CN205685340U - Intelligence fruit gathers mechanical hand and fruit sorting arrangement - Google Patents
Intelligence fruit gathers mechanical hand and fruit sorting arrangement Download PDFInfo
- Publication number
- CN205685340U CN205685340U CN201620525198.XU CN201620525198U CN205685340U CN 205685340 U CN205685340 U CN 205685340U CN 201620525198 U CN201620525198 U CN 201620525198U CN 205685340 U CN205685340 U CN 205685340U
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- China
- Prior art keywords
- fruit
- mechanical hand
- finger
- blanking machine
- sorting arrangement
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Abstract
The utility model discloses a kind of intelligence fruit and gather mechanical hand and fruit sorting arrangement, wherein, mechanical hand includes body (11) and the multiple fingers (12) for clamping fruit being movably attached on body, alternately form the chute (111) that radially extends on body and refer to accommodating hands, mechanical hand also includes that the actuating cylinder being connected on body is to drive finger to move along chute, actuating cylinder connects the first controller, force transducer it is additionally provided with on finger, move towards fruit for stoping finger when the signal of force transducer is more than pressure threshold, can replace and manually carry out the crawl to fruit, fruit sorting arrangement can realize the function of automatic sorting after manipulator clamping fruit simultaneously.
Description
Technical field
This utility model relates to agricultural equipment technology field, in particular it relates to a kind of intelligence fruit gathers mechanical hand and fruit
Real sorting arrangement.
Background technology
At present, intelligentized equipment is applied in agricultural the most more and more, owing to fruit quality is required by people
Promote, after picking fruit completes, need to place, fruit classification to sell respectively.In the prior art, it is common that by manually
Carry out sorting fruit, inefficiency, and there is error, it is difficult to ensure close with a batch of fruit size.
Utility model content
The purpose of this utility model is to provide a kind of intelligence fruit and gathers mechanical hand, and this mechanical hand can realize automatically capturing
Fruit does not damage the function of fruit.
Second purpose of the present utility model is to provide a kind of fruit sorting arrangement, and this equipment can be different big with automatic sorting
Little fruit.
To achieve these goals, this utility model provides a kind of intelligence fruit to gather mechanical hand, including body with can move
Connect the multiple fingers for clamping fruit on the body dynamicly, described body alternately forms and radially extends
Chute is to accommodate described finger, and described mechanical hand also includes connecting actuating cylinder on the body to drive described finger edge
Described chute moves, and described actuating cylinder is electrically connected with the first controller for controlling described finger movement, on described finger
It is additionally provided with force transducer, moves towards fruit for stoping described finger when the signal of described force transducer is more than pressure threshold
Dynamic, the inner side of described finger is provided with foam-rubber cushion.
Alternatively, each described finger is provided with a described force transducer accordingly.
Alternatively, described finger is at least three.
Alternatively, described mechanical hand is additionally provided with position sensor and determines described fruit for according to the position of described finger
Sized data.
Alternatively, each described finger is provided with a described position sensor accordingly.
According to second aspect of the present utility model, it is provided that a kind of fruit sorting arrangement, including: according to this utility model the
The intelligent fruit collection mechanical hand that one aspect provides, described mechanical hand is provided with the position sensing for detecting described finger position
Device；Fixed mount, described mechanical hand is movably disposed on described fixed mount；Feeder, is used for holding and divides through described mechanical hand
Fruit before picking；Blanking machine, for holding the fruit after described mechanical hand sorts, described blanking machine is multiple；And second
Controller, electrically connects with described mechanical hand, is used for controlling described manipulator clamping fruit, movement and placement fruit.
Alternatively, described second controller includes: drive system, is used for driving described mechanical hand to move on described fixed mount
Dynamic, drive described mechanical hand to clamp fruit from described feeder, and drive described mechanical hand to place fruit to described blanking machine
Real；Reception system, electrically connects with described position sensor, to receive the sized data of described fruit；And determine system, it is used for
Described fruit is corresponded to corresponding described blanking machine by the sized data according to described fruit.
Alternatively, described fixed mount includes two root posts, is erected at the crossbeam on described two root posts, can be along described crossbeam
The slide plate of transverse shifting, and the vertical beam that can vertically move along described slide plate, described mechanical hand is arranged on the bottom of described vertical beam,
Described feeder and blanking machine are separately positioned between described two root posts.
Alternatively, described feeder is provided with multiple centring ring for placing described fruit.
By technique scheme, manipulator finger arranges force transducer, when finger to contract to clamp fruit
Time, it is ensured that clamp fruit and do not damage fruit, utilizing the mechanical hand that this utility model provides, can clamp different big
Little fruit, and different size of fruit can be placed respectively, to realize the automatic sorting of fruit.
Other feature and advantage of the present utility model will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to offer and is further appreciated by of the present utility model, and constitutes a part for description, with following
Detailed description of the invention be used for explaining this utility model together, but be not intended that restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the front view of the mechanical hand that one embodiment of this utility model provides, and there is shown two fingers；
Fig. 2 is the side view of mechanical hand in Fig. 1；
Fig. 3 is the structural representation of the fruit sorting arrangement that one embodiment of this utility model provides.
Description of reference numerals
11 body 111 chutes
12 finger 121 foam-rubber cushions
13 actuating cylinder 21 columns
22 crossbeam 23 slide plates
24 vertical beam 3 feeders
31 centring ring 4 blanking machines
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in detail.It should be appreciated that herein
Described detailed description of the invention is merely to illustrate and explains this utility model, is not limited to this utility model.
In this utility model, in the case of illustrating on the contrary, the noun of locality of use such as " upper and lower " refers to each parts
Upper and lower when normal operating conditions, specifically, refers to the page of Fig. 3, and " inside and outside " is the wheel for corresponding component
For exterior feature.
As depicted in figs. 1 and 2, this utility model provides a kind of intelligence fruit to gather mechanical hand, including body 11 with can move
The multiple fingers 12 for clamping fruit being connected on body 11, body 11 alternately forms the cunning radially extended dynamicly
Groove 111 is to accommodate finger 12, and mechanical hand also includes that the actuating cylinder 13 being connected on body 11 is to drive finger 12 along chute 111
Mobile.The mechanical hand that this utility model provides can replace staff and realize the grasping movement to fruit, and wherein, actuating cylinder is electrically connected
Being connected to the first controller for controlling finger 12 action, under the control of the first controller, actuating cylinder 13 can drive hands
Referring to that 12 gather or disperse, finger 12 clamps fruit when gathering, and finger 12 is additionally provided with force transducer, at force transducer
Signal more than pressure threshold time stop finger 12 move towards fruit, even if finger 12 when gathering to clamp fruit, when
When being enough to clamp fruit motion for the chucking power of fruit, the first controller can control finger 12 and not continue to motion, thus
Prevent from damaging fruit.It should be noted that owing to the shape of fruit may be uneven, each finger 12 can move, really respectively
Protect finger 12 to support at fruit surface.Further, the inner side of finger 12 can be provided with foam-rubber cushion 121, to prevent hard hands
Refer to 12 crushing fruits, wherein the inner side of finger 12 refer to the position between many fingers 12, i.e. finger 12 when gathering towards interior
Lateral movement.
Specifically, each finger 12 can be provided with a force transducer accordingly, when each force transducer detects pressure
During force signal, determining that each finger 12 is all supported on fruit, meanwhile, finger 12 is laid on body 11 equably, it is ensured that
Fruit uniform force.
For improving the versatility of mechanical hand, at least three, finger 12, so that holding action keeps stable, this finger 12 is outstanding
It is applicable to clamp Fructus Mali pumilae, Fructus Citri junoris, Fructus Persicae etc. and has the fruit of certain circularity.
Further, mechanical hand is additionally provided with position sensor for the size number determining fruit according to the position of finger 12
According to, as preferably, each finger 12 is provided with a position sensor accordingly.I.e. in this utility model, existed by finger 12
Position during clamping fruit may determine that the sized data of fruit, and the finger more than 12 being provided with, mechanical hand is for fruit
Dimension feedback is more accurate, such as, for the fruit that circularity is higher, can use three fingers 12, both can stably clamp fruit
Real, also can relatively accurately judge the size of fruit.
