CN112273054B - Three-finger flexible passion fruit picking manipulator - Google Patents
Three-finger flexible passion fruit picking manipulator Download PDFInfo
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- CN112273054B CN112273054B CN202011377615.8A CN202011377615A CN112273054B CN 112273054 B CN112273054 B CN 112273054B CN 202011377615 A CN202011377615 A CN 202011377615A CN 112273054 B CN112273054 B CN 112273054B
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- joint
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- fixedly connected
- disc
- pull rope
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- 235000000370 Passiflora edulis Nutrition 0.000 title claims abstract description 19
- 244000288157 Passiflora edulis Species 0.000 title claims abstract description 19
- 235000013399 edible fruits Nutrition 0.000 abstract description 21
- 230000005540 biological transmission Effects 0.000 abstract 1
- 210000001145 finger joint Anatomy 0.000 abstract 1
- 239000011324 bead Substances 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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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
Abstract
The invention discloses a three-finger flexible passion fruit picking manipulator which comprises a driving part, a tray seat part, a pull rope, a first joint, a second joint and a third joint, wherein the three-finger flexible passion fruit picking manipulator has the structural connection relationship as follows: the lower end of the pull rope is fixed on the driving part, the pull rope sequentially penetrates through the disc seat part, the first joint and the second joint, the upper end of the pull rope is fixed on the third joint, the bottom of the first joint is hinged to the disc seat part, the bottom of the second joint is hinged to the upper end of the first joint, and the bottom of the third joint is hinged to the upper end of the second joint. According to the manipulator disclosed by the invention, through the design of the finger joint appearance and the internal transmission structure, certain flexible fruit picking is realized, and the integrity of picked fruits, the effectiveness and the stability of picking are ensured.
Description
Technical Field
The invention belongs to the field of agricultural instruments, and particularly relates to a three-finger flexible passion fruit picking manipulator.
Background
Agricultural mechanization gradually develops in China, but the overall level is relatively laggard, particularly on mechanized equipment for fruit picking. The current fruit picking mode is mainly manual, and the picking of the passion fruit is still manual, so that the labor intensity is high, the efficiency is low, the labor cost is high, and the safety is low. At present, some fruit picking robots or devices are also in the research and test stage, but flexible picking cannot be achieved in hundreds, the phenomenon of fruit crushing is easy to occur in the picking process, the fruit picking robots or devices cannot be put into practical use in real time, and mainly the picking technology is not mature enough. No devices or manipulators related to the picking of passion fruit have been found at present.
Disclosure of Invention
In order to solve the technical problems, the invention provides a three-finger flexible passion fruit picking manipulator which can solve the problems that in the prior art, the completeness of picked fruits, the effectiveness and the stability of picking can not be guaranteed while flexible fruits are picked.
The invention is realized by the following technical scheme.
The invention provides a three-finger flexible passion fruit picking manipulator which comprises a driving part, a tray seat part, a pull rope, a first joint, a second joint and a third joint, wherein the three-finger flexible passion fruit picking manipulator has the following structural connection relationship: the lower end of the pull rope is fixed on the driving part, the pull rope sequentially penetrates through the disc seat part, the first joint and the second joint, the upper end of the pull rope is fixed on the third joint, the bottom of the first joint is hinged to the disc seat part, the bottom of the second joint is hinged to the upper end of the first joint, and the bottom of the third joint is hinged to the upper end of the second joint.
Preferably, a lantern ring A is fixedly arranged on the first joint, a lantern ring B is fixedly arranged on the second joint, a lantern ring C is fixedly arranged on the third joint, holes are formed in the lantern ring A, the lantern ring B and the lantern ring C, the pull rope sequentially penetrates through the holes in the lantern ring A, the lantern ring B and the lantern ring C, and the upper end of the pull rope is fixedly connected with the lantern ring C.
Preferably, the driving part comprises a driving rod, a pull rod, a connecting disc A, a spring A and a connecting disc B, and the structural connection relationship is as follows: the lower end of the pull rod is fixedly connected with the upper end of the driving rod, the upper end of the pull rod is fixedly connected with a connecting disc A, a spring A is connected between the connecting disc A and the connecting disc B, the lower end of the spring A is fixedly connected with the connecting disc A, the upper end of the spring A is fixedly connected with the connecting disc B, and the lower end of the pull rope is fixedly connected to the connecting disc B.
Preferably, the disk seat part comprises a fixed disk, a movable disk and a fixed seat, and the structural connection relationship is as follows: the fixed coaxial arrangement of fixing base is on the fixed disk, and the movable plate coaxial arrangement is on the fixing base.
Preferably, a spring B is arranged between the first joint and the movable disc, a spring C is arranged between the first joint and the second joint, a spring D is arranged between the second joint and the third joint, and the structural connection relationship is as follows: the lower end of the spring B is fixedly connected with the movable plate, the upper end of the spring B is fixedly connected with the first joint, the lower end of the spring C is fixedly connected with the first joint, the upper end of the spring C is fixedly connected with the second joint, the lower end of the spring D is fixedly connected with the second joint, and the lower end of the spring D is fixedly connected with the third joint.
Preferably, a sleeve B is arranged at the outer ring of the fixed disc and penetrates through the fixed disc, a sleeve A is arranged at the outer ring of the movable disc and penetrates through the movable disc, through holes are formed in the sleeve B and the sleeve A, and the pull rope penetrates through the through holes in the sleeve B and the sleeve A.
Preferably, the lower part of the movable disc is provided with a sliding block, the top of the sliding block is fixedly connected to the lower part of the movable disc, and the bottom of the sliding block is slidably mounted in the groove.
Preferably, the pressure limiting structure comprises a groove, a pressure ball and a spring E, and the structure connection relationship is as follows: the spring E is arranged in the hole on one side in the groove, one end of the spring E is fixedly connected with the bottom of the hole, and the other end of the spring E is fixedly connected with the pressure bead.
Preferably, a torsion spring is arranged between the movable disc and the fixed seat, the upper end of the torsion spring is fixedly connected with the movable disc, and the lower end of the torsion spring is fixedly connected with the fixed seat.
The invention has the beneficial effects that:
1. according to the invention, three-stage spring design is adopted at the first, second and third joints, so that the three joints are gradually clamped in sequence, a certain flexible clamping can be ensured during picking, and passion fruits are protected from being damaged due to overlarge pressure.
2. According to the fruit picking device, the pressure beads arranged on the fixed seat can enable the movable disc to rotate by continuously pulling the driving rod after the fruit is enveloped by the manipulator, so that the fruit can be quickly picked, and the fruit picking device is reasonable and applicable in structural design.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural diagram of the voltage limiting structure of the present invention.
In the figure: 1-driving rod, 2-pull rod, 3-sliding block, 41-groove, 42-pressure bead, 43-spring E, 5-connecting disc A, 6-tube A, 7-spring A, 8-connecting disc B, 9-pull rope, 10-fixed disc, 11-tube B, 12-movable disc, 13-spring B, 14-lantern ring A, 15-joint I, 16-spring C, 17-lantern ring B, 18-joint II, 19-spring D, 20-lantern ring C, 21-joint III, 22-torsion spring and 23-fixed seat.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
Example 1:
as shown in fig. 1, a three-finger flexible picking manipulator for passion fruit comprises a driving part, a tray seat part, a pull rope 9, a first joint 15, a second joint 18 and a third joint 21, and the structural connection relationship is as follows: the lower end of a pull rope 9 is fixed on the driving part, the pull rope 9 sequentially penetrates through the disc seat part, the first joint 15 and the second joint 18, the upper end of the pull rope 9 is fixed on the third joint 21, the bottom of the first joint 15 is hinged on the disc seat part, the bottom of the second joint 18 is hinged on the upper end of the first joint 15, and the bottom of the third joint 21 is hinged on the upper end of the second joint 18.
A lantern ring A14 is fixedly arranged on the first joint 15, a lantern ring B17 is fixedly arranged on the second joint 18, a lantern ring C20 is fixedly arranged on the third joint 21, holes are formed in the lantern ring A14, the lantern ring B17 and the lantern ring C20, the pull rope 9 sequentially penetrates through the holes in the lantern ring A14, the lantern ring B17 and the lantern ring C20, and the upper end of the pull rope 9 is fixedly connected with the lantern ring C20.
The driving part comprises a driving rod 1, a pull rod 2, a connecting disc A5, a spring A7 and a connecting disc B8, and the structural connection relationship is as follows: the lower end of a pull rod 2 is fixedly connected with the upper end of a drive rod 1, the upper end of the pull rod 2 is fixedly connected with a connecting disc A5, a spring A7 is connected between a connecting disc A5 and a connecting disc B8, the lower end of the spring A7 is fixedly connected with a connecting disc A5, the upper end of the spring A7 is fixedly connected with a connecting disc B8, and the lower end of a pull rope 9 is fixedly connected with a connecting disc B8.
The pull rod 2 is made of rubber.
