CN205510922U - Machine hand for picking fruit - Google Patents
Machine hand for picking fruit Download PDFInfo
- Publication number
- CN205510922U CN205510922U CN201620092108.2U CN201620092108U CN205510922U CN 205510922 U CN205510922 U CN 205510922U CN 201620092108 U CN201620092108 U CN 201620092108U CN 205510922 U CN205510922 U CN 205510922U
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- CN
- China
- Prior art keywords
- connecting rod
- handgrip
- hydraulic cylinder
- hinged
- cylinder
- 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
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Abstract
The utility model relates to a machine hand for picking fruit, including the base, rotary device, bracing piece, first every single move pneumatic cylinder, connecting rod, flexible pneumatic cylinder, second every single move pneumatic cylinder, third every single move pneumatic cylinder and hand grip, rotary device fixes on the base, the bracing piece is connected on rotary device, can wind 360 degrees rotations of base, first every single move pneumatic cylinder cylinder tail end articulates on rotary device, and the piston rod top articulates at upper end of the support bar, second every single move pneumatic cylinder cylinder tail end articulates at the bracing piece lower extreme, and the piston rod top articulates at the connecting rod middle part, third every single move pneumatic cylinder cylinder tail end articulates at the connecting rod middle part, and the piston rod top articulates at flexible pneumatic cylinder cylinder middle part, flexible pneumatic cylinder cylinder tail end is articulated with the small end, and the connecting rod lower extreme is articulated with upper end of the support bar, the piston rod top fixed connection of hand grip tip and flexible pneumatic cylinder. The utility model discloses fruit on the fruit tree can be plucked fast, and the fruit epidermis is not damaged.
Description
Technical field
The utility model relates to a kind of manipulator, particularly a kind of fruits picking mechanical hand.
Background technology
Every fruit mature period be orchard worker favorite time, but it is intended to pluck at short notice all fruit in orchard, there is also certain difficulty, and grow pinnacled fruit and be difficult to be plucked, and traditional picked by hand inefficiency, it is easily damaged fruit surface, directly influence the economic benefit of orchard worker, therefore it is badly in need of a high efficiency and easily plucks eminence or the manipulator of position that staff is inconvenient to reach is to replace staff to pluck, and ensure that the integrality of fruit surface, thus increase economic efficiency.
At present, market does not also have ripened fruit picking mechanical arm, more existing fruit picking mechanical arms have and semiautomatic grab scissors mechanism hand and grab pull-type manipulator, but inefficiency, and it is easily damaged fruit top layer.
Utility model content
For above not enough, the utility model provides a kind of fruits picking mechanical hand, it is achieved fruit on rapid picking fruit tree, and does not damage fruit surface.
For reaching above-mentioned purpose, technical solutions of the utility model are:
A kind of fruits picking mechanical hand, including base, whirligig, support bar, the first pitching hydraulic cylinder, connecting rod, telescopic hydraulic cylinder, the second pitching hydraulic cylinder, the 3rd pitching hydraulic cylinder and hand grip；Described whirligig is fixed on base, and described support bar connects on the spinning device, it is possible to around base 360 degree rotation；Described first pitching Barrel of Hydraulic Cylinders tail end is hinged on the spinning device, and piston rod top is hinged on post upper；Second pitching Barrel of Hydraulic Cylinders tail end is hinged on support bar lower end, and piston rod top is hinged in the middle part of connecting rod；3rd pitching Barrel of Hydraulic Cylinders tail end is hinged in the middle part of connecting rod, and piston rod top is hinged in the middle part of telescopic hydraulic cylinder cylinder barrel；Described telescopic hydraulic cylinder cylinder barrel tail end is hinged with small end, and connecting rod lower end is hinged with post upper, and hand grip end is fixing with the piston rod top of telescopic hydraulic cylinder to be connected.
Described hand grip includes servomotor, handgrip shell, screw mandrel, drive rod, first connecting rod, handgrip bar, second connecting rod, handgrip, padded coaming；Described servomotor is fixed on handgrip shell middle inside, screw mandrel one end is fixing with servomotor output to be connected, drive rod is connected by inside thread and screw mandrel composition pair of nut, the two pairs of first connecting rod one end are respectively articulated with the two ends of drive rod, the other end is hinged on the upper and lower end parts of handgrip bar, two pairs of second connecting rod one end are respectively hinged at the both sides up and down of handgrip shell, the other end is respectively hinged at the two upper and lower middle parts of handgrip bar, the circular arc handgrip of a symmetry is fixed in described handgrip bar front end, fixes one layer of padded coaming inside handgrip.