As it is shown on figure 3, second aspect of the present utility model also provides for a kind of fruit sorting arrangement, including: above-mentioned intelligence
Can gather mechanical hand by fruit, wherein mechanical hand is provided with the position sensor for detecting finger 12 position；Fixed mount, mechanical hand can
It is movably arranged on fixed mount；Feeder 3, for holding the fruit before mechanical hand sorts；Blanking machine 4, be used for holding through
Fruit after mechanical hand sorting, blanking machine 4 is multiple；And second controller, electrically connect with mechanical hand, be used for controlling mechanical hand
Clamping fruit, movement and placement fruit.Specifically, being placed on feeder 3 by fruit to be sorted, mechanical hand captures fruit,
Second controller judges the blanking machine 4 of its correspondence according to the size of fruit, and manipulator clamping fruit is placed into corresponding blanking machine 4
On, thus complete a circulation.This utility model is particularly suited in the case of higher to fruit size classification requirement making
With, further, in order to eliminate sorting error, can repeatedly sort, multiple blanking machine 4 is set, thus ensures fruit
The uniformity of size.
Specifically, second controller may include that drive system, is used for driving mechanical hand to move on fixed mount, drives
Mechanical hand clamps fruit from feeder 3, and drives mechanical hand to place fruit to blanking machine 4；Reception system, with position sensing
Device electrically connects, to receive the sized data of fruit；And determine system, for being corresponded to by fruit according to the sized data of fruit
Corresponding blanking machine 4.Here, second controller and the electrical connection of the first controller are to drive the action of finger 12, additionally, the second control
Device processed and the first controller can also become one, and keep the compact that equipment is overall.Second controller can be regulator cubicle,
Electrically connected with other devices by electric wire, feeder 3 and blanking machine 4 can be respectively equipped with transporter, such as, transmit crawler belt,
Second controller can control feeder 3 and fruit to be held is delivered to the position that mechanical hand can capture, and controls blanking machine 4
Fruit after sorting is delivered to other positions to avoid affecting the placement of follow-up fruit.Additionally, second controller can also wrap
Include terminal display, to show the fruit number on feeder 3 and blanking machine 4, it is also possible to the fruit that display is currently being sorted
Sized data.
Fixed mount can take many forms, such as, shown in Fig. 3, fixed mount can include two root posts 21, is erected at two
Crossbeam 22 on root post 21, can be along the slide plate 23 of crossbeam 22 transverse shifting, and the vertical beam 24 that can vertically move along slide plate 23,
Mechanical hand is arranged on the bottom of vertical beam 24, feeder 3 and blanking machine 4 and is separately positioned between two root posts 21.Implement at other
In mode, multiple mechanical hand and multiple feeder 3 can also be set to improve work efficiency, in this feelings for improving work efficiency
Under condition, for avoiding the interference between multiple mechanical hand, can arrange transfer machine, fruit is taken from feeder 3 by the first mechanical hand
Under be placed in transfer machine, the second mechanical hand clamps fruit from transfer machine, is placed in blanking machine 4, thus completes one point
Pick circulation.In embodiment shown in Fig. 3, use truss-like mechanical hand, in other embodiments, it would however also be possible to employ the most freely
Degree mechanical arm, its principle is similar with truss-like mechanical hand, and here is omitted.
Additionally, multiple centring ring 31 for placing fruit can be provided with on feeder 3, screening machine can be used fruit
It is sent on centring ring 31, it is also possible to by manually fruit being placed on centring ring 31, in this case, as preferably, often
Individual fruit place time towards the same side, it is ensured that the benchmark of fruit every packet size data is identical.
Preferred implementation of the present utility model is described in detail above in association with accompanying drawing, but, this utility model does not limit
Detail in above-mentioned embodiment, in technology concept of the present utility model, can be to skill of the present utility model
Art scheme carries out multiple simple variant, and these simple variant belong to protection domain of the present utility model.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention, at not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, this utility model is to respectively
Plant possible compound mode to illustrate the most separately.
Additionally, combination in any can also be carried out, as long as it is not disobeyed between various different embodiment of the present utility model
Carrying on the back thought of the present utility model, it should be considered as content disclosed in the utility model equally.