The disk seat part comprises a fixed disk 10, a movable disk 12 and a fixed seat 23, and the structural connection relationship is as follows: the fixed seat 23 is fixed and coaxially mounted on the fixed disk 10, and the movable disk 12 is coaxially mounted on the fixed seat 23.
A spring B13 is arranged between the first joint 15 and the movable disc 12, a spring C16 is arranged between the first joint 15 and the second joint 18, a spring D19 is arranged between the second joint 18 and the third joint 21, and the structural connection relationship is as follows: the lower end of a spring B13 is fixedly connected with the movable plate 12, the upper end of a spring B13 is fixedly connected with a first joint 15, the lower end of a spring C16 is fixedly connected with the first joint 15, the upper end of a spring C16 is fixedly connected with a second joint 18, the lower end of a spring D19 is fixedly connected with the second joint 18, and the lower end of a spring D19 is fixedly connected with a third joint 21.
A sleeve B11 is arranged at the outer ring of the fixed disc 10, a sleeve B11 penetrates through the fixed disc 10, a sleeve A6 is arranged at the outer ring of the movable disc 12, a pipe A6 penetrates through the movable disc 12, through holes are formed in a pipe B11 and a sleeve A6, and a pull rope 9 penetrates through the through holes in a pipe B11 and a sleeve A6.
The lower part of the movable disc 12 is provided with a sliding block 3, the top of the sliding block 3 is fixedly connected to the lower part of the movable disc 12, and the bottom of the sliding block 3 is slidably mounted in the groove 41.
The pressure limiting structure comprises a groove 41, a pressure ball 42 and a spring E43, and the structural connection relationship is as follows: a spring E43 is disposed in a hole on one side of the groove 41, one end of the spring E43 is fixedly connected to the bottom of the hole, and the other end of the spring E43 is fixedly connected to the pressure ball 42. The groove 41 can guide the slide 3 and the spring E provides pressure to the slide 3 via the pressure bead 42.
A torsion spring 22 is arranged between the movable disc 12 and the fixed seat 23, the upper end of the torsion spring 22 is fixedly connected with the movable disc 12, and the lower end of the torsion spring 22 is fixedly connected with the fixed seat 23.
The elastic forces of the spring A7, the spring B13, the spring C16 and the spring D19 in the manipulator are respectively as follows: spring a7< spring B13< spring C16< spring D19. The elasticity of the spring B13, the spring C16 and the spring D19 is reduced in sequence, the smaller the elasticity is, the larger the deformation is, the faster the contraction is, the first, second and third joints contract inwards in sequence to envelop and clamp fruits, the elasticity of the spring A7 is the largest, the aim is to overcome the force of the pressure bead 42 after the first, second and third pairs of joints clamp the fruits, and when the force of the pressure bead 42 is reached or greater, the pull rope 9 can be driven quickly after the spring A7 deforms greatly to drive the parts above the movable disc 12 and the fruits to rotate quickly, so that the fruits can be picked off in a rotating mode.
The working principle is as follows: the driving rod 1 is pulled, the spring A7 is driven through the pull rod 2 to drive the pull rope 9 again, the pull rope 9 drives the joint I15, the joint II 18 and the joint III 21 to rotate inwards to envelop and clamp fruits, the driving rod 1 is continuously pulled, the slide block 3 overcomes the action of the pressure bead 42, the movable disk 12 is rapidly pulled and rotated under the driving of the pull rope 9, then the three joints are driven and the enveloped fruits are rapidly rotated, the fruits are picked, after the driving rod 1 is loosened, the movable disk 12 returns under the driving of the torsion spring 22, the joint I15, the joint II 18 and the joint III 21 are opened, and the fruits can be taken out.
Claims (7)
1. The utility model provides a three indicate flexible passion fruit picking manipulator which characterized in that: comprises a driving part, a sitting part, a pull rope (9), a first joint (15), a second joint (18) and a third joint (21), and the structural connection relationship is as follows: the lower end of a pull rope (9) is fixed on the driving part, the pull rope (9) sequentially penetrates through the disc seat part, the first joint (15) and the second joint (18), the upper end of the pull rope (9) is fixed on the third joint (21), the bottom of the first joint (15) is hinged on the disc seat part, the bottom of the second joint (18) is hinged on the upper end of the first joint (15), and the bottom of the third joint (21) is hinged on the upper end of the second joint (18);
the disk seat part comprises a fixed disk (10), a movable disk (12) and a fixed seat (23), and the structural connection relation is as follows: the fixed seat (23) is fixedly and coaxially arranged on the fixed disk (10), and the movable disk (12) is coaxially arranged on the fixed seat (23);
the lower part of the movable disc (12) is provided with a sliding block (3), the top of the sliding block (3) is fixedly connected to the lower part of the movable disc (12), and the bottom of the sliding block (3) is slidably mounted in the groove (41).
2. The three-finger flexible passion fruit picking manipulator of claim 1, wherein: the joint structure is characterized in that a lantern ring A (14) is fixedly arranged on the joint I (15), a lantern ring B (17) is fixedly arranged on the joint II (18), a lantern ring C (20) is fixedly arranged on the joint III (21), holes are formed in the lantern ring A (14), the lantern ring B (17) and the lantern ring C (20), a pull rope (9) sequentially penetrates through the holes in the lantern ring A (14), the lantern ring B (17) and the lantern ring C (20), and the upper end of the pull rope (9) is fixedly connected with the lantern ring C (20).
3. The three-finger flexible passion fruit picking manipulator of claim 1, wherein: the driving part comprises a driving rod (1), a pull rod (2), a connecting disc A (5), a spring A (7) and a connecting disc B (8), and the driving part is structurally connected with the connecting disc B in a way that: the lower end of the pull rod (2) is fixedly connected with the upper end of the driving rod (1), the upper end of the pull rod (2) is fixedly connected with the connecting disc A (5), a spring A (7) is connected between the connecting disc A (5) and the connecting disc B (8), the lower end of the spring A (7) is fixedly connected with the connecting disc A (5), the upper end of the spring A (7) is fixedly connected with the connecting disc B (8), and the lower end of the pull rope (9) is fixedly connected with the connecting disc B (8).
4. The three-finger flexible passion fruit picking manipulator of claim 1, wherein: a spring B (13) is arranged between the first joint (15) and the movable disc (12), a spring C (16) is arranged between the first joint (15) and the second joint (18), a spring D (19) is arranged between the second joint (18) and the third joint (21), and the structural connection relationship is as follows: the lower end of a spring B (13) is fixedly connected with a movable disc (12), the upper end of the spring B (13) is fixedly connected with a joint I (15), the lower end of a spring C (16) is fixedly connected with the joint I (15), the upper end of the spring C (16) is fixedly connected with a joint II (18), the lower end of a spring D (19) is fixedly connected with the joint II (18), and the lower end of the spring D (19) is fixedly connected with a joint III (21).
5. The three-finger flexible passion fruit picking manipulator of claim 1, wherein: the outer ring of the fixed disk (10) is provided with a sleeve B (11), the sleeve B (11) penetrates through the fixed disk (10), the outer ring of the movable disk (12) is provided with a sleeve A (6), the sleeve A (6) penetrates through the movable disk (12), through holes are formed in the sleeve B (11) and the sleeve A (6), and the pull rope (9) penetrates through holes in the sleeve B (11) and the sleeve A (6).
6. The three-finger flexible passion fruit picking manipulator of claim 1, wherein: has a pressure limiting structure comprising a groove (41), a pressure ball (42) and a spring E (43), and the structure connection relationship is as follows: the spring E (43) is arranged in the hole on one side in the groove (41), one end of the spring E (43) is fixedly connected with the bottom of the hole, and the other end of the spring E (43) is fixedly connected with the pressure ball (42).
7. The three-finger flexible passion fruit picking manipulator of claim 1, wherein: a torsion spring (22) is arranged between the movable disc (12) and the fixed seat (23), the upper end of the torsion spring (22) is fixedly connected with the movable disc (12), and the lower end of the torsion spring (22) is fixedly connected with the fixed seat (23).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011377615.8A CN112273054B (en) | 2020-11-30 | 2020-11-30 | Three-finger flexible passion fruit picking manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011377615.8A CN112273054B (en) | 2020-11-30 | 2020-11-30 | Three-finger flexible passion fruit picking manipulator |
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| CN112273054A CN112273054A (en) | 2021-01-29 |
| CN112273054B true CN112273054B (en) | 2022-06-17 |
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Effective date of registration: 20240401 Address after: 322000 Xuefeng West Road, Beiyuan street, Yiwu, Jinhua, Zhejiang, 968 Patentee after: YIWU CHAOHUI INTELLIGENT TECHNOLOGY CO.,LTD. Country or region after: China Address before: 530200 No. 8, Ting Ting Road, Yongning District, Nanning, the Guangxi Zhuang Autonomous Region Patentee before: NANNING University Country or region before: China |