CN117694098A - Handheld picking manipulator for fruit traditional Chinese medicinal materials - Google Patents
Handheld picking manipulator for fruit traditional Chinese medicinal materials Download PDFInfo
- Publication number
- CN117694098A CN117694098A CN202410090081.2A CN202410090081A CN117694098A CN 117694098 A CN117694098 A CN 117694098A CN 202410090081 A CN202410090081 A CN 202410090081A CN 117694098 A CN117694098 A CN 117694098A
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- Prior art keywords
- pistol
- type shell
- spiral groove
- push rod
- pin
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 23
- 239000000463 material Substances 0.000 title claims abstract description 18
- 230000001105 regulatory effect Effects 0.000 claims abstract description 7
- 239000003814 drug Substances 0.000 description 5
- 241000411851 herbal medicine Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000007721 medicinal effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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Abstract
A hand-held picking manipulator for fruit traditional Chinese medicinal materials, belonging to a medicinal material harvester; the battery is inserted on the lower side part of the pistol type shell, a ball head rack and a semicircular groove type push rod which are connected with each other are arranged in a cavity of the pistol type shell, a pin is fixedly arranged on the semicircular groove type push rod, a direct current motor fixedly provided with a cylindrical gear is arranged on the side wall of the pistol type shell, the cylindrical gear is meshed with the ball head rack, a barrel sleeve is fixedly arranged on the end of the pistol type shell, an outer spiral groove shaft is inserted in the barrel sleeve, the pin is inserted in a spiral groove of the outer spiral groove shaft, a connecting disc is inserted on the end surface of the barrel sleeve and is sleeved on the connecting disc, an opening and closing regulating disc is fixedly arranged on the end of the outer spiral groove shaft, and four elastic fingers are inserted on the opening and closing regulating disc and are fixedly connected with the connecting disc; the manipulator is simple, convenient and flexible to use and control, high in picking efficiency, good in picking quality and strong in adaptability.
Description
Technical Field
The invention belongs to a medicinal material harvester, and mainly relates to a hand-held picking manipulator for fruit-type Chinese medicinal materials.
Background
With the great development and improvement of the technical level and capability of Chinese medicine in China, fruit Chinese medicinal materials are widely applied to clinical treatment and health care of Chinese medicine due to the unique medicinal effects of the fruit Chinese medicinal materials. At present, most fruit traditional Chinese medicinal materials are picked by manpower, the picking efficiency is low, the labor intensity is high, the growing positions of part of fruit traditional Chinese medicinal materials are special, the picking is difficult, the difficulty is high, the picking period is short after the fruit traditional Chinese medicinal materials are ripe, the medicine effect is reduced and the medicinal materials are deteriorated when the picking is not completed in time, and in addition, the medicinal materials are easy to damage when the manual picking is carried out.
Disclosure of Invention
The invention aims at solving the problems in the prior art, combines the actual requirements of fruit traditional Chinese medicine picking operation, develops and designs a hand-held fruit traditional Chinese medicine picking manipulator, and achieves the purposes of improving picking efficiency, reducing picking labor intensity, realizing flexible picking, reducing damage to fruits by picking and shortening picking period.
The aim of the invention is realized in the following way: the battery is detachably inserted in the bottom side of the pistol type shell, a ball rack and a semicircular groove type push rod are sequentially installed in the cavity of the pistol type shell in a reciprocating manner in the front-back direction, the front end of the ball rack is in spherical hinge connection with the rear end of the semicircular groove type push rod, a pin is fixedly installed on the upper end face of the semicircular groove at the front end of the semicircular groove type push rod, a cylindrical gear is rotatably arranged in the upper cavity of the pistol type shell and positioned below the ball rack, the cylindrical gear is meshed with the ball rack, a direct current motor is fixedly installed on the outer side wall surface of the pistol type shell, the cylindrical gear is fixedly installed on a motor shaft of the direct current motor, a barrel sleeve is fixedly installed on the front end of the pistol type shell, an outer spiral groove shaft is circumferentially rotatable and axially movably inserted in the cavity of the barrel sleeve, the pin is relatively slidably inserted in a spiral groove of the outer spiral groove shaft, the connecting disc is sleeved on the middle part of the outer spiral groove shaft in a relatively rotatable manner, the connecting disc is radially and axially positioned and circumferentially rotatably inserted on the front end surface of the barrel casing, the outer spiral groove shaft is fixedly provided with symmetrical lug plates which are positioned in the barrel casing holes and are respectively in axial clamping fit or separating clamping fit with a front annular groove and a rear annular groove which are formed in the inner wall surface of the barrel casing, an opening and closing regulating disc with four through holes is fixedly arranged on the front end surface of the outer spiral groove shaft through nuts, four elastic fingers are respectively inserted into the four through holes on the opening and closing regulating disc, the inner ends of the four elastic fingers are respectively fixedly connected on the connecting disc, an annular spanner rod is arranged on the lower side wall of a pistol casing in a swinging manner, and the front part of the annular spanner rod is positioned on the lower side wall of the pistol casing, the rear part is provided with a front contact and a rear contact respectively, two ends of a front tension spring are connected to the lower wall of the pistol type shell and the front side surface of the annular pull rod respectively, two ends of the rear tension spring are connected to the lower wall of the pistol type shell and the rear side surface of the annular pull rod respectively, the annular pull rod is in contact or separation contact fit with the front contact and the rear contact respectively in sequence, an electric wire is used for communicating a battery with a motor through the front contact and the rear contact respectively, and thus the hand-held picking manipulator for fruit Chinese herbal medicine is formed.
The invention adopts the hand-held pistol type shell to regulate the extension, the retraction and the closure of the elastic fingers, and picks fruits of fruit Chinese herbal medicine in a rotary mode, has the characteristics of novel, unique and reasonable structure, simple, convenient and flexible use and control, low labor intensity, strong picking adaptability, high picking efficiency, labor and time saving and good picking quality, and provides technical support for picking and harvesting fruits of fruit Chinese herbal medicine.
Drawings
FIG. 1 is a two-dimensional schematic diagram of the overall structure of a hand-held picking manipulator for fruit-type traditional Chinese medicinal materials;
FIG. 2 is a right side view of FIG. 1;
FIG. 3 is a sectional view taken along the direction A-A of FIG. 1;
FIG. 4 is a B-B cross-sectional view of FIG. 2;
fig. 5 is a three-dimensional schematic diagram of the overall structure of a hand-held picking manipulator for fruit-type Chinese medicinal materials;
FIG. 6 is an enlarged view of portion C of FIG. 5;
fig. 7 is a three-dimensional schematic view of the external structure of the hand-held picking manipulator for fruit-type Chinese medicinal materials.
Part number description in the drawings:
1. the device comprises an elastic finger, 2, an opening and closing regulation disc, 3, a connecting disc, 4, a barrel sleeve, 5, a pistol type shell, 6, a front tension spring, 7, an annular spanner, 8, a battery, 9, an outer spiral groove shaft, 10, a nut, 11, a pin, 12, a semicircular groove type push rod, 13, a ball head rack, 14, a direct current motor, 15, a cylindrical gear, 16, a front contact, 17, a rear contact, 18, a rear tension spring, 19 and a symmetrical lug plate.
Detailed Description
The following describes the inventive embodiments in detail with reference to the drawings. A hand-held picking manipulator for fruit Chinese medicinal materials is characterized in that a battery 8 is detachably inserted in the bottom side of a pistol type shell 5, a ball rack 13 and a semicircular groove type push rod 12 are sequentially installed in the cavity of the pistol type shell 5 in a reciprocating manner in the front-back direction, the front end of the ball rack 13 is connected with the rear end of the semicircular groove type push rod 12 in a ball hinge manner, a pin 11 is fixedly installed on the upper end face of the semicircular groove at the front end of the semicircular groove type push rod 12, a cylindrical gear 15 is rotatably arranged in the upper cavity of the pistol type shell 5 and positioned below the ball rack 13, the cylindrical gear 15 is meshed with the ball rack 13, a direct current motor 14 is fixedly installed on the outer side of the side wall surface of the pistol type shell 5, the cylindrical gear 15 is fixedly installed on a motor shaft of the direct current motor 14, a barrel sleeve 4 is fixedly installed on the front end of the pistol type shell 5, an outer spiral groove shaft 9 is inserted in a cylinder cavity of the cylinder sleeve 4 in a circumferential and axial movable manner, the pin 11 can be inserted in a spiral groove of the outer spiral groove shaft 9 in a relative sliding manner, the connecting disc 3 can be sleeved on the middle part of the outer spiral groove shaft 9 in a relative rotating manner, the connecting disc 3 is radially and axially positioned and inserted on the front end face of the cylinder sleeve 4 in a circumferential and rotatable manner, a symmetrical lug plate 19 is fixedly arranged on the outer spiral groove shaft 9, the symmetrical lug plate 19 is positioned in a sleeve hole of the cylinder sleeve 4 and is respectively in axial clamping fit or separating clamping fit with a front annular groove and a rear annular groove which are formed on the inner wall face of the cylinder sleeve 4, an opening and closing control disc 2 with four through holes is uniformly and fixedly arranged on the front end part of the outer spiral groove shaft 9 through nuts 10, four elastic fingers 1 are respectively inserted into the four through holes on the opening and closing control disc 2, the inner ends of the four elastic fingers 1 are respectively fixedly connected with the connecting disc 3, the annular spanner rod 7 is arranged on the lower side wall of the pistol type shell 5 in a swinging way, a front contact 16 and a rear contact 17 are respectively arranged on the side wall of the pistol type shell 5 and at the front and rear parts of the annular spanner rod 7, two ends of a front tension spring 6 are respectively connected to the lower wall of the pistol type shell 5 and the front side surface of the annular spanner rod 7, two ends of a rear tension spring 18 are respectively connected to the lower wall of the pistol type shell 5 and the rear side surface of the annular spanner rod 7, the annular spanner rod 7 is respectively in contact with or separated from contact with the front contact 16 and the rear contact 17 in sequence, and an electric wire is used for communicating the battery 8 with the motor 14 through the front contact 16 and the rear contact 17.
When the fruit picking device is used for picking, the handle of the pistol type shell 5 is held by hands, the elastic fingers 1 at the front end part are aligned with fruits to be picked, the annular wrenching rod 7 is buckled to the rear side by fingers so as to be in contact with the front contact 16, the battery 8 drives the direct current motor 14 and synchronously drives the cylindrical gear 15 to rotate clockwise, the semicircular groove type push rod 12 is pushed to do forward movement through the cylindrical gear 15 by the ball rack 13, the pin 11 fixedly arranged on the semicircular groove type push rod 12 is matched with the spiral groove on the outer spiral groove shaft 9 in an inserting way, under the matched control of the symmetrical lug plate 19, the outer spiral groove shaft 9 is pushed to move forward in a translational way, the opening and closing regulating disc 2 fixedly arranged at the front end part of the outer spiral groove shaft 9 synchronously moves forward, the four elastic fingers 1 are gathered towards the center so as to shrink and clamp the fruits, the symmetrical lug plate 19 fixedly arranged on the outer spiral groove shaft 9 moves to the front annular groove on the inner wall surface of the sleeve 4, the outer spiral groove shaft 9 stops moving forward, the pin 11 is pushed to rotate under the action of the torque force of the spiral groove shaft, the outer spiral groove shaft is pushed to rotate around the annular groove shaft through the four elastic fingers 1, the opening and the annular groove is rotated to rotate around the annular groove shaft 180 degrees, and the opening and the annular groove is reversely rotated to finish the operation of the fruit picking device, and the fruit is continuously held by 180 degrees, and the finger is continuously held by the finger is rotated, and the finger is stretched to the annular groove is rotated to the inner ring is rotated.
Claims (1)
1. A fruit class chinese-medicinal material hand-held type pickers manipulator, its characterized in that: a battery (8) is detachably inserted in the bottom side of the pistol type shell (5), a ball head rack (13) and a semicircular groove type push rod (12) are sequentially installed in the cavity of the pistol type shell (5) in a reciprocating manner in the front-back direction, the front end of the ball head rack (13) is connected with the rear end of the semicircular groove type push rod (12) in a spherical hinge shape, a pin (11) is fixedly installed on the upper end face of a semicircular groove at the front end of the semicircular groove type push rod (12), a cylindrical gear (15) is rotatably arranged in the upper cavity of the pistol type shell (5) and positioned below the ball head rack (13), the cylindrical gear (15) is meshed with the ball head rack (13), a direct current motor (14) is fixedly installed on the outer side wall face of the pistol type shell (5), a cylindrical gear (15) is fixedly installed on the motor shaft of the direct current motor (14), a cylindrical pin (9) is rotatably and axially movably inserted in the barrel cavity of the semicircular groove type push rod (12), a spiral pin (9) is rotatably and axially inserted in the cylindrical pin (9) in the barrel (4) in a radial direction, and is rotatably sleeved on the middle part of the spiral pin (3), the symmetrical lug plates (19) are fixedly arranged on the outer spiral groove shaft (9), the symmetrical lug plates (19) are positioned in sleeve holes of the sleeve (4) and are respectively in axial clamping fit or separating clamping fit with a front annular groove and a rear annular groove which are arranged on the inner wall surface of the sleeve (4), the opening and closing regulating disc (2) with four through holes is fixedly arranged on the front end part of the outer spiral groove shaft (9) through nuts (10), four elastic fingers (1) are respectively inserted into the four through holes on the opening and closing regulating disc (2), the inner ends of the four elastic fingers (1) are respectively fixedly connected to the connecting disc (3), an annular pull rod (7) is arranged on the lower side wall of the pistol shell (5) in a swinging manner, a front contact point (16) and a rear contact point (17) are respectively arranged on the front and rear parts of the annular pull rod (7), two ends of the front pull spring (6) are respectively connected to the lower wall of the pistol shell (5) and the front side surface of the annular pull rod (7), the rear ends of the front pull spring (18) are respectively connected to the front contact with the front contact point (17) and the rear annular pull rod (7) respectively, the electrical leads connect the battery (8) to the motor (14) via the front contact (16) and the rear contact (17), respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410090081.2A CN117694098B (en) | 2024-01-22 | 2024-01-22 | Handheld picking manipulator for fruit traditional Chinese medicinal materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410090081.2A CN117694098B (en) | 2024-01-22 | 2024-01-22 | Handheld picking manipulator for fruit traditional Chinese medicinal materials |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117694098A true CN117694098A (en) | 2024-03-15 |
| CN117694098B CN117694098B (en) | 2024-06-25 |
Family
ID=90155549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410090081.2A Active CN117694098B (en) | 2024-01-22 | 2024-01-22 | Handheld picking manipulator for fruit traditional Chinese medicinal materials |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117694098B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0134819A1 (en) * | 1978-08-01 | 1985-03-27 | Grisebach, Hans-Theodor | Gripping head with an electric clasping drive |
| JP2000354414A (en) * | 1999-06-15 | 2000-12-26 | Tatsunosuke Takahashi | Picking tool for fruit |
| CN108401666A (en) * | 2018-05-14 | 2018-08-17 | 吉林大学 | Swinging fruit picker |
| CN117140573A (en) * | 2023-10-19 | 2023-12-01 | 南京林业大学 | Single-drive two-stage rotary grabbing and twisting type picking paw |
-
2024
- 2024-01-22 CN CN202410090081.2A patent/CN117694098B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0134819A1 (en) * | 1978-08-01 | 1985-03-27 | Grisebach, Hans-Theodor | Gripping head with an electric clasping drive |
| JP2000354414A (en) * | 1999-06-15 | 2000-12-26 | Tatsunosuke Takahashi | Picking tool for fruit |
| CN108401666A (en) * | 2018-05-14 | 2018-08-17 | 吉林大学 | Swinging fruit picker |
| CN117140573A (en) * | 2023-10-19 | 2023-12-01 | 南京林业大学 | Single-drive two-stage rotary grabbing and twisting type picking paw |
Non-Patent Citations (1)
| Title |
|---|
| 于盛睿;林世明;裘友民;朱尚滏;刘灵;: "基于不完全齿轮传动的新型高枝水果采摘器", 农机化研究, no. 03, 4 June 2019 (2019-06-04), pages 88 - 94 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117694098B (en) | 2024-06-25 |
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