CN206100948U - Melon and fruit picking manipulator - Google Patents
Melon and fruit picking manipulator Download PDFInfo
- Publication number
- CN206100948U CN206100948U CN201621142676.5U CN201621142676U CN206100948U CN 206100948 U CN206100948 U CN 206100948U CN 201621142676 U CN201621142676 U CN 201621142676U CN 206100948 U CN206100948 U CN 206100948U
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- CN
- China
- Prior art keywords
- joint
- base
- melon
- hole
- steel wire
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- 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.)
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Abstract
The utility model discloses a pick manipulator for the melon and fruit, relate to agriculture field, the camera includes a supporting plate, the screw thread is installed and is established three mechanical gripper of group on base and the base on the terminal surface of backup pad, wherein the blade is installed to a set of mechanical gripper's end, mechanical gripper includes first joint of articulated and second joint, the welding has a reset spring between first joint and the second joint, be equipped with a couple on the first joint, be equipped with three through -hole on the base, the through -hole is located under the second joint, be equipped with a pulley on the second joint, install the bracing piece on another terminal surface of backup pad and the baffle is established to the bracing piece hypomere, it has the steel wire to tie on the couple, the steel wire passes reset spring then passes through -hole and the through -hole on the baffle in the backup pad in proper order through the pulley, the terminal bolt of steel wire has the drag hook, and this mechanical manual sets the perhaps melon and fruit of higher department, simple structure, convenient operation in plucking.
Description
Technical field
This utility model is related to agriculture field, and in particular to a kind of melon and fruit picking mechanical arm.
Background technology：
With the development and the improvement of people's living standards of social economy, become people's amusement and recreation to orchard picking
A kind of mode.But, the fruit tree in some orchards is higher, and people pluck fruit to be needed climbing fruit tree or borrow ladder to adopt
Pluck fruit, one being easily destroyed fruit tree, two oneself to be easy to from tree is upper or ladder on throw, the life security for giving people
Cause a hidden trouble.
Utility model content
The purpose of this utility model is to provide a kind of melon and fruit picking mechanical arm, with above-mentioned caused by solving in prior art
Multinomial defect.
A kind of melon and fruit picking mechanical arm, including gripper shoe, on the end face of the gripper shoe, screw thread is provided with base, the bottom
The upper surface of seat is the hemispherical of depression, and three groups of mechanical paws, the one of which machinery are provided with the end face of the base
The end of paw is provided with blade, and the mechanical paw includes the first joint and second joint, and first joint and second is closed
Section is hinged, and a back-moving spring is welded between first joint and second joint, and first joint is provided with a hook, institute
State second joint to be fixedly connected with base, the base is provided with three through holes, the through hole is just being located at the second joint
Lower section, is provided with an axle on the second joint, the axle is provided with a pulley, is provided with the other end of the gripper shoe
Three support bars, the support bar hypomere part are fixedly connected with a baffle plate for being provided with through hole, and on the hook, bolt has steel wire, institute
Steel wire is stated through the through hole on back-moving spring and then the through hole and baffle plate that sequentially pass through in gripper shoe through pulley, the steel wire
The end bolt inner surface that has drag hook, first joint be bonded with foam sponge.
Preferably, the link connection that the steel wire between the gripper shoe and baffle plate is shared by.
Preferably, the upper surface of the base is bonded with foam sponge.
Preferably, the side of the base is arcuation, and the one end in first joint is hinged a cylinder and the side with base
Face is in rolling contact.
Preferably, the mechanical paw, base, support base, gripper shoe and baffle plate are made by aluminum material, the blade
The edge of a knife be made up of alloy material.
Preferably, the steel wire between the baffle plate and drag hook is provided with a block.
The utility model has the advantage of：The utility model discloses a kind of melon and fruit picking mechanical arm, mainly plucks tree
The melon and fruit of upper or higher position, pulls drag hook, steel wire make mechanical paw by the direction manually directly towards principle baffle plate
First joint is drawn close to center position, installs blade by the end in the first joint, so as to cut to the base of a fruit of melon and fruit, reaches
To the purpose for plucking melon and fruit, by arranging back-moving spring, can be in the case where pulling force not to be received, mechanical hand is in open configuration,
It is so convenient to take out melon and fruit, in the hemispherical depressed area bonded foam sponge in the top of base, prevent melon and fruit from making with base contacts
Epidermis is damaged, and the side of base is set to arcuation and the first joint lower end is in rolling contact with base side, can substantially reduce resistance
Power, makes Robot actions more flexible.
Description of the drawings
Fig. 1 is a kind of structural representation of melon and fruit picking mechanical arm described in the utility model；
Fig. 2 is the enlarged drawing at A in Fig. 1；
Fig. 3 is a kind of schematic diagram of the mechanical paw of melon and fruit picking mechanical arm described in the utility model；
Fig. 4 is a kind of sectional view of the base of melon and fruit picking mechanical arm described in the utility model.
Wherein：1-gripper shoe, 2- bases, 201- foam sponges, 3- mechanical paws, the first joints of 301-, 302- second are closed
Section, 4- back-moving springs, 5- pulleys, the 6- edges of a knife, 7- through holes, 8- steel wires, 9- links, 10- baffle plates, 11- blocks, 12- drag hooks, 13-
Support bar, 14- hooks, 15- cylinders.
Specific embodiment
Technological means, creation characteristic, reached purpose and effect to realize this utility model is easy to understand, below
With reference to specific embodiment, this utility model is expanded on further.
As shown in Figures 1 to 4, a kind of melon and fruit picking mechanical arm, including gripper shoe 1, screw thread on the end face of the gripper shoe 1
Base 2 is installed, the upper surface of the base 2 is the hemispherical of depression, and three groups of mechanical hands are provided with the end face of the base 2
Pawl 3, the end of the one of which mechanical paw 3 are provided with blade 6, and the mechanical paw 3 includes the first joint 301 and second
Joint 302, first joint 301 and second joint 302 are hinged, and connect between first joint 301 and second joint 302
There is a back-moving spring 4, first joint 301 is provided with a hook 14, and the second joint 302 is fixedly connected with base 2, institute
State base 2 and be provided with three through holes 7, the through hole 7 is located at the underface of the second joint 302, on the second joint 302
One axle is installed, the axle is provided with a pulley 5, three support bars 13 are installed on the other end of the gripper shoe 1, it is described
13 hypomere part of support bar is fixedly welded with a baffle plate 1 for being provided with through hole, and on the hook 14, bolt has steel wire 8, and the steel wire 8 is worn
Cross back-moving spring 4, and then sequentially pass through in gripper shoe 1 through pulley 5 through hole 7 and baffle plate 10 on through hole, the steel wire 8
The inner surface that end bolt has drag hook 12, first joint 301 is bonded with foam sponge 15.
In the present embodiment, the steel wire 8 between the gripper shoe 1 and baffle plate 10 is connected by a link 9 for sharing.
In the present embodiment, the upper surface of the base 2 is bonded with foam sponge 201.
In the present embodiment, the side of the base 2 is arcuation, and the one end in first joint 301 is hinged a cylinder 15
And be in rolling contact with the side of base 2.
In the present embodiment, the mechanical paw 3, base 2, support bar 13, gripper shoe 1 and baffle plate 10 are by aluminum material
Make, the edge of a knife of the blade 6 is made up of alloy material.
In the present embodiment, the steel wire 8 between the baffle plate 10 and drag hook 12 is provided with a block 11.
Operation principle of the present utility model：This mechanical hand is lifted into (or other modes) to eminence not by support bar 13
The lower end of melon and fruit is withstood in the lower end of the melon and fruit easily won, the upper end of base 1, pulls drag hook 12 with handss or other force application apparatus,
Drag hook 12 can deform upon back-moving spring when steel wire 8 is pulled, and then drive the first joint being hinged on second joint 302
301 gather to center, and the base of a fruit of melon and fruit can be cut off by the edge of a knife 6 on the first joint 301, then by the mechanical hand traverse lifted, put
Drag hook 12 is opened, back-moving spring unclamps the first joint 301, take out the melon and fruit plucked.
Particularly, the end face of base 2 is set to the hemispherical and inside bonded foam sponge 201 being recessed, it is hemispherical
It is according to the design of the external shape of melon and fruit, by boning respectively sponge foam on 2 top of base and 301 inner surface of the first joint
201, can make melon and fruit that peel or melon skin will not be destroyed when being plucked with mechanical hand, meanwhile, the side of base 2 is arcuation, is led to
Cross cylinder 15 is hinged in the lower end in the first joint 301 and be in rolling contact with 2 side of base, can greatly between less contact surface
Frictional force, make Robot actions more flexible.
This utility model simple structure, pluck, it is easy to operate, with practical value.
As known by the technical knowledge, this utility model can be by other essence without departing from its spirit or the reality of essential feature
Apply scheme to realize.Therefore, embodiment disclosed above, for each side, is all merely illustrative, and is not only
's.It is all in the range of this utility model or in the change being equal in the range of this utility model by this utility model bag
Contain.
Claims (6)
1. a kind of melon and fruit picking mechanical arm, it is characterised in that including gripper shoe, screw thread is provided with bottom on the end face of the gripper shoe
Seat, the upper surface of the base are the hemispherical of depression, are provided with three groups of mechanical paws on the end face of the base, it is described wherein
The end of one group of mechanical paw is provided with blade, and the mechanical paw includes the first joint and second joint, first joint
It is hinged with second joint, between first joint and second joint, is welded with a back-moving spring, first joint is provided with
One hook, the second joint are fixedly connected with base, and the base is provided with three through holes, and the through hole is located at described second
The underface in joint, is provided with an axle on the second joint, the axle is provided with a pulley, the other end of the gripper shoe
On three support bars are installed, the support bar hypomere part is fixedly connected with a baffle plate for being provided with through hole, bolt on the hook
Have a steel wire, the steel wire pass through back-moving spring then sequentially pass through in gripper shoe through pulley through hole and baffle plate on through hole,
The inner surface that the end bolt of the steel wire has drag hook, first joint is bonded with foam sponge.
2. a kind of melon and fruit picking mechanical arm according to claim 1, it is characterised in that：Between the gripper shoe and baffle plate
The link connection that steel wire is shared by one.
3. a kind of melon and fruit picking mechanical arm according to claim 1, it is characterised in that：The upper surface of the base is bonded with
Foam sponge.
4. a kind of melon and fruit picking mechanical arm according to claim 1, it is characterised in that：The side of the base is arcuation,
The one end in first joint is hinged a cylinder and is in rolling contact with the side of base.
5. a kind of melon and fruit picking mechanical arm according to claim 1, it is characterised in that：The mechanical paw, base, support
Seat, gripper shoe and baffle plate are made by aluminum material, and the edge of a knife of the blade is made up of alloy material.
6. a kind of melon and fruit picking mechanical arm according to claim 1, it is characterised in that：Steel between the baffle plate and drag hook
Silk is provided with a block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621142676.5U CN206100948U (en) | 2016-10-20 | 2016-10-20 | Melon and fruit picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621142676.5U CN206100948U (en) | 2016-10-20 | 2016-10-20 | Melon and fruit picking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206100948U true CN206100948U (en) | 2017-04-19 |
Family
ID=58526631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621142676.5U Expired - Fee Related CN206100948U (en) | 2016-10-20 | 2016-10-20 | Melon and fruit picking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206100948U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522004A (en) * | 2018-03-16 | 2018-09-14 | 湖北工业大学 | A kind of rotary conformal picking hands |
| CN109769467A (en) * | 2019-03-15 | 2019-05-21 | 西安航空职业技术学院 | A kind of automation watermelon picking loading machine |
| CN110547094A (en) * | 2019-09-06 | 2019-12-10 | 贵州航天智慧农业有限公司 | Miniature three-degree-of-freedom picking manipulator |
-
2016
- 2016-10-20 CN CN201621142676.5U patent/CN206100948U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522004A (en) * | 2018-03-16 | 2018-09-14 | 湖北工业大学 | A kind of rotary conformal picking hands |
| CN108522004B (en) * | 2018-03-16 | 2021-02-02 | 湖北工业大学 | Rotary conformal picking hand |
| CN109769467A (en) * | 2019-03-15 | 2019-05-21 | 西安航空职业技术学院 | A kind of automation watermelon picking loading machine |
| CN109769467B (en) * | 2019-03-15 | 2022-03-25 | 西安航空职业技术学院 | Automatic watermelon picking and loading machine |
| CN110547094A (en) * | 2019-09-06 | 2019-12-10 | 贵州航天智慧农业有限公司 | Miniature three-degree-of-freedom picking manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170419 Termination date: 20181020 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |