CN205389520U - Underactuated self -adaptation fruit picking manipulator - Google Patents

Abstract

The utility model discloses an underactuated self -adaptation fruit picking manipulator, it includes the manipulator structure of three equipartitions, it includes first dactylus the manipulator structure, and first dactylus is articulated with the second dactylus through a round pin axle, it is equipped with the torsional spring no. One to sell epaxial cover for one number, the end of second dactylus articulates through no. Two round pin axles has the third dactylus, it is equipped with the torsional spring no. Two to sell epaxial cover for two numbers, the end of fixed of third dactylus is on the top of action bars, operating device is installed to the afterbody of action bars, it is continuous with the spliced pole on the first dactylus that operating device passes through traction wire. The fruit that can pluck some inconvenient hands and not of uniform size, shape indefinite fruit is picked, improves the envelope degree of ware to the fruit of picking.

Description

A kind of under-driven adaptive fruit picking mechanical arm

Technical field

This utility model relates to a kind of mechanical hand, particularly a kind of under-driven adaptive fruit picking mechanical arm.

Background technology

The fruit that some inconvenience direct labor's handss are plucked is plucked, current device for picking fruit all treats the size plucking fruit and shape has strict demand, each device for picking can only pluck size necessarily, the fruit that shape is certain, and can not to the abundant envelope of fruit when plucking.

Utility model content

Technical problem to be solved in the utility model is to provide a kind of under-driven adaptive fruit picking mechanical arm, the fruit that can some inconvenience handss be plucked and not of uniform size, and the indefinite fruit of shape is plucked, and improves the device for picking envelope degree to fruit.

In order to realize above-mentioned technical characteristic, the purpose of this utility model is achieved in that a kind of under-driven adaptive fruit picking mechanical arm, it includes three uniform robot manipulator structures, described robot manipulator structure it include first knuckle, first knuckle is hinged by a bearing pin and second knuckle, a described bearing pin is set with a torsion spring, the end of described second knuckle has third knuckle by No. two hinge, described No. two bearing pins are set with No. two torsion springs, the tail end of described third knuckle is fixed on the top of action bars, the afterbody of described action bars is provided with operating mechanism, described operating mechanism is connected with the joint pin on first knuckle by traction steel wire.

Described operating mechanism includes fixing seat, and fixing seat is arranged on the outer wall of action bars, fixing seat has operation handle by No. three hinge, is provided with back-moving spring between the other end and the action bars of operation handle.

The two ends of a described torsion spring contact with the medial surface of first knuckle and second knuckle respectively；The two ends of described No. two torsion springs contact with the medial surface of second knuckle and third knuckle respectively.

The two sides of described second knuckle have been respectively articulated with the first subjoint and the second subjoint, are provided with spring leaf between the first subjoint and the second subjoint, and the first subjoint and the second subjoint are closed up by spring leaf.

Described traction steel wire one end is fixedly connected on first knuckle, sequentially pass through the first subjoint, the second subjoint, the through wires hole of second knuckle, then walk around third knuckle and the wrapping post being fixed on action bars successively, be finally connected on the operation handle of operating mechanism.

This utility model has the advantages that:

1, hinged by carrying out between first knuckle, second knuckle and third knuckle, then torsion spring is installed on corresponding bearing pin such that it is able to ensure that mechanical hand carries out folding and stretching, and then realize the parcel to fruit and crawl.

2, the mechanical hand parcel degree to fruit can further be improved by the first subjoint and the second subjoint, mode damage to fruit surface in winning process.

3, a kind of under-driven adaptive fruit picking mechanical arm of this novel offer, by adopting said structure, operation handle is utilized to control draught line, thus realizing the crawl to fruit, utilize activation lacking mechanical finger can realize the adaptation to fruit shapes, and utilize two subjoints can improve the envelope degree to fruit.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the utility model is described in further detail.

Fig. 1 is side-looking structural representation of the present utility model.

Fig. 2 is sectional view of the present utility model.

In figure: first knuckle 1, joint pin 2, traction steel wire 4, bearing pin 5 of 3, torsion spring, second knuckle the 6, first subjoint 7,8, No. two bearing pins 9 of third knuckle, 11, No. two torsion springs 12 of spring leaf the 10, second subjoint, action bars 13, operation handle 14, back-moving spring 15, fixing seat 16, No. three bearing pins 17, wrapping posts 18.

Detailed description of the invention

Below in conjunction with accompanying drawing, embodiment of the present utility model is described further.

As shown in Figure 1-2, a kind of under-driven adaptive fruit picking mechanical arm, it includes three uniform robot manipulator structures, described robot manipulator structure it include first knuckle 1, first knuckle 1 is hinged by a bearing pin 5 and second knuckle 6, a described bearing pin 5 is set with a torsion spring 4, the end of described second knuckle 6 is hinged with third knuckle 8 by No. two bearing pins 9, described No. two bearing pins 9 are set with No. two torsion springs 12, the tail end of described third knuckle 8 is fixed on the top of action bars 13, the afterbody of described action bars 13 is provided with operating mechanism, described operating mechanism is connected with the joint pin 2 on first knuckle 1 by traction steel wire 3.

Further, described operating mechanism includes fixing seat 16, and fixing seat 16 is arranged on the outer wall of action bars 13, fixing seat 16 is hinged with operation handle 14 by No. three bearing pins 17, is provided with back-moving spring 15 between the other end and the action bars 13 of operation handle 14.

Further, the two ends of a described torsion spring 4 contact with the medial surface of first knuckle 1 and second knuckle 6 respectively；The two ends of described No. two torsion springs 12 contact with the medial surface of second knuckle 6 and third knuckle 8 respectively.

Further, the two sides of described second knuckle 6 have been respectively articulated with the first subjoint 7 and the second subjoint 11, are provided with spring leaf 10 between the first subjoint 7 and the second subjoint 11, and the first subjoint 7 and the second subjoint 11 are closed up by spring leaf 10.

Further, described traction steel wire 3 one end is fixedly connected on first knuckle 1, sequentially pass through the first subjoint 7, second subjoint 11, the through wires hole of second knuckle 6, then walk around third knuckle 8 and the wrapping post 18 being fixed on action bars 13 successively, be finally connected on the operation handle 14 of operating mechanism.

Further, described first knuckle 1 upper end is provided with the cutting edge cutting off fruit stalk portion.Thus facilitating winning of fruit.

Further, a described torsion spring 4 and No. two torsion springs 12 and back-moving spring 15 are in mild compression state.And then ensure that the convenience of operation.

Specific works process of the present utility model and operation principle be:

During use, by adopting said structure, operation operation handle 14 manually, it is operated by handle 14 to control traction steel wire 3, traction steel wire 3 and then drive first knuckle 1, second knuckle 6 and third knuckle 8, by being hinged and connected between three finger joints, it is possible to easily fruit wrapped up and win, win and had only to afterwards unclamp operation handle 14.Realize the crawl to fruit by said structure, utilize activation lacking mechanical finger can realize the adaptation to fruit shapes, and utilize two subjoints can improve the envelope degree to fruit.

Above-described embodiment is used for illustrating this utility model; rather than this utility model is limited; in spirit of the present utility model and scope of the claims, any amendment that this utility model is made and change, both fall within protection domain of the present utility model.

Claims (5)

1. a under-driven adaptive fruit picking mechanical arm, it is characterized in that: it includes three uniform robot manipulator structures, described robot manipulator structure it include first knuckle (1), first knuckle (1) is hinged by a bearing pin (5) and second knuckle (6), a described bearing pin (5) is set with a torsion spring (4), the end of described second knuckle (6) is hinged with third knuckle (8) by No. two bearing pins (9), described No. two bearing pins (9) are set with No. two torsion springs (12), the tail end of described third knuckle (8) is fixed on the top of action bars (13), the afterbody of described action bars (13) is provided with operating mechanism, described operating mechanism is connected with the joint pin (2) on first knuckle (1) by traction steel wire (3).

2. a kind of under-driven adaptive fruit picking mechanical arm according to claim 1, it is characterized in that: described operating mechanism includes fixing seat (16), fixing seat (16) is arranged on the outer wall of action bars (13), fixing seat (16) is hinged with operation handle (14) by No. three bearing pins (17), between the other end and the action bars (13) of operation handle (14), back-moving spring (15) is installed.

3. a kind of under-driven adaptive fruit picking mechanical arm according to claim 1, it is characterised in that: the two ends of a described torsion spring (4) contact with the medial surface of first knuckle (1) and second knuckle (6) respectively；The two ends of described No. two torsion springs (12) contact with the medial surface of second knuckle (6) and third knuckle (8) respectively.

4. a kind of under-driven adaptive fruit picking mechanical arm according to claim 1, it is characterized in that: the two sides of described second knuckle (6) have been respectively articulated with the first subjoint (7) and the second subjoint (11), being provided with spring leaf (10) between first subjoint (7) and the second subjoint (11), the first subjoint (7) and the second subjoint (11) are closed up by spring leaf (10).

5. a kind of under-driven adaptive fruit picking mechanical arm according to claim 1, it is characterized in that: described traction steel wire (3) one end is fixedly connected on first knuckle (1), sequentially pass through the first subjoint (7), second subjoint (11), the through wires hole of second knuckle (6), then walk around third knuckle (8) and the wrapping post (18) being fixed on action bars (13) successively, be finally connected on the operation handle (14) of operating mechanism.