CN203723094U - Adaptive fruit picking manipulator - Google Patents

Abstract

The utility model provides an adaptive fruit picking manipulator, which includes a fruit clamping device, a fruit stem cutting device, a control device and a hand-held frame. The fruit clamping device includes two clamping discs and two connecting clamping discs. Clamping disc connecting rods, the clamping discs are opposite to each other and respectively fixed on one end of a clamping disc connecting rod, the two clamping disc connecting rods are cross-connected, the middle part has a rotating connector I to realize the variable angle of the two, two A backguy is connected between the other ends of the clamping disc connecting rod, one end of the torsion spring is connected on the clamping disc connecting rod, and the other end of the torsion spring is fixed on the rotating connector 1; the fruit shearing device is A scissors structure, the scissors control handle is also provided with a pull wire to control the shearing of the scissors; the adaptive fruit picking manipulator involved in the utility model has certain adaptability, which increases the picking accuracy and shortens the fruit picking time. time.

Description

An Adaptive Fruit Picking Manipulator

technical field

The utility model relates to an adaptive fruit picking manipulator, which belongs to the technical field of agricultural machinery.

Background technique

my country is a big fruit producing country, and fruit harvesting is the most important link in the production process. Fruit harvesting is labor-intensive and requires a lot of labor. However, fruit picking is still dominated by manual picking, accounting for about 50% of the labor in the entire fruit production process. The picking efficiency is low, time-consuming and expensive. At present, there is a lack of effective and low-cost simple and miniaturized picking equipment to assist in fruit harvesting. Most of the existing picking equipment are special-purpose, and there are few general-purpose equipment.

Utility model content

The utility model provides an adaptive fruit picking manipulator, which is a spherical fruit picking manipulator with strong adaptability and little damage.

In order to achieve the above-mentioned technical problems, the utility model provides the following technical solutions: an adaptive fruit picking manipulator, the manipulator includes a fruit clamping device, a fruit stem cutting device, a control device and a hand-held frame, a fruit clamping device, The fruit stem shearing device and the control device are connected and fixed on the hand-held frame; the fruit clamping device and the fruit stem shearing device are designed according to the structure and size of the fruit; the fruit clamping device and the fruit stem shearing device are composed of The control device controls the successive completion of fruit clamping and shearing; the fruit clamping device includes two clamping discs and two clamping disc connecting rods connected to the clamping discs, the clamping discs are opposite to each other and fixed on a One end of the clamping disc connecting rod, the two clamping disc connecting rods are cross-connected, the middle part has a rotating connector I to realize the variable angle of the two, and the other ends of the two clamping disc connecting rods are connected with a pull wire. One end of the torsion spring is connected on the connecting rod of the clamping plate, and the other end of the torsion spring is fixed on the rotating connector 1; the fruit shearing device is a scissors structure, and the scissors control handle is also provided with a function to control the shearing of the scissors. Pull wire; the control device includes a handle and a control wire connected to the handle, and the handle can pull multiple control wires; the control wire is connected to the above two pull wires to realize clamping and cutting in succession.

Further, the handheld frame includes two beams arranged perpendicular to each other and a winding shaft for winding and changing the direction of the control wire, the fruit clamping device and the fruit stem cutting device are fixed on the cross beam, and the control device is connected to the lower part of the longitudinal beam; The winding shaft is rotatably connected to the top and the bottom of the intersection of the crossbeam and the longitudinal beam.

Further, the handle is mainly composed of two rods with intersecting ends, which are divided into a control rod and a pull rod, and the connection between the intersection point and the hand-held frame is a rotational connection.

Further, several wire holes on the wire rod of the handle are arranged in sequence for connecting control wires.

Further, the fruit stalk cutting device includes two scissors and two scissors connecting rods that are simply connected. The scissors are opposite to each other and fixed to one end of one scissors connecting rod respectively. The two scissors connecting rods are cross-connected, and the middle part has two Or the rotating connector II with a variable angle, and a stay wire is connected between the other ends of the two scissors connecting rods; further, one end of the torsion spring is connected to the scissors connecting rod, and the other end of the torsion spring is fixed on the rotating connector on II.

Further, the scissors are flower-shaped scissors, specifically, a plurality of blades are evenly arranged around the scissors, and each blade has double-sided arc-shaped edges.

Further, the clamping part of the clamping plate is a flexible structure, the inside is a cavity structure, the bottom is connected with an air bag, and the air bag is provided with an inflation port.

Further, the control wire is a steel wire.

Further, there is a section of residual wire left on the steel wire driving the scissors, so that a certain time difference is formed between the cutting motion and the clamping motion.

