CN115383756A - Mechanical grabbing and intelligent collecting device for pistil collection - Google Patents
Mechanical grabbing and intelligent collecting device for pistil collection Download PDFInfo
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- CN115383756A CN115383756A CN202210996723.6A CN202210996723A CN115383756A CN 115383756 A CN115383756 A CN 115383756A CN 202210996723 A CN202210996723 A CN 202210996723A CN 115383756 A CN115383756 A CN 115383756A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention aims to provide a mechanical gripper for pistil collection and intelligent equipment. And the grabbing component is used for grabbing pistils in the flower body to be collected. And the limiting part is connected with the grabbing part. And the driving device is connected with the grabbing component and the limiting component. Wherein, the grabbing part includes: a plurality of elastic rods, an elastic component and the like, wherein one end of each elastic rod is connected with the corresponding elastic rod, and the other end of each elastic component is connected with the corresponding driving device. When the grabbing part is separated from the limiting part, each elastic rod is in an extended state under the action of the tensile force of the elastic assembly; when the limiting part moves downwards under the driving of the driving device to gradually restrain the grabbing part, the elastic rods move from a stretching state to a contracting state until the head of each elastic rod surrounds to form a grabbing area for grabbing the pistil after the limiting part reaches a preset extrusion station. Compared with the prior art, the mechanical grabbing and intelligent device for pistil acquisition provided by the invention can improve the rate of automatic pistil acquisition.
Description
Technical Field
The invention relates to intelligent equipment, in particular to mechanical grabbing and intelligent acquisition equipment for pistil acquisition.
Background
In general, many herbs have medicinal value, for example: saffron, also known as saffron, as a herb, has medicinal value of activating blood circulation to dissipate blood stasis, and in recent years, the market demand is continuously increasing at home and abroad. However, except for the country such as iran where the original place of the saffron is produced, indoor cultivation such as jiang zhe, shanghai chongming island and jiangsu is mainly adopted for the domestic introduction of the planting mode of the saffron.
However, in the prior art, since the stamen of the flower body such as saffron has high economic value, for example, medicinal value, etc., in practice, the stamen needs to be separated, however, in the prior art, the stamen needs to be separated from the flower body manually, which not only reduces efficiency, but also has high labor cost, and affects economic value and popularization. Although some collecting devices collect the stamens in a mechanical mode, the automatic collecting speed is not very fast, and the production efficiency is influenced.
Therefore, how to improve the automatic collection rate of pistils is a technical problem to be solved by the invention.
Disclosure of Invention
The invention aims to provide a mechanical gripper for picking stamens, which can improve the rate of automatically picking stamens.
In order to solve the above technical problem, the present invention provides a mechanical gripper for pistil collection, comprising:
the grabbing component is used for grabbing pistils in the flower body to be collected;
the limiting component is connected with the grabbing component;
the driving device is connected with the grabbing part and the limiting part;
wherein the grasping member includes: a plurality of elastic rods: the elastic component is connected with the elastic rod at one end and connected with the driving device at the other end;
when the grabbing part is separated from the limiting part, the elastic rods are in an extended state under the action of the tensile force of the elastic assembly;
when the limiting part moves downwards under the driving of the driving device to gradually restrain the grabbing part, the elastic rods move from the stretching state to the contracting state until the head of each elastic rod is enclosed to form a grabbing area for grabbing the pistil after the limiting part reaches a preset extrusion station.
Further preferably, the elastic rod includes: the clamping part is connected with the other end of the rod-shaped part; the clamping parts of the elastic rods can be arranged along the circumferential direction of the pistil to be collected and surround to form the grabbing area so as to grab and release the pistil.
Further preferably, at least part of the rod-shaped part is a bending section which is formed by being concave outwards; when the elastic rods are nested in the limiting part, the part separated from the limiting part can expand outwards under the elastic action of the bending section.
Further preferably, the grasping member further includes: the fixing device is connected with the driving device and is used for fixing the elastic component; the elastic component comprises a first rotating shaft connected with the fixing device and a tension spring, wherein one end of the tension spring is rotatably sleeved on the first rotating shaft, and the other end of the tension spring is connected with the elastic rod.
Further preferably, the fixing device is a cylindrical component which can be sleeved and restrained by the limiting component; each cylindrical component is provided with a limiting groove for accommodating each tension spring and the first rotating shaft; and, the elastic assembly further comprises: the second rotating shaft is arranged below the first rotating shaft, is positioned in the limiting groove and is connected with the cylindrical part; one end of the elastic rod is sleeved on the second rotating shaft and is connected with the tension spring.
Further preferably, a pull ring for sleeving the tension spring is arranged on the elastic rod in a region adjacent to the second rotating shaft; the extension spring still has the couple that is used for catching on the pull ring.
Further preferably, the number and positions of the elastic components and the elastic rods correspond; each first rotating shaft is distributed along one end of the cylindrical component in an equilateral triangle; each second rotating shaft is distributed along one end of the cylinder component in an equilateral triangle shape.
Further preferably, the limiting part is a limiting sleeve, and a limiting cavity for accommodating the grabbing part is arranged in the limiting sleeve.
Further preferably, the driving device comprises a base; the first driving assembly is arranged on the base in a sliding mode and connected with the grabbing part and the limiting part; the second driving assembly is arranged on the base and used for driving the first driving assembly to reciprocate; when the first driving assembly reaches the grabbing station under the driving of the second driving assembly, the head of the grabbing component is separated from the limiting component and performs the diffusion motion so as to prop open the petals of the flower body and coat the pistil, and the head of the grabbing component is constrained by the limiting component to perform the furling motion so as to clamp the pistil.
Further preferably, the first drive assembly comprises: the fixed plate is arranged on the base in a sliding mode through the sliding rail assembly and is connected with the grabbing part; the connecting rod is connected with the limiting part, and the sliding assembly is connected with the connecting rod and used for driving the limiting part to reciprocate; the second drive assembly includes: fixed set up in the drive cylinder body of base, with the drive cylinder body with the actuating lever that the fixed plate links to each other, wherein, slide rail set spare includes: the sliding rail is arranged on the base, and the sliding block is arranged on the sliding rail in a sliding mode and is connected with the fixing plate.
Further preferably, the sliding assembly includes: the screw rod motor is arranged on the fixed plate, the screw rod fixing seat is arranged on the fixed plate, the screw rod guide rail is arranged on the fixed plate, the sliding block is arranged on the screw rod guide rail in a sliding mode and is connected with the connecting rod, and the screw rod is used for connecting the screw rod motor and the sliding block; and a driving shaft of the screw rod motor is connected with the screw rod through a coupling.
The application also provides an intelligent acquisition device, including: the mechanical grab for pistil collection is described above.
Compared with the prior art, the mechanical grabbing and intelligent collecting device for pistil collection provided by the invention can improve the rate of automatic pistil collection.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1: the external structure of the mechanical gripper for collecting stamens in the first embodiment of the invention is shown in a schematic diagram;
FIG. 2: the state of the mechanical grab for collecting stamen in the first embodiment of the invention is shown as a first diagram;
FIG. 3: a second state diagram of a mechanical grab for pistil harvesting in the first embodiment of the invention;
FIG. 4: a third state diagram of a mechanical grab for pistil collection in the first embodiment of the invention;
FIG. 5: the internal structure of the mechanical claw for collecting the stamen is shown in the figure in the first embodiment of the invention;
FIG. 6: a schematic view of the structure of the gripping member in the first embodiment of the present invention;
FIG. 7: a schematic structural view of another perspective of the grasping element in the first embodiment of the present invention;
FIG. 8: the working principle of the mechanical claw for collecting stamens in the first embodiment of the invention is shown as a first schematic diagram;
FIG. 9: the working principle of the mechanical claw for pistil collection in the first embodiment of the invention is shown in the diagram II;
FIG. 10: the working principle of the mechanical claw for collecting the stamen in the first embodiment of the invention is shown in the third schematic diagram;
FIG. 11: the structure schematic diagram of the intelligent acquisition equipment in the second embodiment of the invention;
FIG. 12: the structure schematic diagram of the intelligent acquisition equipment in the third embodiment of the invention;
FIG. 13: a schematic structural diagram of a conveying device in a third embodiment of the invention;
FIG. 14: a schematic structural diagram of an intelligent acquisition device in a fourth embodiment of the present invention;
FIG. 15: the structure schematic diagram of the material receiving device in the fourth embodiment of the invention;
FIG. 16: a partial enlarged structural view shown at C in fig. 15;
FIG. 17: the structure schematic diagram of the comb guide in the fourth embodiment of the invention;
FIG. 18: the state of the receiving device for separating stamens in the fourth embodiment of the invention is shown schematically;
FIG. 19: the structure of the mechanical grab for pistil collection in the fifth embodiment of the invention is shown schematically;
FIG. 20: the structure of the punching device in the fifth embodiment of the invention is shown schematically.
Reference numerals:
Detailed Description
The concept of the invention is illustrated below with reference to a mechanical gripper for pistil harvesting.
Implementation mode one
As shown in fig. 1 to 10, a first embodiment of the present invention provides a mechanical gripper for picking stamen, and the mechanical gripper 1 mainly comprises a gripping member 10, a limiting member 11, a driving device, and the like.
And, the grasping member 10 is used to grasp the stamen in the body of the flower to be collected. The stop member 11 is connected to the gripping member 10. The drive means are connected to the gripping elements 10 and the stop elements 11.
Wherein, the grasping member 10 includes: a plurality of elastic rods 101, an elastic component 106 with one end connected with the elastic rods 101 and the other end connected with the driving device, etc.
When the grasping part 10 is separated from the position limiting part 11, each elastic rod 101 is in a stretching state under the tensile force of the elastic assembly 106. When the limiting part 11 moves downwards under the driving of the driving device to gradually restrain the grabbing part 10, each elastic rod 101 moves from an extended state to a contracted state until the head of each elastic rod 101 encloses to form a grabbing area 100 for grabbing the pistil after the limiting part 11 reaches a preset extrusion station. Here, it should be noted that the enclosure in this embodiment may be formed by connecting the head ends of two adjacent elastic rods 101, or may be a folding area formed by mutually intersecting the head ends of two adjacent elastic rods 101.
According to the structure, the following components are adopted: when the mechanical gripper 1 moves to a preset gripping station, because the limiting part 11 constrains and extrudes the elastic rod 101 in the gripping part 10, not only the elastic rod 101 generates recoverable deformation, but also the elastic component 106 deforms correspondingly, when the limiting part 11 is required to be separated from the gripping part 10, the elastic rod 101 can be rapidly stretched under the dual rebound action of the elastic component 106 and the elastic rod 101, so as to stretch the flower to be collected, and the flower bud of the flower to be collected is positioned in the gripping area 100 of the gripping area 100 formed by enclosing the stretched elastic rod 101, then, after the gripping part 10 is constrained again by the limiting part 11, the elastic rod 101 can be rapidly positioned in a contracted deformation state, so that the gripping area 100 is folded to rapidly grip the flower bud, and then under the driving of the driving device, the flower bud is separated from the flower to be collected. Therefore, the mechanical gripper provided by the embodiment not only has a simple structure, but also can improve the automatic collection efficiency of the pistil, particularly the speed during gripping and releasing.
In addition, the elastic component 106 restrains and stretches the elastic rod 101, so that the situation that the elastic rod 101 cannot stretch normally due to elastic failure can be prevented, and the service life of the mechanical claw can be prolonged. And, the restriction to elastic rod 101 through elastic component 106 can also be to the extension distance of elastic rod 101, that is to say the size of snatching district 100 retrains to avoid appearing unordered inflation, guarantee that it expands along the synchronous quick of circumference, thereby can strut the petal betterly, avoid elastic rod 101 inflation to the outside of petal, thereby make snatching part 10 after by stop part 11 restraines again, when pressing from both sides and get pistil 201, can not snatch together with the petal.
The specific working principle is as follows: when the pistil 201 needs to be collected, the petals with the pistil 201 can be moved to the position below the mechanical claw 1 for pistil collection, or the mechanical claw 1 for pistil collection is moved to the position above the petals with the pistil 201, the limiting component 11 and the grabbing component 10 are moved downwards by controlling the driving device 12 in the mechanical claw 1 for pistil collection until the preset position is reached, the limiting component 11 is moved upwards, or the grabbing component 10 is moved downwards, so that the head of the grabbing component 10 is gradually separated from the limiting component 11 in the process of diffusion movement, the pistil 201 of the flower body 20 is coated, the petals of the flower body 20 are gradually expanded, and then the limiting component is moved downwards, make the head of snatching part 10 to be retrained by stop part 11 gradually once more, and do and draw in the motion in, thereby can realize pressing from both sides when getting cladded pistil 201, can not press from both sides the petal and get, therefore, when snatching part 10 and getting after pressing from both sides pistil 201, drive arrangement 12 drive snatchs part 10 and stop part 11 upward movement to the in-process of initial position, can realize the separation of pistil 201 and petal automatically, thereby after the machinery that is used for pistil to gather grabs 1 and moves to the position of release pistil 201, through upward movement stop part 11, make the head of snatching part 10 break away from the restraint of stop part 11, can realize the release to pistil 201, thereby realized the automatic acquisition of pistil 201, whole process need not manual intervention, the collection efficiency is improved, and the labor cost is reduced.
In addition, the flower body 20 in the present embodiment is preferably a saffron body, which has a high economic value, and is suitable for large-scale collection using an automatic collection device to reduce collection cost. Obviously, the stamen 201 in the present embodiment is preferably the stamen 201 of saffron, but in the practical application, the stamen 201 may be not limited to the collection of the stamen 201 of saffron, but may be the stamen 201 of other flower bodies in a blooming state, for example, the stamen of a flower body having high economic value such as peony.
Specifically, in order to facilitate quick grasping and releasing of the pistil, the elastic rod 101 in the present embodiment includes: a rod-shaped part 1011 connected to the elastic member 106 at one end thereof, a gripping part 1012 connected to the other end of the rod-shaped part 1011, and the like. Wherein the gripping parts 1012 of each elastic rod 101 can be arranged along the circumference of the pistil to be collected and enclose to form a gripping area 100, and the gripping area 100 has a telescopic area for gripping and releasing the pistil. The clamping unit 1012 in this embodiment may be a member integrally formed with the rod 1011, or may be a detachable independent member, and this embodiment will be described only by taking an example in which the clamping unit 1012 may be a member integrally formed with the rod 1011, such as a curved rod or an arc rod.
In addition, in order to conveniently control the size of the grasping area 100, it is preferable that a flexible member (not shown) such as an elastic rubber body is fitted over the grasping portion 1012 to contact the pistil, thereby facilitating grasping of the pistil and preventing damage to the pistil.
Here, it is worth mentioning that each flexible component in the present embodiment is disposed between two adjacent elastic rods 101, and disposed in a surrounding manner along the circumferential direction of the grabbing area 100. Can retrain the circumferential interface of grabbing part 10 when being retrained by stop part 11 through each flexible part, ensure that elastic rod 101 is also being cyclic annular shrink when doing the motion of drawing in, press from both sides through each flexible part simultaneously and get pistil 201, can increase the area of contact between it and pistil 201 betterly to can avoid pressing from both sides when getting portion 1012 direct contact pistil 201, cause the damage to the pistil body, influenced subsequent processing and sold. Wherein, the flexible part can adopt a rubber material and is an arc-shaped flexible body. Also, the flexible member may be sleeved on a partial area, such as a middle area, of the clamping units 1012 to prevent the flexible member from affecting the intersection between two connected clamping units 1012.
Further preferably, at least a portion of the rod-shaped portion 1011 is a bent segment 1011a formed by being concave outwards. When each elastic rod 101 is nested in the limiting part 11, and the part separated from the limiting part 11 can expand outwards under the elastic action of the bending section 1011a. Through this section 1011a of bending not only can make elastic rod 101 when initial position for snatch the less that district 100 set up, can reduce the spacing stroke of spacing part 11 simultaneously, only move to section 1011a of bending, can reach the extrusion station, not only shortened and snatched the stroke, also shortened the release stroke moreover, therefore can effectively promote automatic acquisition's speed.
Further preferably, the gripping member 10 further comprises: a fixing device 103 connected to the driving device and used for fixing the elastic assembly 106, and the like. The elastic component 106 includes a first rotating shaft 1061 connected to the fixing device 103, and a tension spring 1062 having one end rotatably fitted on the first rotating shaft 1061 and the other end connected to the elastic rod 101. Through this structure, can make extension spring 1062 and elastic rod 101 independently carry out elastic deformation, can be in convenient assembly, increase simultaneously elastic while, prevent to appear unable normal operating's the condition because of one side became invalid, therefore can greatly improve life and collection efficiency.
Further preferably, the fixing device 103 is preferably a cylindrical member that can be sleeved and restrained by the limiting member 11; in addition, each cylindrical member is provided with a stopper groove 1031 for accommodating each tension spring and the first rotating shaft. Also, the elastic member 106 further includes: a second rotating shaft 1065 disposed below the first rotating shaft 1061, located in the limiting groove 1031, and connected to the cylinder member; one end of the elastic rod 101 is sleeved on the second shaft 1065 and connected to the tension spring 1062. Through this structure, not only can be convenient for snatch the installation and spacing of part 10, make simultaneously that the structural dimension of snatch part 10 and spacing part 11 relative drive arrangement 12 can be designable less to, when the design, the mode of accessible extension drum part's length shortens the length that drum part drive arrangement 12 moved downwards, with the improvement collection efficiency. In addition, it should be noted that the number of the elastic rods 101 in this embodiment is only three as an example, and in practice, other numbers such as four, six, etc. may be designed, and therefore, detailed limitations and descriptions are not repeated here.
Further preferably, in order to facilitate the assembly between the elastic rod 101 and the tension spring 1062, and at the same time, the tension spring 1062 and the elastic rod 101 may be elastically deformed in different directions, and particularly, the tension spring 1062 may be deformed in an axial direction of the fixing device 103, so as to reduce a volume of a space occupied by the tension spring, while not affecting the expansion and contraction of the elastic rod 101, in this embodiment, a region of the elastic rod 101 adjacent to the second rotating shaft 1065 is provided with a pull ring 1013 for sleeving the tension spring 1062; the tension spring 1062 also has a hook 1062a for hooking the tab 1013.
Further preferably, the number and positions of the elastic assemblies 106 and the elastic rods 101 correspond. The first rotation shafts 1061 are distributed in an equilateral triangle along one end of the cylindrical member. Each second shaft 1065 is distributed along one end of the cylindrical member in an equilateral triangle. Through this structure, can be so that each elastic rod 101 is the circumference formula and distributes, and convenient assembly for the head of elastic rod 101, when also getting portion 1012 and snatching the pistil, all directions atress is comparatively even.
Further preferably, the position limiting part 11 is a position limiting sleeve, and a position limiting cavity for accommodating the grabbing part is arranged in the position limiting sleeve. Since the limiting part 11 is a limiting sleeve, the gripping part 10 can be circumferentially constrained, especially the elastic rod and the tension spring, so as to cover and grip the pistil 201 and release the pistil 201.