The beneficial effects of the utility model are: this fruits picking mechanical hand can be around base 360 degree rotation, can comprehensive fruit-picking；Utilizing the retractility of multiple hydraulic cylinder, make manipulator can work in a big way, increase manipulator fruit-picking radius, convenient harvesting to staff does not reaches or is inconvenient to the fruit plucked；Feed screw nut pair is utilized to complete the opening and closing campaign of hand grip so that manipulator opening and closing fruit-picking process is the most reliable；Inside two circular arc handgrips, fix padded coaming respectively will not damage fruit top layer.
Accompanying drawing explanation
Fig. 1 is the utility model overall structure schematic diagram.
Fig. 2 is hand grip structural representation.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described further.
Such as Fig. 1, shown in Fig. 2, a kind of fruits picking mechanical hand, including base 1, whirligig 2, support bar 3, the first pitching hydraulic cylinder 4, connecting rod 5, telescopic hydraulic cylinder 6, the second pitching hydraulic cylinder 8, the 3rd pitching hydraulic cylinder 7 and hand grip；Described whirligig 2 is fixed on base 1, and described support bar 3 is connected on whirligig 2, it is possible to around base 1360 degree rotation；Described first pitching hydraulic cylinder 4 cylinder barrel tail end is hinged on whirligig 2, and piston rod top is hinged on support bar 3 upper end；Second pitching hydraulic cylinder 8 cylinder barrel tail end is hinged on support bar 3 lower end, and piston rod top is hinged in the middle part of connecting rod 5；3rd pitching hydraulic cylinder 7 cylinder barrel tail end is hinged in the middle part of connecting rod 5, and piston rod top is hinged in the middle part of telescopic hydraulic cylinder 6 cylinder barrel；Described telescopic hydraulic cylinder 6 cylinder barrel tail end and connecting rod 5 upper end thereof, connecting rod 5 lower end and support bar 3 upper end thereof, hand grip end is fixing with the piston rod top of telescopic hydraulic cylinder 6 to be connected.
Described hand grip includes servomotor 9, handgrip shell 10, screw mandrel 11, drive rod 12, first connecting rod 13, handgrip bar 14, second connecting rod 15, handgrip 16, padded coaming 17；Described servomotor 9 is fixed on handgrip shell 10 middle inside, screw mandrel 11 one end is fixing with servomotor 9 output to be connected, drive rod 12 forms pair of nut by inside thread and screw mandrel 11 and connects, two pairs of first connecting rod 13 one end are respectively articulated with the two ends of drive rod 12, the other end is hinged on the upper and lower end parts of handgrip bar 14, two pairs of second connecting rod 15 one end are respectively hinged at the both sides up and down of handgrip shell 10, the other end is respectively hinged at two handgrip bar about 14 middle parts, the circular arc handgrip 16 of a symmetry is fixed in described handgrip bar 14 front end, one layer of padded coaming 17 is fixed inside handgrip 16.
The course of work of the present utility model is as follows:
The piston rod of the first pitching hydraulic cylinder 4 promotes support bar 3 to do elevating movement, the piston rod of the second pitching hydraulic cylinder 8 promotes connecting rod 5 to do elevating movement, the piston rod of the 3rd pitching hydraulic cylinder 7 promotes telescopic hydraulic cylinder 6 to do elevating movement, telescopic hydraulic cylinder 6 promotion robot handgrip does elastic motion, three pitching hydraulic cylinders and a telescopic hydraulic cylinder coordination and stretches and make manipulator complete pitching and stretching motion.Being fixed on the servomotor 9 inside handgrip shell 10 drives screw mandrel 11 to rotate, drive rod 12 is moved along a straight line along screw mandrel 11 by the feed screw nut pair connection of inner side, described second connecting rod 15 and one end of first connecting rod 13 are respectively hinged on handgrip bar 14, and then promote handgrip 16 to realize opening and closing campaign, thus grip fruit.
Claims (2)
1. a fruits picking mechanical hand, it is characterised in that include base (1), whirligig (2), support bar (3), the first pitching hydraulic cylinder (4), connecting rod (5), telescopic hydraulic cylinder (6), the second pitching hydraulic cylinder (8), the 3rd pitching hydraulic cylinder (7) and hand grip；Described whirligig (2) is fixed on base (1), and described support bar (3) is connected on whirligig (2), it is possible to around base (1) 360 degree rotation；Described first pitching hydraulic cylinder (4) cylinder barrel tail end is hinged on whirligig (2), and piston rod top is hinged on support bar (3) upper end；Second pitching hydraulic cylinder (8) cylinder barrel tail end is hinged on support bar (3) lower end, and piston rod top is hinged on connecting rod (5) middle part；3rd pitching hydraulic cylinder (7) cylinder barrel tail end is hinged on connecting rod (5) middle part, and piston rod top is hinged in the middle part of telescopic hydraulic cylinder (6) cylinder barrel；Described telescopic hydraulic cylinder (6) cylinder barrel tail end and connecting rod (5) upper end thereof, connecting rod (5) lower end and support bar (3) upper end thereof, hand grip end is fixing with the piston rod top of telescopic hydraulic cylinder (6) to be connected.
Fruits picking mechanical hand the most according to claim 1, it is characterized in that, described hand grip includes servomotor (9), handgrip shell (10), screw mandrel (11), drive rod (12), first connecting rod (13), handgrip bar (14), second connecting rod (15), handgrip (16), padded coaming (17)；Described servomotor (9) is fixed on handgrip shell (10) middle inside, screw mandrel (11) one end is fixing with servomotor (9) output to be connected, drive rod (12) is connected by inside thread and screw mandrel (11) composition pair of nut, two pairs of first connecting rod (13) one end are respectively articulated with the two ends of drive rod (12), the other end is hinged on the upper and lower end parts of handgrip bar (14), two pairs of second connecting rod (15) one end are respectively hinged at the both sides up and down of handgrip shell (10), the other end is respectively hinged at two handgrip bars (14) middle part up and down, the circular arc handgrip (16) of a symmetry is fixed in described handgrip bar (14) front end, one layer of padded coaming (17) is fixed in handgrip (16) inner side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620092108.2U CN205510922U (en) | 2016-01-30 | 2016-01-30 | Machine hand for picking fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620092108.2U CN205510922U (en) | 2016-01-30 | 2016-01-30 | Machine hand for picking fruit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205510922U true CN205510922U (en) | 2016-08-31 |
Family
ID=56773271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620092108.2U Expired - Fee Related CN205510922U (en) | 2016-01-30 | 2016-01-30 | Machine hand for picking fruit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205510922U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106538151A (en) * | 2016-11-16 | 2017-03-29 | 中国农业大学 | A kind of pulling formula fruit picker |
| CN108496561A (en) * | 2018-03-16 | 2018-09-07 | 武汉理工大学 | A kind of multi-functional jujube class recovering device and collecting method |
| CN109998125A (en) * | 2019-04-28 | 2019-07-12 | 杨斌 | Green fruit of one kind opens casing equipment automatically |
| CN111937591A (en) * | 2020-08-27 | 2020-11-17 | 上海大学 | Multi-degree-of-freedom fruit and vegetable picking robot |
| CN114367607A (en) * | 2020-10-15 | 2022-04-19 | 安徽永舟文具有限公司 | Multi-axis linkage spring machine |
| CN114367607B (en) * | 2020-10-15 | 2024-04-19 | 安徽永舟文具有限公司 | Multi-shaft linkage spring machine |
-
2016
- 2016-01-30 CN CN201620092108.2U patent/CN205510922U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106538151A (en) * | 2016-11-16 | 2017-03-29 | 中国农业大学 | A kind of pulling formula fruit picker |
| CN108496561A (en) * | 2018-03-16 | 2018-09-07 | 武汉理工大学 | A kind of multi-functional jujube class recovering device and collecting method |
| CN108496561B (en) * | 2018-03-16 | 2020-08-04 | 武汉理工大学 | Multifunctional jujube harvesting device and method |
| CN109998125A (en) * | 2019-04-28 | 2019-07-12 | 杨斌 | Green fruit of one kind opens casing equipment automatically |
| CN111937591A (en) * | 2020-08-27 | 2020-11-17 | 上海大学 | Multi-degree-of-freedom fruit and vegetable picking robot |
| CN114367607A (en) * | 2020-10-15 | 2022-04-19 | 安徽永舟文具有限公司 | Multi-axis linkage spring machine |
| CN114367607B (en) * | 2020-10-15 | 2024-04-19 | 安徽永舟文具有限公司 | Multi-shaft linkage spring machine |
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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: 20160831 Termination date: 20170130 |