Compared with the existing fruit picker, the adaptive fruit picking manipulator involved in the utility model has a simple structure. The fruit ball clamping disc is a rotatable part. The clamping plate drives the fruit ball to rotate, so that the fruit stem turns to the uppermost position, which is convenient for the flower-shaped scissors to catch the fruit stem. It has certain adaptability, increases the accuracy of picking, and shortens the fruit picking time.

Description of drawings

Fig. 1 is a front structural schematic diagram of the utility model.

Fig. 2 is a structural schematic diagram of the utility model viewed from above.

Fig. 3 is a top view structural diagram of the utility model.

Reference signs: 1. Flower-shaped scissors, 2. Scissors connecting rod, 3. Clamping disc, 4. Inflatable port, 5. Clamping disc connecting rod, 6. Beam, 7. Steel wire, 8. Cable hole, 9 .hand-held rod, 10. handle, 11. short shaft, 12. torsion spring, 13. lower winding shaft, 14. torsion spring, 15. upper winding shaft, 16. air bag, 17. pull wire, 18. pull wire.

Detailed ways

As shown in Figures 1, 2, and 3, the manipulator includes a fruit clamping device, a fruit stem shearing device, a control device and a hand-held frame, and the fruit clamping device, the fruit stem shearing device and the control device are connected and fixed on the handheld frame; The fruit clamping device and the fruit stem shearing device are designed according to the structure and size of the fruit; the fruit clamping device and the fruit stem shearing device are controlled by the control device to realize the successive completion of fruit clamping and shearing; the scissors are driven There is a section of residual line left in the moving steel wire, so that the shearing movement and the clamping movement form a certain time difference. Described fruit clamping device comprises two clamping discs 3 and two clamping disc connecting rods 5 connecting clamping discs 3, clamping discs 3 are opposite to each other and fixed on one end of a clamping disc connecting rod 5 respectively, two The root clamping disc connecting rod 5 is cross-connected, and the middle part has a rotating connector 1 that realizes the variable angle of the two. A backguy 17 is connected between the other ends of the two clamping disc connecting rods 5, and the clamping disc connecting rod 5 One end of the torsion spring 12 is connected on the bar 3, and the other end of the torsion spring 12 is fixed on the rotary connector 1; the fruit shearing device is a scissors structure, and the scissors control handle is also provided with a backguy 18 for controlling the shearing of the scissors; The control device includes a handle 10 and a control wire connected to the handle 10. The handle can pull a plurality of control wires; the control wire is connected to the above two pull wires to realize clamping and cutting in succession. The control line can be a steel wire 7.

The handheld frame includes two beams arranged perpendicular to each other and a winding shaft for winding and changing the direction of the control line. The fruit clamping device and the fruit stem cutting device are fixed on the beam, and the control device is connected to the lower part of the longitudinal beam; the winding shaft rotates The top and the bottom that are connected on the crossbeam and the longitudinal beam intersect are divided into an upper winding shaft 15 and a lower winding shaft 13 .

The handle 10 is mainly made up of two rods whose ends intersect, and is divided into a control rod and a pull wire rod, and the connection between the intersection point and the hand-held frame is a rotational connection.

A plurality of wire holes 8 are arranged in sequence on the wire rod of the handle 10 for connecting control wires.

The fruit stem cutting device includes two scissors and two scissors connecting rods with simple connection. The scissors are opposite to each other and fixed on one end of one scissors connecting rod respectively. The two scissors connecting rods are cross-connected. Rotate the connecting piece II, and connect the stay wire 18 between the other ends of the two scissors connecting rods 2; further, one end of the torsion spring 14 is connected on the described scissors connecting rod, and the other end of the torsion spring 14 is fixed on the rotating connecting piece II superior.

The scissors are flower-shaped scissors 1, specifically, a plurality of blades are evenly arranged around the scissors, and each blade has double-sided curved edges. The pattern scissors 1 are fixed on the front end of the scissors connecting rod 2 by screws, and the middle of the scissors connecting rod 2 is fixed on the upper end of the crossbeam 6 through a hinge, and a torsion spring 14 is housed at the hinge. The end of the scissors connecting rod 2 is connected by a backguy 18 made of steel wire, the middle of the scissors connecting line is connected with the backguy hole 8 on the handle 10 by a steel wire, and the steel wire bypasses the upper winding shaft 15, and the steel wire leaves a 5mm gap. residual line segment. Like this, when handle rotates, first will drive clamping device to close, and when clamping device just contacts fruit ball, drives scissors and clamping device to close simultaneously again. During this process, the air bag of the clamping device is continuously compressed, which has the function of protecting and clamping the fruit ball. The flower-shaped scissors have four cutting edges, and when one cutting edge is not sharp, the fixing screw at the center of the flower-shaped scissors can be unscrewed to replace the other cutting edges.

The clamping part of the clamping plate 3 is a flexible structure, and the inside is a cavity structure, and an air bag 16 is connected to the bottom, and the air bag 16 is provided with an inflation port 4 . The clamping disc 3 and the air bag 16 are adhered and fixed, and when the clamping disc clamps the fruit, a single air bag can be deformed by 3-5 mm to ensure that the fruit will not be pinched. The clamping disc 3 is fixed on the front end of the clamping disc connecting rod 5 through the short shaft 11 and the bearing, and the clamping disc can be self-propagated with the short shaft 11, so that the fruit stems of the clamped fruit can be transferred to the flowers above the clamping disc. At the mouth of scissors. The middle of the clamping disc connecting rod 5 is hinged with each other, and a torsion spring 12 is equipped with coaxially at the joint, and is fixed on the crossbeam 6 lower ends. Clamping disc connecting rod 5 ends are connected with the backguy 17 of material with steel wire, and the backguy hole 8 on the backguy 18 middle part and handle 10 is connected by steel wire, and steel wire walks around lower winding shaft 13. Moreover, the wire hole has multiple positions, and the wire hole fixed at different positions can realize different reset positions of the clamping device.

The specific implementation described in the utility model does not constitute a limitation to the scope of the application, and within the spirit and principles of the utility model, any amendments, equivalent replacements and improvements that professionals in the field can make should include Within the protection scope of the present utility model.

Claims (9)

1. An adaptive fruit picking manipulator, is characterized in that, described manipulator comprises fruit clamping device, fruit stem shearing device, control device and hand-held frame, and fruit clamping device, fruit stem shearing device and control device are connected and fixed on the handheld frame; the fruit clamping device and the fruit stem shearing device are designed according to the structure and size of the fruit; the fruit clamping device and the fruit stem shearing device are controlled by the control device to achieve fruit clamping and cutting The fruit clamping device comprises two clamping discs and two clamping disc connecting rods connecting the clamping discs, the clamping discs are opposite to each other and are respectively fixed on one end of a clamping disc connecting rod, two The clamping disc connecting rods are cross-connected, and the middle part has a rotating connector I that realizes the variable angle of the two. A pull wire is connected between the other ends of the two clamping disc connecting rods, and the clamping disc connecting rods are connected to twist. One end of the spring, the other end of the torsion spring is fixed on the rotary connector 1; the fruit shearing device is a scissors structure, and the scissors control handle is also provided with a backguy to control the shearing of the scissors; the control device includes a handle and a connection Based on the control wire of the handle, the handle can pull a plurality of control wires; the control wires are connected to the above two pull wires to realize clamping and cutting in succession. 2. A kind of adaptable fruit picking manipulator according to claim 1, it is characterized in that, described handheld frame comprises two beams that are mutually perpendicularly arranged and is used for winding and changing the winding shaft of control line direction, and fruit clamping device The fruit stalk shearing device is fixed on the crossbeam, and the control device is connected to the lower part of the longitudinal beam; the winding shaft is rotatably connected to the top and bottom of the intersecting part of the crossbeam and the longitudinal beam. 3. A kind of adaptive fruit picking manipulator according to claim 1, it is characterized in that, described handle mainly is made up of two rods that end intersects, is divided into control rod and pull wire rod, and its intersecting point and hand-held frame The connection is a rotary connection. 4. An adaptive fruit picking manipulator according to claim 3, characterized in that, a plurality of cable holes on the cable rod of the handle are arranged in sequence for connecting control cables. 5. A kind of adaptive fruit picking manipulator according to claim 1, it is characterized in that, described fruit stalk cutting device comprises two scissors and two scissors connecting rods that connect simply, and scissors are opposite to each other and are respectively fixed on a At one end of the scissors link, the two scissors links are cross-connected, and the middle part has a rotating connector II to realize the variable angle of the two scissors links. The other ends of the two scissors links are connected with a pull wire; One end of the torsion spring, the other end of the torsion spring is fixed on the rotating connector II. 6. A kind of adaptive fruit picking manipulator according to claim 5, it is characterized in that, described scissors is a flower-shaped scissors, specifically a plurality of blades are evenly arranged around the scissors, and each blade has a double-sided arc shaped blade. 7. An adaptive fruit picking manipulator according to claim 1, characterized in that, the clamping part of the clamping disc is a flexible structure, the inside is a cavity structure, the bottom is connected with an air bag, and an air bag is provided on the air bag. mouth. 8. An adaptive fruit picking manipulator according to claim 1, wherein the control wire is a steel wire. 9. An adaptive fruit picking manipulator according to claim 1, characterized in that the steel wire driving the scissors is left with a section of surplus thread, so that a certain time difference is formed between the shearing movement and the clamping movement.