Furthermore, it is worth mentioning that the position limiting component 11 in the present embodiment may preferably adopt the structure of a position limiting sleeve, which has a position limiting cavity therein for accommodating the gripping component 10. Because the limiting part 11 is a limiting sleeve, the gripping part 10 can be circumferentially constrained so as to wrap and grip the pistil 201.
Further preferably, as shown in fig. 1 to 5, the driving device 12 may be composed of a base 121, a first driving assembly 122 slidably disposed on the base 121 and connected to the grasping unit 10 and the limiting unit 11, and a second driving assembly 123 disposed on the base 121 for driving the first driving assembly 122 to reciprocate. The second driving component can drive the grabbing part 10 and the limiting part 11 to move upwards or downwards as a whole, and the first driving component 122 can drive the limiting part 11 to move upwards or downwards relative to the grabbing part 10, so that the grabbing part 10 can be restrained and released. After the first driving assembly 122 reaches the grabbing station under the driving of the second driving assembly 123, the head of the grabbing component is separated from the limiting component and performs a diffusion motion to spread the petals of the flower body and cover the pistil, and the head of the grabbing component is constrained by the limiting component and performs a furling motion to clamp the pistil.
Further preferably, as shown in fig. 5, the first driving assembly 122 may be composed of a sliding rail assembly 1220, a fixing member 1221 slidably disposed on the base 121 through the sliding rail assembly 1220 and connected to the grasping unit 10, a connecting rod 1222 connected to the limiting unit 11, a sliding assembly 1223 connected to the connecting rod 1222 and configured to drive the limiting unit 11 to reciprocate, and the like.
Since the fixing plate 1221 connected to the grasping unit 10 is slidably disposed on the base 121, and the sliding unit 1223 is disposed on the fixing plate 1221, the sliding unit 1223 drives the connecting rod 1222 to achieve smooth sliding of the position limiting unit 11 relative to the fixing plate 1221, that is, smooth sliding between the grasping unit 10 and the position limiting unit 11.
Further preferably, as shown in fig. 5, the second driving assembly 123 may be configured by a driving cylinder 1231 fixedly provided to the base 121, a driving rod 1232 connected to the driving cylinder 1231 and the fixed plate 1221, and the like. One end of the driving rod 1232 is connected to the fixing plate 1221 through a fixing member 1233. The slide rail assembly 1220 may include a slide rail 12201 disposed on the base 121, at least one slider 12202 slidably disposed on the slide rail 12201 and connected to the fixing plate 1221, and the like.
Through the cooperation of the driving cylinder 1231 and the sliding rail assembly 1220, the gripping member 10, the limiting member 11 and the first driving assembly 122 are driven by the driving rod 1232 of the driving cylinder 1231 to perform a smooth telescopic movement as a whole.
Further preferably, as shown in fig. 5, the sliding assembly 1223 is mainly composed of a screw motor 12231 disposed on the fixing plate 1221, a screw fixing seat 12232 disposed on the fixing plate 1221, a screw guide 12233 disposed on the fixing plate 1221, a sliding block 12235 slidably disposed on the screw guide 12233 and connected to the connecting rod 1222, a limiting seat 12339 connected to the cylindrical member of the grasping member 10 for limiting the second driving assembly 123, and a screw 12236 for connecting the screw motor 12231 and the sliding block 12235. Wherein, the driving shaft of the lead screw motor 12231 is connected to the lead screw 12236 through the coupling 12237.
Therefore, through the above-mentioned structure that adopts lead screw motor 12231, lead screw guide 12233 and sliding block 12235 to cooperate, can be so that adopt the driving motor structure of less volume, also can drive the quick and steady removal of spacing part 11 to the realization is to the accurate control of the displacement of grabbing part 10, thereby accurately snatchs and releases pistil 201, and, still can play energy-conserving effect.
In addition, by the forward or reverse movement of the lead screw motor 12231, the gripping part 10 can be moved upward or downward relative to the position-limiting part, for example, by the forward driving of the driving cylinder 1231 in the second driving assembly 123, that is, the extension of the driving rod 1232 is driven, so as to drive the gripping part 10 to move along the direction shown in a in fig. 1, and by the reverse movement of the lead screw motor 12231, so as to drive the position-limiting part 11 to move along the direction shown in B in fig. 4, that is, the gripping part 10 can be separated from the position-limiting part 11 to perform a diffusion movement, and gradually expand the petals of the flower body 20 and coat the flower core, for example, the state shown in fig. 9, so that the damage to the flower core body due to the contact with the flower core can be better avoided in the process of coating the flower core.
Obviously, the present embodiment can also be driven by the driving cylinder 1231 in the second driving assembly 123 in the forward direction, that is, the driving rod 1232 is driven to extend, so as to drive the grabbing part 10 to move to the preset position in the direction shown as a in fig. 8, and then the limiting part 11 is driven to move in the direction shown as B in fig. 9 by the reverse motion of the lead screw motor 12231, so that the grabbing part 10 can depart from the limiting part 11 to perform a diffusion motion, gradually expand the petals of the flower body 20, and cover the pistil.
In addition, it is worth mentioning that, as shown in fig. 3, in order to meet the design, assembly and protection requirements in practical application, the mechanical gripper 1 for pistil harvesting further comprises: a cover plate 13 for covering the first driving assembly 122, and a sliding groove 131 opened on the cover plate for sliding the connecting rod 1222.
For better explanation, the method of controlling the mechanical gripper for pistil picking in the present embodiment is as follows:
as shown in fig. 8 to 10:
and 3, when the grabbing part 10 and the limiting part synchronously move upwards, separating the stamen 201 from the petals.
Alternatively, as shown in fig. 9 and 10:
step 1a, after the grabbing part 10 is located at a first preset position above a flower body 20 to be collected, the grabbing part 10 (in the direction A shown in fig. 9) moves downwards and is separated from the constraint of the limiting part 11 to perform diffusion movement, so that after the grabbing part 10 is inserted into a cavity of petals, the petals of the flower body 20 are gradually spread open and the pistil 201 is coated; it should be noted that, when the grasping component 10 performs downward diffusion movement, the grasping component may be directly inserted into the flower body 20 and cover the pistil 201, or after a part of the pistil 201 touches the grasping component 10, the pistil 201 is bent and bounced into the grasping component 10, so that the grasping component 10 completely covers the pistil 201.
Step 2a, after the limiting component 11 (in the direction a shown in fig. 10) moves downwards to the second preset position for restraining the head of the grabbing component 10, the head of the grabbing component 10 is closed, that is, the grabbing area is reduced, so as to clamp the pistil 201;
and 3a, when the grabbing part 10 and the limiting part synchronously move upwards, separating the stamen 201 from the petals.
Second embodiment
As shown in fig. 11, this embodiment also provides an intelligent acquisition device, including: the mechanical gripper for pistil harvesting in the first embodiment.
Specifically, the intelligent collecting device in this embodiment further includes a plurality of mechanical grippers 1 for pistil collection, a transmission device 2 connected to the mechanical grippers 1 for pistil collection and used for moving the mechanical grippers to a preset collecting station, a control device electrically connected to each of the mechanical grippers 1 for pistil collection and the transmission device 2, and a fixing bracket 3 for fixing the transmission device 2.
Specifically, as shown in fig. 11, the transmission device 2 may preferably be composed of a transmission motor 21 disposed on the fixed bracket 3, linkage rods 22 connected to the mechanical gripper 1 for pistil collection, transmission shafts 23 coaxially connected to the linkage rods 22 and fixedly disposed on the fixed bracket 3, and a transmission assembly 26 for connecting the transmission shafts 23 and the transmission motor 21. Wherein, the mechanical gripper 1 for pistil collection is driven by the transmission motor 21 to rotate to the collection station along with the transmission shaft 23 so as to collect pistil 201.
According to the device, the mechanical grippers 1 for pistil collection can be stably rotated by adopting the matching of the transmission motor 21, the linkage rod 22, the transmission shaft 23, the transmission assembly 26 and the like, and the mechanical grippers 1 for pistil collection are sequentially rotated to the corresponding collection stations, so that the collection efficiency is improved, and power is saved.
Further preferably, the axial direction of the transmission shaft 23 and the gripping direction of the mechanical gripper 1 for pistil harvesting are parallel to each other. Through this structure, can make the structure comparatively reasonable, save power more, and be convenient for be used for the machinery of pistil collection to grab 1 and snatch pistil 201, obviously, it is to explain that, in this embodiment, the axial of transmission shaft 23 and the direction of snatching of the machinery of grabbing 1 that is used for pistil collection also can be designed for other contained angles according to actual conditions and set up, do not do specific limited and give unnecessary detail here.
In addition, it should be noted that, in the present embodiment, the number of the mechanical grippers 1 for picking up stamen is preferably six, and the mechanical grippers are circumferentially distributed with the axial direction of the transmission shaft 23 as the central axis. And, the quantity of grabbing mechanically for pistil is still adjusted to quantity such as six, eight according to actual demand to satisfy actual collection demand, consequently, this embodiment is specifically not given specific restriction and is repeated what the mechanical 1 of grabbing for pistil is gathered to what intelligent acquisition equipment specifically sets up.
Through this angle, can be so that rotation angle or the number of turns of rotation etc. through the control motor that the realization is grabbed the control of 1's displacement to the machinery that is used for pistil to gather to make respectively to be used for pistil to grab 1 and can accurately move to the collection station top of predetermineeing, thereby realize the high accuracy and snatch control.
Further preferably, as shown in fig. 11, the transmission assembly 26 may be composed of a driving gear 26a connected to the main shaft of the transmission motor 21, a transmission gear 26b sleeved on the transmission shaft 23 and engaged with the driving gear 26a, and the like. Wherein, the transmission shaft 23 is driven by the driving gear 26a to rotate along with the transmission gear 26 b. By the structure, power can be saved, and the size of the whole occupied space is reduced.
Furthermore, it should be mentioned that, for the sake of convenience of practical assembly and installation requirements, each linkage rod 22 in the present embodiment is preferably associated with the base 121 of the mechanical grip 1 for pistil harvesting. Also, the base 121 is preferably a plate-like member vertically connected to the linkage bar 22.
Third embodiment
As shown in fig. 12 and fig. 13, the present embodiment further provides an intelligent acquisition device, which is a further improvement of the second embodiment, and is improved in that in the present embodiment, the intelligent acquisition device further includes: a conveying device 5 matched with the mechanical gripper 1 for picking the pistils. Wherein, the conveying device 5 is provided with a plurality of conveying stations for receiving the flower body 20 to be collected and conveying the flower body 20 to be collected to a collecting area below the mechanical gripper 1 for collecting stamens. Wherein the conveying device 5 is electrically connected with the control device. In addition, in the embodiment, the flower body 20 with the pistil 201 may be directly placed on the conveying station manually, or may be automatically dropped onto the conveying station by another device and automatically conveyed to the collecting area by the conveying device 5. When the control device detects that the transmission device 2 rotates, the control device controls the conveying device 5 to be started to receive and transmit the flower body with the pistil.
Through grabbing 1 matched with conveyor 5 with the machinery that is used for the pistil to gather, can place the flower body 20 that waits to gather in advance on carrying the station, by conveyor 5 automatic transport to gather on the district's corresponding collection station of district to make the machinery that is used for the pistil to gather grab 1 and remove to gathering the district top, can snatch the pistil 201 on gathering the station.
Further preferably, as shown in fig. 12 and 13, the conveying device 5 includes: the conveying device comprises a conveying belt 51, a plurality of conveying clamping grooves 52 which are arranged on the conveying belt 51 and form a conveying station, a conveying assembly 53 which drives the conveying belt 51 to transmit, a conveying rack 54 which is used for fixing the conveying assembly 53 and supporting the conveying belt 51, and the like. Through this structure for after flower body 20 drops to transport card slot 52, can fix it to make the opening of flower body 20 up, so that the machinery that is used for the pistil to gather grabs 1 and snatchs pistil 201, and can prevent that flower body 20 from dropping from transport card slot 52. In addition, after the pistils 201 on the conveying clamping grooves 52 are grabbed from the collecting area and are conveyed to the lower side from the upper side by the conveying belt 51, the flower bodies 20 with the pistils removed automatically fall off from the conveying clamping grooves 52 without manual cleaning, and after the conveying clamping grooves 52 with the flower bodies 20 automatically cleaned are conveyed to the upper side from the lower side of the conveying belt 51 again, new flower bodies 20 with the pistils 201 can be received again.
Further preferably, the conveying clamping grooves 52 are equidistantly arranged on the conveying belt 51, so that the mechanical grabbing for picking the pistils can accurately grab and control the pistils.
Further preferably, the intelligent acquisition device further comprises: and a cup holder 55 arranged in the conveying clamping groove 52 and used for receiving the flower body 20. Through this saucer 55, but the not flower body 20 of equidimension of adaptation to be convenient for follow-up machinery that is used for the pistil to gather grabs 1 snatching of the pistil in the not flower body 20 of equidimension, reduce the probability of grabbing by mistake.
Further preferably, as shown in fig. 12 and 13, the intelligent acquisition device further includes: and the adsorption device 56 is arranged below the collection area and is used for adsorbing the flower body 20 on the conveying station. Through this adsorption equipment 56, can make flower body 20 after dropping to conveyor slot 52 top, can adsorb in conveyor slot 52 easily, and under the effect of gravity and suction, ensure that flower body 20 can drop into conveyor slot 52 in, and the opening of its flower body 20 sets up to in making pistil 201 expose the setting up.
In addition, it is worth mentioning that the adsorption device 36 may be configured by a closed housing disposed below the conveyer belt 51 and closely attached to the conveyer belt, a vacuum pump disposed inside the closed housing and connected to the outside, and the vacuum pump extracts air from the closed housing to the outside, so that a stronger adsorption force can be formed below the conveyer belt 51 to adsorb the flower body 20.
Further preferably, as shown in fig. 12, the intelligent acquisition device further includes: a first sensor 57 disposed at one side of the collection area and electrically connected to the conveying assembly 53 for sensing the cup holder 55; when the first sensor 57 senses the cup holder 55, a stop signal is sent to the conveying assembly 53, so that the cup holder 55 is located below the collecting station after the conveying assembly 53 stops driving the conveying belt 51. Through the response of first inductor 57 to saucer 55, can make conveyor 5 will need gather the accurate to carrying to gathering the station of flower body 20 of pistil 201 on to avoid leaking and grab.
Further preferably, the intelligent acquisition device further comprises: the second sensor 58 is arranged at one side of the collection area and is electrically connected with the control device and is used for sensing the flower body 20; wherein, when second inductor 58 senses flower body 20, send to controlling means and snatch the signal to make controlling means according to snatching the signal, rotate the machinery that is used for pistil to gather that corresponds and grab 1 and grab the flower body 20 to gather the station top after, the machinery that is used for pistil to gather that control is located the gathering station is grabbed 1. Therefore, the second inductor 58 can induce the flower body 20 to better prevent the grabbing component 10 from missing grabbing.
Further preferably, the intelligent acquisition device further comprises: a receiving cylinder (not shown) disposed at the discharging side of the conveying device 5 for receiving the flower body 20 on the conveying belt 51. After the flower body 20 is grabbed by the mechanical grabber 1 for picking the pistils 201, the flower body falls into the material receiving barrel under the action of gravity in the overturning process of the conveying belt 51. Carry out automatic collection to the flower body 20 behind categorised pistil 201 through receiving the feed cylinder to carry out recovery processing with the flower body 20 of collecting.
In addition, it should be noted that the conveying assembly 53 in the present embodiment may be composed of a conveying driving roller (not shown), a conveying driven roller (not shown), a driving motor (not shown) for driving the conveying driving roller to rotate, and the conveying belt 51. The conveying belt 51 is sleeved on the conveying driving roller and the conveying driven roller at two opposite ends, so that when the driving roller is driven by the driving motor to rotate, the conveying belt 51 rotates under the action of the conveying driving roller, and the conveying driven roller rotates along with the conveying driven roller. Wherein the drive motor may preferably be an in-built motor in the conveying drive roller. In addition, through the effect of conveyer belt conveying, can be so that the flower body on being carried each transport station is carried to the below of gathering the station in proper order. When the conveyor 5 is started, the conveyor belt assembly 53 causes the conveyor belt 51 to start driving.
Embodiment IV
As shown in fig. 14 to 18, the present embodiment further provides an intelligent acquisition device, and the present embodiment is a further improvement of the third embodiment, and the improvement is that, in the present embodiment, the intelligent acquisition device further includes: and the material receiving device 7 is used for receiving the stamen 201 collected by the mechanical gripper 1 for stamen collection. When the mechanical claw 1 for picking the stamens moves to the upper part of the material receiving area of the material receiving device 7, the limiting component 11 gradually breaks away from the restraint of the grabbing component 10 so as to release the stamens 201 to the material receiving area.
The pistil 201 released by the mechanical claw 1 for pistil collection is automatically collected through the material receiving device 7, so that the automatic collection efficiency is improved. Wherein, the material receiving device 7 can be preferably electrically connected with the control device. When the control device detects that the transmission device 2 rotates, the material receiving device 7 is controlled to be started to receive the pistil released by the mechanical gripper 1 for pistil collection.
Further preferably, the limiting member 11 is driven by the driving assembly to move upward to disengage the constraint of the gripping member 10, thereby releasing the core 201 onto the receiving area, and then driving the gripping member 10 to return to the original position.
Further preferably, the material receiving device 7 includes: a plurality of belt components 71 which are arranged at intervals and can be independently conveyed, and a belt bracket 72 for fixing each belt component 71. Wherein the lengths of adjacent two conveyor belt assemblies 71, such as the reference conveyor belt assembly 71a, the conveyor belt assembly 71b and the conveyor belt assembly 71c, form a gap area between each other, such as the gap 72a and the gap 72b, which gradually increases in the conveying direction thereof for separating the stamens 201 of different gradation lengths. When the material receiving device 7 is started, the belt assembly 71 starts the belt drive.
Through the structure, the pistil 201 with different lengths can automatically drop in the process of automatic collection, the pistil 201 with the lower length is lower than the pistil 201 with the length of the clearance area, the pistil 201 with the longer length can realize automatic separation through different clearance areas through the clearance area with the smaller distance, and therefore manual sorting processing is not needed, grading efficiency is greatly improved, and the cost of classified collection is remarkably reduced. In this embodiment, by providing two gap regions, the stamens 201 (refer to the stamens 201a, 201b, and 201c in fig. 18) with three-level lengths can be separated, wherein the longest stamens 201, that is, the stamens 201 with the largest level, can be led out through the end of the conveyor belt assembly 71c, and it should be noted that the number of the conveyor belt assemblies 71 in the receiving device 7 in this embodiment is not limited to three, and may also be other numbers such as two or four, and the grades of the stamens used for separation are not limited to three, may also be two grades, or more than four grades, and are not specifically limited and described herein.
It should be noted that, in the present embodiment, the length of the gap region 72a is preferably 20mm, and the length of the gap region 72b is preferably 35mm, and this is only taken as an example, and usually, the length of the gap region 72a is greater than or equal to the length of the stamen 201 of the grade to be sorted, or slightly smaller than the length of the stamen 201 of the grade to be sorted. For example, when the core 201 is transferred from the end of the belt assembly 71a to the gap area 72a, the core 201 with a longer length may pass over the belt assembly 71a to the belt assembly 71b under the action of inertia, or after being partially suspended in the gap area 72a under the action of gravity, the front end of the adjacent belt assembly 72a may engage the head or tail of the core 201, thereby preventing the core 201 from falling out of the gap area 72a and continuing to transfer on the belt assembly 72 a. Meanwhile, similar conveying principles are applied to the conveyor belt assembly 71b and the conveyor belt assembly 71 c.
In addition, the stamen 201 released to the conveyor belt by the mechanical gripper 1 for stamen collection can be automatically moved in the length direction thereof by the action of the conveyor belt conveyance, avoiding the stamen from being stacked together. In addition, during the process of conveying the stamen 201, the stamen 201 can be unfolded, dried and the like.
It should be noted that the conveyor belt assembly 71 in the present embodiment may be composed of a conveying driving roller (not shown), a conveying driven roller (not shown), a driving motor (not shown) for driving the conveying driving roller to rotate, a conveyor belt 710, a frame 711 for fixing the conveying driving roller and the conveying driven roller and disposed on the conveyor belt bracket 72, and the like. Wherein, the relative both ends cover of conveyer belt is located on conveying drive roll and the conveying driven voller to when making driving motor drive conveying drive roll rotate, the conveyer belt rotates under the effect of conveying drive roll, and makes the conveying driven voller follow-up rotation. Wherein the drive motor may preferably be an in-built motor in the conveying drive roller.
Further preferably, the material receiving device 7 further includes: a collection cylinder 77 located below each gap region. The pistils 201 with different grades can be respectively collected through the plurality of collecting cylinders 77, so that the pistils 201 with poor quality and good quality can be screened out in a grading mode, and the economic utilization value of the pistils is improved.
Further preferably, as shown in fig. 16, the intelligent collecting device further comprises a comb guide 73 connected with the conveyor belt bracket 72 and arranged near the end of the receiving area. Wherein, the comb guide 73 includes: a plurality of comb guiding bodies 731 of the comb guiding channels 7311 are arranged at equal intervals. The comb guide 731 is disposed adjacent to the surface of the conveyor belt assembly 71, and is used for combing the pistil 201, and making the length direction of the pistil 201 parallel to the conveying direction of the conveyor belt. The stamen 201 released by the mechanical claw 1 for stamen collection is combed and separated through the comb-guiding body 731, so that the stamen is conveyed in the length direction of the stamen for subsequent classification processing.
Further preferably, as shown in fig. 17, the comb guiding passage 7311 may be formed by a first flow guiding passage 7311a, a second flow guiding passage 7311b communicated with the first flow guiding passage 7311a, and the like. The channel cross-sectional area of the first flow guiding channel 7311a gradually decreases from the end contacting the core 201 to the end communicating with the second flow guiding channel 7311 b; the height of second flow leader 7311b is less than the height of the passage of first flow leader 7311 a. Through the channel structure, the gathered pistils can be combed and can reach the gap region through the second flow guide channel 7311b in sequence, and meanwhile, the first flow guide channel 7311a can play a buffering role on the gathered pistils, so that the gathered or disordered pistils 201 are guided out by the second flow guide channel 7311b, and orderly passing is achieved.
Further preferably, as shown in fig. 16, the intelligent acquisition device further includes: a carding unit 75 disposed adjacent to the end of the receiving area, a hanging bracket 76 for hanging the carding unit 75 and connected to the belt bracket 72, and the like. Wherein, the carding unit 75 includes: a carding body 751 and the like provided with a plurality of carding channels 7510 which are arranged at equal intervals. Moreover, the tail end of the carding body 751 is contacted with the conveying belt surface of the conveying belt assembly 71 positioned in the material receiving area; the comb 751 includes: a carding body 7511, a plurality of comb teeth 7512 connected to the carding body 7511 to form a carding passage 7510, and a flexible roller 7515 connected to a tip end of the comb teeth 7512 and adapted to contact a surface of a conveyor belt.
By contacting the flexible roller 7515 with the surface of the conveyor belt, not only can the stamen 201 be prevented from being missed, thereby maximally combing the stamen, but also the surface of the conveyor belt can be prevented from being damaged greatly when contacting the surface of the conveyor belt.
The flexible rollers 7515 may be integrally formed with the distal ends of the comb teeth 7512, or may be ball bodies inserted into the distal ends of the comb teeth 7512 to form a rotational connection, so as to prevent friction between the flexible rollers 7515 and the belt assembly from being reduced when the flexible rollers dynamically contact the belt surface, thereby maximizing the lifespan of the flexible rollers 7515 and the belt assembly.
Fifth embodiment
As shown in fig. 19 and fig. 20, the present embodiment further provides an intelligent acquisition device, which is a further improvement of the third embodiment, and is improved in that in the present embodiment, the intelligent acquisition device further includes: the air charging device 6 is sleeved on the limiting part 11 and is electrically connected with the control device. The inflating device 6 is used for moving the mechanical gripper 1 for picking the stamens to the upper side of the material receiving area, and releasing airflow to the stamens 201 after the limiting component 11 gradually breaks away from the restriction of the gripping component 10, so that the stamens 201 automatically fall onto the material receiving area.
Wherein, the air charging device 6 is also provided with an air outlet 61 which is arranged in a ring shape. Through the air outlet that the annular set up, can be circumferential, be exactly 360 degrees and spray the air current in the dead angle ground, furthest will snatch the part 10 on the pistil 201 and blow down to the below.
In addition, it is worth mentioning that the air charging device 6 is further provided with an air inlet 62 and an air outlet 63 connected with the air source device. The control of the speed and the flow rate of the air flow in the flushing device 6 is realized by the cooperation of the air supply device, such as a compressor, and the like, with the air inlet 62 and the air outlet 63, by opening the air inlet 62, simultaneously closing the air outlet 63, or simultaneously opening the air inlet 62 and the air outlet 63, so as to facilitate the release, drying and other treatments of the pistil 201.
Thus, in view of the many possible embodiments to which the principles disclosed may be applied, it should be recognized that the above-described embodiments are meant to be illustrative only and should not be taken as limiting in scope. Accordingly, we reserve all rights to the subject matter disclosed herein, including the right to claim any and all combinations of the subject matter disclosed herein, including but not limited to all that comes within the scope and spirit of the following claims.
Claims (10)
1. A mechanical grab for pistil harvesting, comprising:
the grabbing component is used for grabbing pistils in the flower body to be collected;
the limiting component is connected with the grabbing component;
the driving device is connected with the grabbing component and the limiting component;
wherein the grasping member includes: a plurality of elastic rods: the elastic component is connected with the elastic rod at one end and connected with the driving device at the other end;
when the grabbing part is separated from the limiting part, the elastic rods are in an extended state under the action of the tensile force of the elastic assembly;
when the limiting part moves downwards under the driving of the driving device to gradually restrain the grabbing part, the elastic rods move from the stretching state to the contracting state until the head of each elastic rod is enclosed to form a grabbing area for grabbing the pistil after the limiting part reaches a preset extrusion station.
2. Mechanical grip for pistil harvesting according to claim 1, wherein the elastic rod comprises: a rod-shaped part with one end connected with the elastic component and a clamping part connected with the other end of the rod-shaped part; the clamping parts of the elastic rods can be arranged along the circumferential direction of the pistil to be collected and surround to form the grabbing area so as to grab and release the pistil.
3. The mechanical grip for pistil harvesting of claim 2, wherein the retention member is a retention sleeve having a retention cavity therein for receiving the gripping member; at least part of the rod-shaped part is a bending section formed by being concave outwards; when the elastic rods are nested in the limiting part, the part separated from the limiting part can expand outwards under the elastic action of the bending section; .
4. The mechanical grip for pistil harvesting of claim 1, wherein the gripping member further comprises: the fixing device is connected with the driving device and is used for fixing the elastic component; the elastic component comprises a first rotating shaft connected with the fixing device and a tension spring, wherein one end of the tension spring is rotatably sleeved on the first rotating shaft, and the other end of the tension spring is connected with the elastic rod.
5. Mechanical gripper for pistil harvesting according to claim 4, wherein the fixing means are cylindrical members that can be engaged by the retaining members; each cylindrical component is provided with a limiting groove for accommodating each tension spring and the first rotating shaft; and; the elastic assembly further comprises: the second rotating shaft is arranged below the first rotating shaft, is positioned in the limiting groove and is connected with the cylindrical part; one end of the elastic rod is sleeved on the second rotating shaft and is connected with the tension spring.
6. Mechanical grip for pistil harvesting according to claim 4, wherein the number and position of the elastic assemblies and the elastic rods correspond; each first rotating shaft is distributed along one end of the cylindrical component in an equilateral triangle; each second rotating shaft is distributed along one end of the cylinder part in an equilateral triangle shape.
7. The mechanical grab for pistil harvesting of claim 1, wherein the drive means comprises a base; the first driving assembly is arranged on the base in a sliding mode and connected with the grabbing part and the limiting part; the second driving assembly is arranged on the base and used for driving the first driving assembly to reciprocate; when the first driving assembly reaches the grabbing station under the driving of the second driving assembly, the head of the grabbing component is separated from the limiting component and performs the diffusion motion so as to prop open the petals of the flower body and coat the pistil, and the head of the grabbing component is constrained by the limiting component to perform the furling motion so as to clamp the pistil.
8. The mechanical grab for pistil harvesting of claim 7, wherein the first drive assembly includes: the fixed plate is arranged on the base in a sliding mode through the sliding rail assembly and is connected with the grabbing component; the connecting rod is connected with the limiting part, and the sliding assembly is connected with the connecting rod and used for driving the limiting part to reciprocate; the second drive assembly includes: fixed set up in the drive cylinder body of base, with the drive cylinder body with the actuating lever that the fixed plate links to each other, wherein, slide rail set spare includes: the sliding rail is arranged on the base, and the sliding block is arranged on the sliding rail in a sliding mode and is connected with the fixing plate.
9. The mechanical grab for pistil harvesting of claim 8, wherein the sliding assembly comprises: the screw rod motor is arranged on the fixed plate, the screw rod fixing seat is arranged on the fixed plate, the screw rod guide rail is arranged on the fixed plate, the sliding block is arranged on the screw rod guide rail in a sliding mode and is connected with the connecting rod, and the screw rod is used for connecting the screw rod motor and the sliding block; and a driving shaft of the screw rod motor is connected with the screw rod through a coupling.
10. An intelligent acquisition device, comprising: mechanical grip for pistil harvesting according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210996723.6A CN115383756A (en) | 2022-08-19 | 2022-08-19 | Mechanical grabbing and intelligent collecting device for pistil collection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210996723.6A CN115383756A (en) | 2022-08-19 | 2022-08-19 | Mechanical grabbing and intelligent collecting device for pistil collection |
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| CN115383756A true CN115383756A (en) | 2022-11-25 |
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| CN202210996723.6A Pending CN115383756A (en) | 2022-08-19 | 2022-08-19 | Mechanical grabbing and intelligent collecting device for pistil collection |
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| CN209240002U (en) * | 2018-11-21 | 2019-08-13 | 长安大学 | A kind of collecting device |
| CN216128356U (en) * | 2021-08-15 | 2022-03-25 | 欧美德精工机械(昆山)有限公司 | Mechanical arm structure of remote cooperative robot |
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| JP2000042847A (en) * | 1998-07-24 | 2000-02-15 | Nippon Telegr & Teleph Corp <Ntt> | Pin handling mechanism and pin inserting/drawing device |
| US20040135387A1 (en) * | 2003-01-10 | 2004-07-15 | Keith Glen S. | Pickup tool with variable position limiting and variable axis of operation |
| US20050057055A1 (en) * | 2003-09-17 | 2005-03-17 | Darlene Deal | Tool for picking up clothes off the floor |
| DE202010000039U1 (en) * | 2010-01-14 | 2010-04-15 | Shih, Leo | Gripping tool with lighting device and Magnetnetzinrichtung |
| WO2016179793A1 (en) * | 2015-05-12 | 2016-11-17 | 江南大学 | Grapple device having serial leaf-spring structure and driven by single-acting cylinders with elastic bellows |
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