Claims (9)
1. an intelligent fruit gathers mechanical hand, it is characterised in that includes body (11) and is movably attached described body
(11) the multiple fingers (12) for clamping fruit on, described body alternately forms, on (11), the chute radially extended
(111) to accommodate described finger (12), described mechanical hand also include the actuating cylinder (13) that is connected on described body (11) with
Driving described finger (12) mobile along described chute (111), described actuating cylinder (13) is electrically connected with for controlling described finger
(12) the first controller of action, described finger is additionally provided with force transducer on (12), for the signal at described force transducer
Stoping described finger (12) to move towards fruit during more than pressure threshold, the inner side of described finger (12) is provided with foam-rubber cushion (121).
Fruit the most according to claim 1 gathers mechanical hand, it is characterised in that each described finger (12) is provided with accordingly
One described force transducer.
Mechanical hand the most according to claim 1, it is characterised in that at least three, described finger (12).
Mechanical hand the most according to claim 1, it is characterised in that described mechanical hand is additionally provided with position sensor for root
The sized data of described fruit is determined according to the position of described finger (12).
Mechanical hand the most according to claim 4, it is characterised in that each described finger (12) is provided with described in one accordingly
Position sensor.
6. a fruit sorting arrangement, it is characterised in that including:
According to the mechanical hand described in any one in claim 1-3, described mechanical hand is provided with for detecting described finger (12)
The position sensor of position；
Fixed mount, described mechanical hand is movably disposed on described fixed mount；
Feeder (3), for holding the fruit before described mechanical hand sorts；
Blanking machine (4), for holding the fruit after described mechanical hand sorts, described blanking machine (4) is multiple；And
Second controller, electrically connects with described mechanical hand, is used for controlling described manipulator clamping fruit, movement and placement fruit.
Fruit sorting arrangement the most according to claim 6, it is characterised in that described second controller includes:
Drive system, is used for driving described mechanical hand to move on described fixed mount, drives described mechanical hand from described feeder
(3) clamp fruit on, and drive described mechanical hand to place fruit to described blanking machine (4)；
Reception system, electrically connects with described position sensor, to receive the sized data of described fruit；And
Determine system, be used for the sized data according to described fruit and described fruit is corresponded to corresponding described blanking machine (4).
Fruit sorting arrangement the most according to claim 6, it is characterised in that described fixed mount includes two root posts (21),
It is erected at the crossbeam (22) on described two root posts (21), can be along the slide plate (23) of described crossbeam (22) transverse shifting, Yi Jike
The vertical beam (24) vertically moved along described slide plate (23), described mechanical hand is arranged on the bottom of described vertical beam (24), described feeding
Machine (3) and blanking machine (4) are separately positioned between described two root posts (21).
Fruit sorting arrangement the most according to claim 8, it is characterised in that described feeder (3) be provided with multiple for
Place the centring ring (31) of described fruit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620525198.XU CN205685340U (en) | 2016-06-01 | 2016-06-01 | Intelligence fruit gathers mechanical hand and fruit sorting arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620525198.XU CN205685340U (en) | 2016-06-01 | 2016-06-01 | Intelligence fruit gathers mechanical hand and fruit sorting arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205685340U true CN205685340U (en) | 2016-11-16 |
Family
ID=57259585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620525198.XU Expired - Fee Related CN205685340U (en) | 2016-06-01 | 2016-06-01 | Intelligence fruit gathers mechanical hand and fruit sorting arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205685340U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107262385A (en) * | 2017-06-19 | 2017-10-20 | 苏州诚晟信息技术有限公司 | A kind of intelligent robot with sorting function and its method of work |
| CN107309180A (en) * | 2017-06-19 | 2017-11-03 | 苏州诚晟信息技术有限公司 | A kind of blanking robot and its method of work with function of quality control |
-
2016
- 2016-06-01 CN CN201620525198.XU patent/CN205685340U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107262385A (en) * | 2017-06-19 | 2017-10-20 | 苏州诚晟信息技术有限公司 | A kind of intelligent robot with sorting function and its method of work |
| CN107309180A (en) * | 2017-06-19 | 2017-11-03 | 苏州诚晟信息技术有限公司 | A kind of blanking robot and its method of work with function of quality control |
| CN107262385B (en) * | 2017-06-19 | 2020-03-03 | 江苏方时远略科技咨询有限公司 | Intelligent robot with sorting function and working 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 |
Granted publication date: 20161116 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |