5a3) is woven on the contraction rack (5a1), and the spring ring (5a2) is arranged on the contraction rack (5a 1).

6. A fruit picking robot as claimed in claim 5, wherein: shrink frame (5a1) constitute by shearing blade (5a11), driven branch (5a12), blade holder (5a13), directional base (5a14), directional base (5a14) top be equipped with driven branch (5a12), driven branch (5a12) top be equipped with blade holder (5a13), blade holder (5a13) top be equipped with shear blade (5a 11).