CN206698757U - A kind of novel efficient Fruit-picking mechanical arm - Google Patents
A kind of novel efficient Fruit-picking mechanical arm Download PDFInfo
- Publication number
- CN206698757U CN206698757U CN201720066044.3U CN201720066044U CN206698757U CN 206698757 U CN206698757 U CN 206698757U CN 201720066044 U CN201720066044 U CN 201720066044U CN 206698757 U CN206698757 U CN 206698757U
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- knuckle
- head rod
- connecting rod
- groove
- 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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- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a kind of novel efficient Fruit-picking mechanical arm, including handheld terminal, one end of the handheld terminal is provided with head rod, the head rod is expansion link, the head rod is provided with locking device, the side of the head rod is provided with control panel, the one end of the head rod away from handheld terminal is rotatably connected to the second connecting rod, second connecting rod is provided with drive device, the described one end of second connecting rod away from head rod is provided with camera, second connecting rod is provided with multiple first grooves close to one end of camera annular, the inwall of first groove is provided with first rotating shaft, the first rotating shaft is rotatablely connected by the inwall of bearing block and the first groove, first knuckle is fixed with the first rotating shaft, the one end of the first knuckle away from first rotating shaft is provided with the second groove.The utility model is simple in construction, easy to use, and harvesting precision is high, and loss is small, is adapted to promote.
Description
Technical field
It the utility model is related to manipulator technical field, more particularly to a kind of novel efficient Fruit-picking mechanical arm.
Background technology
With the scale that agriculture and forestry produce, substantial amounts of harvesting task urgently liberates labour, and particularly some are grown in
The fruit of eminence, in harvesting some accidents can occur often for peasant, but existing Fruit-picking mechanical arm, can not accurately hold
Manipulator finger joint, so as to produce damage to fruit, influences the income of user to pressure caused by fruit parcel；Plucking
When, the direction of manipulator can not be changed, simultaneously because plant has blocked sight, the precision of harvesting is influenceed, in order to solve above-mentioned ask
Topic, we have proposed a kind of novel efficient Fruit-picking mechanical arm.
Utility model content
The purpose of this utility model is and a kind of novel efficient proposed in order to solve shortcoming present in prior art
Fruit-picking mechanical arm.
To achieve these goals, the utility model employs following technical scheme：
A kind of novel efficient Fruit-picking mechanical arm, including handheld terminal, one end of the handheld terminal are provided with head rod, institute
It is stretching structure to state head rod, and the head rod is provided with locking device, and the side of the head rod is provided with
Control panel, the control panel are provided with display screen, direction controlling button, shift knob and elastic button, the chain of command
Controller, the controller and display screen, direction controlling button, shift knob, elastic button and locking device electricity are provided with plate
Connection, the one end of the head rod away from handheld terminal are rotatably connected to the second connecting rod, and second connecting rod is provided with
Drive device, the described one end of second connecting rod away from head rod are provided with camera, and second connecting rod is close to shooting
The end annular of head is provided with multiple first grooves, and the inwall of first groove is provided with first rotating shaft, and the first rotating shaft is led to
The inwall for crossing bearing block and the first groove is rotatablely connected, and is fixed with first knuckle in the first rotating shaft, the first knuckle is remote
One end from first rotating shaft is provided with the second groove, is rotatably connected to the second rotating shaft on the inwall of second groove, and described second
It is fixed with second knuckle in rotating shaft, the drive device and first rotating shaft, the second rotating shaft drive connection, the first knuckle and the
Pressure sensor is equipped with two finger joints, the pressure sensor, camera and drive device are electrically connected with controller.
Preferably, the surface of second connecting rod, first knuckle and second knuckle is provided with cushion.
Preferably, the number of first groove is 3-6.
Preferably, the surface of the handheld terminal is provided with anti-slip veins.
In the utility model, user grips handheld terminal, the controller and display screen, direction controlling set in control panel
Button, shift knob, elastic button, pressure sensor, camera and drive device electrical connection, by adjustment control panel
Direction controlling button, adjust the length of head rod, the convenient fruit for plucking eminence, moreover it is possible to adjust the angle of the second connecting rod
Degree, selects suitable angle fruit-picking；In harvesting by the feedback of pressure sensor, press elastic button and driven by controlling
The rotation of dynamic device, control first knuckle and second knuckle wrap up the elastic of fruit, conveniently win fruit, again will not be to fruit
Produce damage；Cam feedback image selects mature fruit to be plucked, improves the precision of harvesting on display screen；
When not in use, shift knob can save the energy.The utility model is simple in construction, easy to use, and harvesting precision is high, and loss is small,
It is adapted to promote.
Brief description of the drawings
Fig. 1 be the utility model proposes a kind of novel efficient Fruit-picking mechanical arm structural representation；
Fig. 2 be the utility model proposes a kind of novel efficient Fruit-picking mechanical arm top view；
Fig. 3 be the utility model proposes a kind of novel efficient Fruit-picking mechanical arm finger joint structural representation；
Fig. 4 be the utility model proposes a kind of novel efficient Fruit-picking mechanical arm control panel structural representation.
In figure：1 handheld terminal, 2 head rods, 3 control panels, 4 display screens, 5 direction controlling buttons, 6 shift knobs, 7
Elastic button, 8 second connecting rods, 9 first rotating shafts, 10 first knuckles, 11 second rotating shafts, 12 second knuckles, 13 cameras, 14 are driven
Dynamic device.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.
Reference picture 1-4, a kind of novel efficient Fruit-picking mechanical arm, including handheld terminal 1, the surface of handheld terminal 1 is provided with anti-skidding
Line, preventing from skidding, increase stability, one end of handheld terminal 1 is provided with head rod 2, and head rod 2 is expansion link, and first
Connecting rod 2 is provided with locking device, can adjust the length of head rod 2, the convenient fruit for plucking eminence, head rod
2 side is provided with control panel 3, and control panel 3 is provided with display screen 4, direction controlling button 5, shift knob 6 and elastic button
7, control panel 3 is interior to be provided with controller, and the one end of head rod 2 away from handheld terminal 1 is rotatably connected to the second connecting rod 8, side
Just the rotation of the second connecting rod 8, the second connecting rod 8 are provided with drive device 14, and the second connecting rod 8 is away from head rod 2
One end is provided with camera 13, feedback image, improves the precision of harvesting, the second connecting rod 8 is provided with more close to the end of camera 13
Individual first groove, the number of the first groove is 3-6, fully wrapped around fruit, prevents fruit from sliding, is set on the inwall of the first groove
There is first rotating shaft 9, first rotating shaft 9 is rotatablely connected by the inwall of bearing block and the first groove, and first is fixed with first rotating shaft 9
Finger joint 10, the one end of first knuckle 10 away from first rotating shaft 9 are provided with the second groove, and the inwall of the second groove is provided with the second rotating shaft
11, the second rotating shaft 11 is rotatablely connected by the inwall of bearing block and the second groove, and second knuckle 12 is fixed with the second rotating shaft 11,
Drive device 14 and first rotating shaft 9, the drive connection of the second rotating shaft 11, pressure biography is equipped with first knuckle 10 and second knuckle 12
Sensor, prevent from firmly damaging very much fruit by pressure greatly, or firmly too fruitlet slides, controller and display screen 4, direction controlling button 5,
Shift knob 6, elastic button 7, locking device, pressure sensor, camera 13 and drive device 14 electrically connect, by button,
The working condition of adjusting means.
In the utility model, user grips handheld terminal 1, the controller set in control panel 3 and display screen 4, direction
Control button 5, shift knob 6, elastic button 7, pressure sensor, camera 13 and drive device 14 electrically connect, and pass through regulation
Direction controlling button 4 on control panel 3, adjust the length of head rod 2, the convenient fruit for plucking eminence, moreover it is possible to adjust
The angle of second connecting rod 8, select suitable angle fruit-picking；In harvesting by the feedback of pressure sensor, pine is pressed
Tight button 7 drives the rotation of 14 devices by controlling, and controls the elastic of first knuckle 10 and second knuckle 12, conveniently wins water
Fruit, damage will not be produced to fruit again；The feedback image of camera 13 selects mature fruit to be plucked on display screen 4,
Improve the precision of harvesting；When not in use, shift knob 6 can save the energy.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (4)
1. a kind of novel efficient Fruit-picking mechanical arm, including handheld terminal (1), it is characterised in that one end of the handheld terminal (1) is set
There is head rod (2), the head rod (2) is stretching structure, and the head rod (2) is provided with locking device,
The side of the head rod (2) is provided with control panel (3), and the control panel (3) is provided with display screen (4), direction is controlled
Button (5), shift knob (6) and elastic button (7) processed, the control panel (3) is interior to be provided with controller, and the controller is with showing
Display screen (4), direction controlling button (5), shift knob (6), elastic button (7) and locking device electrical connection, first connection
The one end of bar (2) away from handheld terminal (1) is rotatably connected to the second connecting rod (8), and second connecting rod (8) is provided with driving and filled
Put (14), the one end of second connecting rod (8) away from head rod (2) is provided with camera (13), second connecting rod
(8) close to the end of camera (13), annular is provided with multiple first grooves, and the inwall of first groove is provided with first rotating shaft
(9), the first rotating shaft (9) is rotatablely connected by the inwall of bearing block and the first groove, is fixed with the first rotating shaft (9)
First knuckle (10), the one end of the first knuckle (10) away from first rotating shaft (9) are provided with the second groove, second groove
The second rotating shaft (11) is rotatably connected on inwall, second knuckle (12), the driving dress are fixed with second rotating shaft (11)
(14) and first rotating shaft (9), the second rotating shaft (11) drive connection are put, are all provided with the first knuckle (10) and second knuckle (12)
There is pressure sensor, the pressure sensor, camera (13) and drive device (14) are electrically connected with controller.
A kind of 2. novel efficient Fruit-picking mechanical arm according to claim 1, it is characterised in that second connecting rod
(8), the surface of first knuckle (10) and second knuckle (12) is provided with cushion.
A kind of 3. novel efficient Fruit-picking mechanical arm according to claim 1, it is characterised in that of first groove
Number is 3-6.
4. a kind of novel efficient Fruit-picking mechanical arm according to claim 1, it is characterised in that the handheld terminal (1)
Surface is provided with anti-slip veins.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720066044.3U CN206698757U (en) | 2017-01-19 | 2017-01-19 | A kind of novel efficient Fruit-picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720066044.3U CN206698757U (en) | 2017-01-19 | 2017-01-19 | A kind of novel efficient Fruit-picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206698757U true CN206698757U (en) | 2017-12-05 |
Family
ID=60472513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720066044.3U Expired - Fee Related CN206698757U (en) | 2017-01-19 | 2017-01-19 | A kind of novel efficient Fruit-picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206698757U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108712632A (en) * | 2018-04-28 | 2018-10-26 | 广东电网有限责任公司 | Optical cable inspection tour system and inspection method in standing |
-
2017
- 2017-01-19 CN CN201720066044.3U patent/CN206698757U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108712632A (en) * | 2018-04-28 | 2018-10-26 | 广东电网有限责任公司 | Optical cable inspection tour system and inspection method in standing |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171205 Termination date: 20190119 |