CN204157298U - Matrimony vine plucks electric manipulator - Google Patents
Matrimony vine plucks electric manipulator Download PDFInfo
- Publication number
- CN204157298U CN204157298U CN201420556382.1U CN201420556382U CN204157298U CN 204157298 U CN204157298 U CN 204157298U CN 201420556382 U CN201420556382 U CN 201420556382U CN 204157298 U CN204157298 U CN 204157298U
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- China
- Prior art keywords
- mechanical finger
- matrimony vine
- finger
- tripe
- rotating shaft
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- Expired - Fee Related
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Abstract
The utility model discloses a kind of imitative manual matrimony vine and pluck electric manipulator, comprise a rotating shaft, it is characterized in that rotating shaft being fixed with several arc plate, the other end of each arc plate is tangentially hinged, and several mechanical finger is mounted opposite with the thumb root tripe be hinged in rotating shaft, and one end and the electromotor of rotating shaft are connected.Described each mechanical finger and thumb root tripe have three or two or a phalanges, connected by hinge between each phalanges, refer to have a stage clip to penetrate into finger root from finger tip in abdomen, a cord is had in stage clip, one end of cord ties up on the terminal phalanx of mechanical finger, and the other end of cord ties up on same roller, and the outside of mechanical finger is surrounded by flexible rubber, refer to load soft shape body in abdomen, outside finger tip, secure the spring of arcuation.Mechanical finger when seizing lower matrimony vine, allow individual less Chinese olive and leaf drill-through from webs, when descending, mechanical finger and thumb root tripe open, and matrimony vine falls from webs to be removed into flexible pipe.Continuously pluck speed obviously to exceed manually.
Description
Technical field
The utility model relates to a kind of electric manipulator, especially for the electric manipulator that matrimony vine is plucked.
Background technology
Matrimony vine is plucked and generally adopts manually.In recent years, also have developed some matrimony vine pickers, harvesting effect is not ideal enough: Korea S is born in by the first in the world platform medlar-picking machine model machine, this picking machine adopts oscillatory type principle, fruit picking head contact tree bulk area is large, belong to extensive harvesting from harvesting classification, medlar-picking machine development is positioned on large-scale, full-automatic picking mechanical, is in conceptual machine state.This machine advantage is that picking surface is large, and shortcoming is advanced inconvenience in field.In 2006, the domestic people of having utilized bionic principle, have developed simple and easy matrimony vine fruit picker, and this machine is contacted with the direct of fruit by fruit picking head, and harvesting classification belongs to relative accurate harvesting.Because this machine picking efficiency is low, fruit squeezes wound and seriously cannot promote.The Ningxia Qi Xiang biological food Engineering Co., Ltd portable medlar-picking machine of application 4ZGB-30 is a kind of vibration type device, and efficiency is higher, but unavoidably damages branches and leaves.
Summary of the invention
The utility model, in brand-new mode, provides a kind of electric manipulator copying the matrimony vine of handwork to pluck.
For achieving the above object, scheme of the present utility model is: a kind of matrimony vine plucks electric manipulator, comprises a rotating shaft, it is characterized in that rotating shaft is evenly fixed with several arc plate, the other end of each arc plate is tangentially hinged several mechanical finger, rotating shaft has been mounted opposite thumb root tripe with mechanical finger; Described arc plate straight flange has one with the roller of shaft parallel, roller can move radially along the straight flange of arc plate, and two head bearings of roller are contained in the chute of cam; Two of described rotating shaft has bearing and bearing block to connect with casing, and one end of rotating shaft is connected by shaft coupling and electromotor; Described electromotor is connected on casing by support, and electromotor live wire connects battery; Connected cam inside described casing two, the lower end of casing is by flexible pipe conducting matrimony vine basket.
Above-mentioned mechanical finger and thumb root tripe have three or two or a phalanges.
Hinge is had between the phalanges of above-mentioned mechanical finger and thumb root tripe and between mechanical finger and arc plate.
A stage clip is had to penetrate into finger root from finger tip in above-mentioned mechanical finger and thumb root tripe abdomen.
Have a cord in above-mentioned mechanical finger and thumb root tripe stage clip, one end of cord ties up on terminal phalanx, and the other end of cord ties up on same roller.
Above-mentioned mechanical finger and the resilient crust of thumb root tripe outsourcing.
Soft shape body has been loaded in the finger abdomen of above-mentioned mechanical finger and thumb root tripe.
The spring of arcuation is secured outside above-mentioned mechanical finger tip.
Matrimony vine of the present invention plucks electric manipulator, due to serve as palm arc plate on hinge limit the direction of motion of mechanical finger, under the control of cam, mechanical finger and thumb root tripe shrink, individual less Chinese olive and leaf drill-through from webs, individual larger ripe fruit is seized down, enter the space that mechanical finger and thumb root tripe are formed, when manipulator rotates, mechanical finger and thumb root tripe open, matrimony vine falls from webs to be removed into flexible pipe, enters matrimony vine basket; Every platform loom can have several manipulator, and each manipulator has several mechanical finger, continuously plucks speed and obviously exceeds manually.Motor speed is adjustable.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of the utility model embodiment;
Accompanying drawing 2 is the utility model embodiment A-A cutaway view;
Accompanying drawing 3 is the structure vertical view of the utility model embodiment;
Accompanying drawing 4 is the cam profile figure of the utility model embodiment;
Accompanying drawing 5 is the mechanical finger figure of the utility model embodiment;
Accompanying drawing 6 is the thumb root tripe figure of the utility model embodiment.
Embodiment
Composition graphs 1,2,3,4,5, describes a specific embodiment of the present utility model in detail, but does not impose any restrictions claim of the present utility model.
Matrimony vine of the present utility model plucks electric manipulator, comprise a rotating shaft 21, it is characterized in that rotating shaft 21 being evenly fixed with several arc plate 15, several mechanical finger has tangentially been installed by hinge 4 in the other end of each arc plate 15, and often organizes mechanical finger and has been mounted opposite a thumb root tripe; The described radial straight flange of arc plate 15 has one with the roller 14 of shaft parallel, roller 14 can move radially along the straight flange of arc plate 15, and two head bearings 10 of roller 14 are contained in the chute of cam 13; Two of described rotating shaft 21 has bearing 11 and bearing block 12 to connect with casing 7, and one end of rotating shaft 21 is connected with electromotor 17 by shaft coupling 18 and key 19; Described electromotor 17 is connected on casing 7 by support 16, and electromotor 17 connects battery by electric wire; Described casing 7 liang inner side connects cam 13, and the lower end of casing 7 is by flexible pipe 20 conducting matrimony vine basket.Described each mechanical finger and thumb root tripe have three or two or a phalanges 3, phalanges 3 is connected by hinge 4 with between arc plate 15 and each phalanges 3, refer to have a stage clip 6 to penetrate into finger root from finger tip in abdomen, a cord 5 is had in stage clip 6, one end of cord 5 ties up on the terminal phalanx 3 of mechanical finger, and the other end of cord 5 ties up on same roller 14; Outside is surrounded by flexible rubber 2, refers to load soft shape body in abdomen.The spring 1 of arcuation is secured outside the finger tip of described mechanical finger.
The utility model matrimony vine plucks electric manipulator, because the hinge 4 served as on the arc plate 15 of palm defines the direction of motion of mechanical finger, under the control of cam 13, when mechanical finger seizes lower matrimony vine, the bearing 10 of roller 14 runs to the concave section, top in cam 13 chute, roller 14 moves inward, cord 5 tension makes mechanical finger stage clip 6 compress, mechanical finger and thumb root tripe draw in, individual less Chinese olive and leaf drill-through from webs, individual larger ripe fruit is seized down, enters the space that mechanical finger and thumb root tripe 8 are formed; Secure the spring 1 of arcuation outside machinery finger tip, when seizing matrimony vine, branch slips over outside the arc of spring 1, avoids branch and is involved in body; When manipulator is descending, the bearing 10 of roller 14 runs to the arc section in cam 13 chute, move outside roller 14, cord 5 unclamps, stage clip 6 is upheld and mechanical finger and thumb root tripe is opened, and because several mechanical finger is tangentially arranged on arc plate 15, diverges when mechanical finger opens to side direction, matrimony vine falls from webs to be removed into flexible pipe 20, enters matrimony vine basket; Every platform loom can have several manipulator, and each manipulator has several mechanical finger, continuously plucks speed and obviously exceeds manually.Motor speed is adjustable.The utility model matrimony vine is plucked electric manipulator and imitates manual work, designs ingenious, is a practicality of medlar-picking machine and novel technological innovation.
Claims (8)
1. matrimony vine plucks an electric manipulator, comprises a rotating shaft, it is characterized in that rotating shaft is evenly fixed with several arc plate, the other end of each arc plate is tangentially hinged several mechanical finger; The radial straight flange of described arc plate along have one with the roller of shaft parallel, roller radially can move along the straight flange of arc plate; The hinged thumb root tripe be oppositely arranged with mechanical finger in described rotating shaft; Two of described rotating shaft has bearing and bearing block to connect with casing, and one end of rotating shaft is connected by shaft coupling and electromotor; Connected cam inside described casing two, two head bearings of described roller are contained in the guide chute of cam; The lower end of described casing passes into matrimony vine basket by flexible pipe.
2. a kind of matrimony vine according to claim 1 plucks electric manipulator, it is characterized in that mechanical finger and thumb root tripe have three or two or a phalanges.
3. a kind of matrimony vine according to claim 1 and 2 plucks electric manipulator, it is characterized in that mechanical finger and thumb root tripe are connected by hinge with between arc plate, rotating shaft and between each phalanges.
4. a kind of matrimony vine according to claim 1 plucks electric manipulator, has a stage clip to penetrate into finger root from finger tip in the finger abdomen that it is characterized in that mechanical finger and thumb root tripe.
5. a kind of matrimony vine according to claim 1 or 4 plucks electric manipulator, and have a cord in the stage clip that it is characterized in that several mechanical finger and thumb root tripe, one end of cord ties up on the terminal phalanx of mechanical finger, and the other end of cord ties up on same roller.
6. a kind of matrimony vine according to claim 1 plucks electric manipulator, it is characterized in that mechanical finger and the resilient crust of thumb root tripe outsourcing.
7. a kind of matrimony vine according to claim 1 plucks electric manipulator, has loaded soft shape body in the finger abdomen that it is characterized in that mechanical finger and thumb root tripe.
8. a kind of matrimony vine according to claim 1 plucks electric manipulator, it is characterized in that the spring securing arcuation outside mechanical finger tip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420556382.1U CN204157298U (en) | 2014-09-26 | 2014-09-26 | Matrimony vine plucks electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420556382.1U CN204157298U (en) | 2014-09-26 | 2014-09-26 | Matrimony vine plucks electric manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204157298U true CN204157298U (en) | 2015-02-18 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420556382.1U Expired - Fee Related CN204157298U (en) | 2014-09-26 | 2014-09-26 | Matrimony vine plucks electric manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204157298U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104247608A (en) * | 2014-09-26 | 2014-12-31 | 宁夏中卫市廙园机械装备研发有限公司 | Electric mechanical arm for picking wolfberry |
| CN107306596A (en) * | 2017-08-25 | 2017-11-03 | 银川金帮手信息科技有限公司 | Matrimony vine seed harvester |
| CN109259906A (en) * | 2018-10-30 | 2019-01-25 | 上海理工大学 | A kind of multi-modal artificial hand of modularization |
-
2014
- 2014-09-26 CN CN201420556382.1U patent/CN204157298U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104247608A (en) * | 2014-09-26 | 2014-12-31 | 宁夏中卫市廙园机械装备研发有限公司 | Electric mechanical arm for picking wolfberry |
| CN104247608B (en) * | 2014-09-26 | 2016-05-04 | 宁夏中卫市廙园机械装备研发有限公司 | Matrimony vine is plucked electric manipulator |
| CN107306596A (en) * | 2017-08-25 | 2017-11-03 | 银川金帮手信息科技有限公司 | Matrimony vine seed harvester |
| CN109259906A (en) * | 2018-10-30 | 2019-01-25 | 上海理工大学 | A kind of multi-modal artificial hand of modularization |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150218 Termination date: 20160926 |