CN204888016U - Machine people's flexible fixture is plucked to sea -buckthorn - Google Patents
Machine people's flexible fixture is plucked to sea -buckthorn Download PDFInfo
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- CN204888016U CN204888016U CN201520519863.XU CN201520519863U CN204888016U CN 204888016 U CN204888016 U CN 204888016U CN 201520519863 U CN201520519863 U CN 201520519863U CN 204888016 U CN204888016 U CN 204888016U
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- movable plate
- pneumatic cylinder
- sea
- buckthorn
- fixed head
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Abstract
The utility model provides a machine people's flexible fixture is plucked to sea -buckthorn, includes fixed plate, movable plate, pneumatic cylinder and a plurality of centre gripping unit, the movable plate slidable sets up in the fixed plate top, the centre gripping unit include the finger and indicate down, indicate to indicate under with upwarding corresponding difference fixed mounting on movable plate and fixed plate, the movable plate is driven for fixed plate horizontal slip by the pneumatic cylinder to indicate to indicate relatively down horizontal migration in the drive, accomplish the centre gripping action to the sea -buckthorn fruit branch. The centre gripping action is soft, can reduce garrulous fruit rate when improving sea -buckthorn harvesting efficiency.
Description
Technical field
The utility model relates to a kind of sea-buckthorn picking robot, especially relates to a kind of flexible clamping mechanism of sea-buckthorn picking robot.
Background technology
Compared with other fruits and vegetables industry, though the feature such as sea-buckthorn has strong stress resistance and propagating materials is wide, also exist obviously not enough, as many in branch thorn and hard, fruit is little, carpopodium is short, pericarp is thin, causes fruit difficulty to be plucked.
In prior art, sea-buckthorn plucks operation substantially or manual to complete, and manually adopt that hand is smoothed out with the fingers, beta pruning, cut the methods such as bar and pluck, efficiency is low, fruit percentage of damage is high, and along with the aging of population and the minimizing of agricultural workforce, agriculture production cost improves greatly.The domestic situation that all there is the waste due to unmanned harvesting of a large amount of sea-buckthorn every year, has had a strong impact on economic benefit, has annoying developing rapidly of sea-buckthorn industry.In order to overcome these shortcomings, development autonomous harvesting technology, research and development sea-buckthorn picking robot is very urgent thing.The utility model can be applicable to sea-buckthorn picking robot to realize the clamping to sea buckthorn fruit spur, thus carries out collaborative preparation for sea-buckthorn picking robot realizes remaining action (shearing).
Utility model content
In order to solve the problems of the technologies described above, the utility model provides a kind of flexible clamping mechanism of sea-buckthorn picking robot, can be installed on the end of sea-buckthorn picking robot mechanical arm, soft grip sea buckthorn fruit spur, effectively reduces fruit damage rate when sea-buckthorn is plucked.
The utility model in order to solve the problems of the technologies described above adopted technical scheme is: a kind of flexible clamping mechanism of sea-buckthorn picking robot, comprise fixed head, movable plate, pneumatic cylinder and a plurality of grip unit, movable plate is slidably arranged on above fixed head, described grip unit comprises finger and lower finger, upper finger is corresponding with lower finger to be fixedly mounted on movable plate and fixed head respectively, described movable plate is driven relative to fixed head horizontal slip by pneumatic cylinder, thus drive above finger relatively to descend finger to move horizontally, complete the holding action to sea buckthorn fruit spur.
Further, described movable plate is provided with breach, on fixed head, the position of corresponding breach is provided with pneumatic cylinder installing rack, and the cylinder body of pneumatic cylinder is fixed on pneumatic cylinder installing rack, and the piston extension bar of pneumatic cylinder is fixedly connected with movable plate through after pneumatic cylinder installing rack.
Further, the piston extension bar of pneumatic cylinder is fixedly connected with movable plate by one piece of riser, the part on the piston extension bar of pneumatic cylinder between riser and pneumatic cylinder installing rack has been set with the Compress Spring of cushioning effect.
Further, fixed head is provided with slide unit, movable plate is provided with chute, described chute matches with slide unit and installs, and movable plate moves horizontally relative to fixed head under the guiding of slide unit chute.
Further, described slide unit and the cross section of chute are all in swallow-tail form.
Beneficial effect:
The mode that the utility model adopts pneumatic cylinder to drive, is convenient to soft grip sea buckthorn fruit spur, effectively reduces fruit damage rate.
Realize slowly reinforcing by arranging of Compress Spring, improve the lightweight flexible of clamping further, reduce fruit damage rate during harvesting sea-buckthorn.
Below in conjunction with the drawings and specific embodiments, concrete detailed description is further done to the utility model.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is the end view of Fig. 1.
In figure, 1, lower finger, 2, upper finger, 3, movable plate, 4, fixed head, 5, riser, 6, Compress Spring, 7, breach, 8, pneumatic cylinder installing rack, 9, pneumatic cylinder, 901, the air ports of cylinder, 10, slide unit, 11, slide unit set bolt, 12, lower finger set bolt, 13, upper finger set bolt.
Embodiment
As shown in the figure, a kind of flexible clamping mechanism of sea-buckthorn picking robot, comprises fixed head 4, movable plate 3, pneumatic cylinder 9 and a plurality of grip unit.
Movable plate 3 is slidably arranged on above fixed head 4, and described grip unit comprises finger 2 and lower finger 1, and upper finger 2 and lower finger 1 are respectively by upper finger set bolt 13 and lower finger set bolt 12 is corresponding is fixedly mounted on respectively on movable plate 3 and fixed head 4.
Described movable plate 3 is driven relative to fixed head 4 horizontal slip by pneumatic cylinder 9, thus drives above finger 2 relatively to descend finger 1 to move horizontally, and completes the holding action to sea buckthorn fruit spur.
In present embodiment, movable plate 3 is provided with breach 7, on fixed head 4, the position of corresponding breach 7 arranges pneumatic cylinder installing rack 8, and the cylinder body of pneumatic cylinder 9 is fixed on pneumatic cylinder installing rack 8, and the piston extension bar of pneumatic cylinder 9 is fixedly connected with movable plate 3 through after pneumatic cylinder installing rack 8.
The piston extension bar of pneumatic cylinder 9 is fixedly connected with movable plate 3 by one piece of riser 5, and on the piston extension bar of pneumatic cylinder 9, the part between riser 5 and pneumatic cylinder installing rack 8 has been set with the Compress Spring 6 of cushioning effect.
Fixed head 4 is provided with slide unit 10, slide unit 10, is fixed on fixed head 4, movable plate 3 is provided with chute by slide unit set bolt 11, chute matches with slide unit 10 and installs, and movable plate 3 moves horizontally relative to fixed head 4 under the guiding of slide unit chute.
In present embodiment, the cross section of slide unit 10 and chute is all in swallow-tail form.
Claims (5)
1. the flexible clamping mechanism of a sea-buckthorn picking robot, it is characterized in that: comprise fixed head (4), movable plate (3), pneumatic cylinder (9) and a plurality of grip unit, movable plate (3) is slidably arranged on fixed head (4) top, described grip unit comprises finger (2) and lower finger (1), upper finger (2) and lower finger (1) is corresponding is fixedly mounted on movable plate (3) and fixed head (4) respectively, described movable plate (3) is driven relative to fixed head (4) horizontal slip by pneumatic cylinder (9), thus drive above finger (2) to refer to that relatively down (1) moves horizontally, complete the holding action to sea buckthorn fruit spur.
2. the flexible clamping mechanism of a kind of sea-buckthorn picking robot according to claim 1, it is characterized in that: on described movable plate (3), be provided with breach (7), the position of the upper corresponding breach (7) of fixed head (4) is provided with pneumatic cylinder installing rack (8), the cylinder body of pneumatic cylinder (9) is fixed on pneumatic cylinder installing rack (8), and the piston extension bar of pneumatic cylinder (9) is fixedly connected with movable plate (3) afterwards through pneumatic cylinder installing rack (8).
3. the flexible clamping mechanism of a kind of sea-buckthorn picking robot according to claim 2, it is characterized in that: the piston extension bar of pneumatic cylinder is fixedly connected with movable plate (3) by one piece of riser (5), and on the piston extension bar of pneumatic cylinder (9), the part be positioned between riser (5) and pneumatic cylinder installing rack (8) has been set with the Compress Spring (6) of cushioning effect.
4. the flexible clamping mechanism of a kind of sea-buckthorn picking robot according to claim 1, it is characterized in that: on fixed head (4), be provided with slide unit (10), movable plate (3) is provided with chute, described chute matches with slide unit (10) and installs, and movable plate (3) moves horizontally relative to fixed head (4) under the guiding of slide unit chute.
5. the flexible clamping mechanism of a kind of sea-buckthorn picking robot according to claim 4, is characterized in that: described slide unit (10) and the cross section of chute are all in swallow-tail form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520519863.XU CN204888016U (en) | 2015-07-17 | 2015-07-17 | Machine people's flexible fixture is plucked to sea -buckthorn |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520519863.XU CN204888016U (en) | 2015-07-17 | 2015-07-17 | Machine people's flexible fixture is plucked to sea -buckthorn |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204888016U true CN204888016U (en) | 2015-12-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520519863.XU Active CN204888016U (en) | 2015-07-17 | 2015-07-17 | Machine people's flexible fixture is plucked to sea -buckthorn |
Country Status (1)
| Country | Link |
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| CN (1) | CN204888016U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106612957A (en) * | 2016-12-13 | 2017-05-10 | 西安汇星机械科技有限公司 | High-frequency-vibration fructus-lycii picking machine |
| CN109566097A (en) * | 2019-01-10 | 2019-04-05 | 武汉职业技术学院 | A kind of lichee picking machine |
-
2015
- 2015-07-17 CN CN201520519863.XU patent/CN204888016U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106612957A (en) * | 2016-12-13 | 2017-05-10 | 西安汇星机械科技有限公司 | High-frequency-vibration fructus-lycii picking machine |
| CN109566097A (en) * | 2019-01-10 | 2019-04-05 | 武汉职业技术学院 | A kind of lichee picking machine |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |