CN205266301U - Strawberry picking manipulator device - Google Patents
Strawberry picking manipulator device Download PDFInfo
- Publication number
- CN205266301U CN205266301U CN201620010638.8U CN201620010638U CN205266301U CN 205266301 U CN205266301 U CN 205266301U CN 201620010638 U CN201620010638 U CN 201620010638U CN 205266301 U CN205266301 U CN 205266301U
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- CN
- China
- Prior art keywords
- component
- palm
- joint
- strawberry
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 20
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 20
- 244000307700 Fragaria vesca Species 0.000 title 1
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 240000009088 Fragaria x ananassa Species 0.000 claims 1
- 241000220223 Fragaria Species 0.000 abstract description 18
- 235000013399 edible fruits Nutrition 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 abstract description 4
- 210000001145 finger joint Anatomy 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000003306 harvesting Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model provides a strawberry picking manipulator device is one set of hard gentle series-parallel connection manipulator device of underactuated that is used for the strawberry to pick. The palm type finger joint comprises three finger parts with the same structure, a transmission part, a connecting rod component, a fixed frame and a driving motor; the palm component is connected with the driving motor through the fixing frame, and three sliding grooves which form an angle of 120 degrees with each other are formed in the palm component; the finger part consists of a compliant component and a connecting rod component; the other end of the connecting rod component is connected to the driving frame through a driving joint; the driving frame is installed on the palm component through a sliding groove on the palm and is connected with the motor screw shaft. The utility model discloses compact structure, the processing ease, the motion is nimble, can be used to the flexible operation of picking of strawberry, avoids the fruit damaged effectively, cooperates the robot body to realize the high-efficient high reliability picking operation.
Description
Technical field
The utility model relates to a kind of picker, especially relates to a kind of strawberry picking mechanical arm device.
Background technology
Strawberry in China greenhouse is ridge planting mostly. In strawberry harvesting time, hand labor intensity and workload are very big, thus develop and a kind of the ridge culture strawberry picking mechanism of manual work can be replaced to become problem demanding prompt solution. But due to the quality of strawberry tender and lovely, size is different, comes in every shape, the top priority that therefore project organization is simple, practical, the picking mechanical arm device flexibly that moves becomes strawberry picking robot development.
Summary of the invention
The purpose of this utility model is to provide a kind of strawberry picking mechanical arm device, is a set of hard and soft series-parallel connection robot device of drive lacking plucked for strawberry. The technical solution adopted in the utility model is: the utility model comprises three identical finger parts of structure, palm component, transmission parts, link component, anchor, drive-motor; Described palm component is connected with drive-motor by anchor, and palm component has three chutes being mutually 120 degree; Described finger parts are by a compliant member, a link component composition, form two joints, wherein the first joint is arranged on palm component, being compliant member between first joint and the 2nd joint, the 2nd outside, joint connects link component, and torsional sprig is equipped with in the first rotation axis both sides, joint, spring one end is connected with compliant member, and the other end is connected with palm component; The other end of link component is connected to drive on frame by driving joint; Drive frame to be installed on palm component by the chute on palm to be connected with motor leading screw axle simultaneously.
The useful effect that the utility model has is: drive-motor drives transmission component movement, drive link component, connecting rod drives flexible member, compliant member curves inwardly closed under the effect of the first joint torsion spring, produce parcel fruit action, parcel fruit is continued, it is achieved finger grip action under link component effect. The utility model compact construction, processing ease, motion flexibly, can be used for strawberry flexibility and plucks operation, effectively avoid fruit damaged, coordinate robot body to realize the harvesting operation of efficient high reliability.
Accompanying drawing explanation
Fig. 1 is strawberry picking mechanical arm device overall schematic.
Fig. 2 is strawberry picking mechanical arm device transmission block diagram.
Fig. 3 is strawberry picking mechanical arm device palm component schematic diagram.
Fig. 4 is strawberry picking mechanical arm device anchor schematic diagram.
In figure: 1. the 2nd joint, 2. flexible member, 3. link component, 4. driving joint, 5. the first joint torsion spring, 6 first joints, 7. transmission parts, 71 threaded holes, 8. palm component, 81. bolt hole 9. drive-motor leading screw axles, 10. volar glide groove, 11. anchors, 111. bolts hole, 112. bolts hole, 12. drive-motor.
Embodiment
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, the utility model comprises structure identical three finger parts, palm component (8), transmission parts (7), link component (3), anchor (11), drive-motor (12); Described palm component is connected with drive-motor (12) by anchor (11), and palm component (8) has three chutes (10) being mutually 120 degree; Described finger parts are by a compliant member (2), link component (3) composition, form two joints, wherein the first joint (6) are arranged on palm component (8), being compliant member (2) between first joint (6) and the 2nd joint (1), the 2nd outside, joint (1) connects link component (3), and torsional sprig (5) is equipped with in the first joint (6) rotation axis both sides, spring (5) one end is connected with compliant member (2), and the other end is connected with palm component (8); The other end of link component (3) is connected to drive on frame (7) by driving joint (4); Palm component (8) is upper to be connected with motor leading screw axle (9) simultaneously to drive frame (7) to be installed to by volar glide groove (10).
When the utility model works, drive-motor (12) is moved by rotation drive driving section part (7) of drive-motor leading screw axle (9) and passes through link component (3) and drive compliant member (2) to rotate inside palm, and under the effect of the first joint torsion spring (5), three submissive finger member (2) close up parcel fruit simultaneously. The utility model compact construction, processing ease, motion flexibly, can be used for strawberry flexibility and plucks operation, effectively avoid fruit damaged, coordinate robot body to realize the harvesting operation of efficient high reliability.
Claims (1)
1. a strawberry picking mechanical arm device, it is characterised in that: comprise three finger parts that structure is identical, palm component, transmission parts, link component, anchor, drive-motor; Described palm component is connected with drive-motor by anchor, and palm component has three chutes being mutually 120 degree; Described finger parts are by a compliant member, a link component composition, form two joints, wherein the first joint is arranged on palm component, being compliant member between first joint and the 2nd joint, the 2nd outside, joint connects link component, and torsional sprig is equipped with in the first rotation axis both sides, joint, spring one end is connected with compliant member, and the other end is connected with palm component; The other end of link component is connected to drive on frame by driving joint; Drive frame to be installed on palm component by the chute on palm to be connected with motor leading screw axle simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620010638.8U CN205266301U (en) | 2016-01-07 | 2016-01-07 | Strawberry picking manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620010638.8U CN205266301U (en) | 2016-01-07 | 2016-01-07 | Strawberry picking manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205266301U true CN205266301U (en) | 2016-06-01 |
Family
ID=56050945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620010638.8U Expired - Fee Related CN205266301U (en) | 2016-01-07 | 2016-01-07 | Strawberry picking manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205266301U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108093854A (en) * | 2017-12-19 | 2018-06-01 | 徐州工业职业技术学院 | A kind of apery hand formula strawberry picker |
| CN108575318A (en) * | 2018-04-20 | 2018-09-28 | 长安大学 | A kind of strawberry automatic picking apparatus and method based on flexible manipulator |
| CN108834571A (en) * | 2018-07-11 | 2018-11-20 | 吴奕玮 | A kind of rotary type machine for picking fruits and its pluck fruit method |
| CN108848934A (en) * | 2018-07-02 | 2018-11-23 | 东南大学 | A kind of strawberry picking mechanical arm device |
-
2016
- 2016-01-07 CN CN201620010638.8U patent/CN205266301U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108093854A (en) * | 2017-12-19 | 2018-06-01 | 徐州工业职业技术学院 | A kind of apery hand formula strawberry picker |
| CN108575318A (en) * | 2018-04-20 | 2018-09-28 | 长安大学 | A kind of strawberry automatic picking apparatus and method based on flexible manipulator |
| CN108848934A (en) * | 2018-07-02 | 2018-11-23 | 东南大学 | A kind of strawberry picking mechanical arm device |
| CN108834571A (en) * | 2018-07-11 | 2018-11-20 | 吴奕玮 | A kind of rotary type machine for picking fruits and its pluck fruit method |
| CN108834571B (en) * | 2018-07-11 | 2021-05-14 | 吴奕玮 | Rotary fruit picking machine and fruit picking method thereof |
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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: 20160601 Termination date: 20170107 |