CN206821311U - A kind of fruits picking mechanical hand of single-axis servo - Google Patents
A kind of fruits picking mechanical hand of single-axis servo Download PDFInfo
- Publication number
- CN206821311U CN206821311U CN201720396113.7U CN201720396113U CN206821311U CN 206821311 U CN206821311 U CN 206821311U CN 201720396113 U CN201720396113 U CN 201720396113U CN 206821311 U CN206821311 U CN 206821311U
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- arm
- sliding block
- linking arm
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- gear
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Abstract
The utility model discloses a kind of fruits picking mechanical hand of single-axis servo, it includes base and lifting arm, the lifting arm is located at the upper end of base, gear is socketed with outside the lower end of the linking arm, the side engagement of the gear upper end is connected with side gear, the upper end of the linking arm is rotatably connected to Picker arm, one end of first sliding block is fixedly connected with expansion link, the one end of the Picker arm away from linking arm is provided with end effector, the both sides of the end effector are arranged with mechanical paw, the bottom of two mechanical paws has been fixedly connected with the second sliding block, the side of two second sliding blocks is respectively equipped with connecting shaft, two one end of the connecting shaft away from the second sliding block are respectively equipped with servomotor, two one end of the fix bar away from connecting rod are equipped with cutting nippers.The utility model is simple in construction, easy to operate, can rapid picking fruit, and be hardly damaged fruit surface, it is easy to use ingenious, be suitably widely popularized.
Description
Technical field
It the utility model is related to agricultural machinery technological field, more particularly to a kind of fruits picking mechanical hand of single-axis servo.
Background technology
China be Production of fruit and consumption big country, but at present in terms of fruit picking still using traditional picked by hand as
It is main.But because fruit tree is higher, it is necessary to related facility of ascending a height, and the amount of labour is big when causing harvesting, efficiency is low, and one need to be designed for this
Kind fruits picking mechanical hand, facilitate harvesting personnel in the fruit of ground harvesting eminence.
When every fruit mature period is that orchard worker is favorite, but all water in orchard are plucked in a short time
Fruit, there is also certain difficulty, and grow pinnacled fruit and be not easy to be plucked, and traditional picked by hand efficiency is low, holds
Fragile fruit surface, the economic benefit of orchard worker is directly influenced, therefore be badly in need of a high efficiency and easily harvesting eminence or people
Hand is inconvenient to the manipulator of the position reached to replace human hand to pluck, and can ensure the integrality of fruit surface, so as to carry
High economic benefit.
At present, in the market does not have ripened fruit picking mechanical arm also, and some existing fruit picking mechanical arms have half certainly
Grabbing for dynamic formula and grabs pull-type manipulator at scissors mechanism hand, but efficiency is low, and is easily damaged fruit top layer.
The content of the invention
In order to solve the problems, such as to be mentioned in above-mentioned background technology, the utility model provides a kind of fruit picking of single-axis servo
Manipulator.
To achieve these goals, the utility model employs following technical scheme：
A kind of fruits picking mechanical hand of single-axis servo, including universal wheel, base, lifting arm, linking arm, motor,
Picker arm, fluid pressure drive device, servomotor and end effector, it is characterised in that：The lower end surrounding of base is respectively equipped with ten thousand
To wheel, the upper end installation lifting arm of base, the upper end inner side of lifting arm is provided with groove, and is provided with linking arm, linking arm in groove
Upper end be rotatably connected to Picker arm, the one end of Picker arm away from linking arm is provided with end effector；Wherein, the lower end of linking arm
Outside is socketed with gear, and the side engagement of gear upper end is connected with side gear, and the side of side gear is connected with rotating shaft, and rotating shaft is remote
One end connection motor of side gear；The outer wall lower end of Picker arm is provided with the first chute, and the first sliding block is provided with the first chute,
One end of first sliding block is fixedly connected with expansion link, and the one end of expansion link away from the first sliding block is provided with fluid pressure drive device, and liquid
Hydraulic driver is located at the outer wall side of linking arm；The both sides of end effector are arranged with two mechanical paws, two machineries
The bottom of paw has been fixedly connected with the second sliding block, and the second chute corresponding with the second sliding block is provided with end effector, and two
The side of individual second sliding block is respectively equipped with connecting shaft, and two one end of connecting shaft away from the second sliding block are respectively equipped with servomotor,
The upper end of two mechanical paws has been fixedly connected with connecting rod, and two one end of connecting rod away from mechanical paw are horizontal to be provided with admittedly
Fixed pole, two one end of fix bar away from connecting rod are equipped with cutting nippers.
Preferably, the madial wall of two mechanical paws is equipped with one layer of slipmat, and slipmat is silica gel material.
Preferably, rotary shaft is provided between linking arm and Picker arm, and linking arm and Picker arm are rotated by rotary shaft and connected
Connect, the rotational angle of Picker arm is 0-90 °.
Preferably, the opposite side of two cutting nippers is respectively equipped with thick mouth blade and thin mouth blade.
Preferably, the end effector is located at the side of the lower end of mechanical paw and is provided with fruit collecting bag.
In the utility model, the lower end surrounding of base is respectively fixed with universal wheel, is moved easily；The upper end of base is provided with
Lifting arm, the harvesting of different height is realized by lifting arm；The upper end of lifting arm is provided with linking arm, and linking arm is located at lifting arm
Interior outside is socketed with gear, and the side engagement of gear is connected with side gear, and one end of side gear is fixedly connected with rotating shaft, rotating shaft
The other end be provided with motor, motor passes through rotating shaft and drives side gear, side gear band moving gear, and gear drives lifting
Arm；And the upper end of linking arm is rotatably connected to Picker arm by rotary shaft, and the lower end of Picker arm is provided with the first chute, first
The first sliding block is provided with chute, expansion link, and one end connection of the expansion link away from the first sliding block are connected with by the first sliding block
There is fluid pressure drive device, for Picker arm by the effect of the first sliding block and expansion link, rotational angle is 0-90 °, can win difference
The fruit in orientation and angle；The one end of Picker arm away from linking arm is provided with end effector simultaneously, and the two of end effector
Side is symmetrically arranged with mechanical paw, and the madial wall of mechanical paw is equipped with one layer of slipmat, and two slipmat are silica gel
Material, add the skin-friction force of mechanical paw so that crawl fruit is more stable；The bottom of two mechanical paws is fixed
There is the second sliding block, and the side of the second sliding block is connected with connecting shaft, and the one end of connecting shaft away from the second sliding block is provided with servo
Motor, clamping and the opening of two mechanical paws are realized by servomotor, and are hardly damaged the epidermis of fruit, keep harvesting water
The integrality of fruit；It is respectively fixed with connecting rod in the upper end of mechanical paw simultaneously, and one end of connecting rod is horizontally disposed fixation
Bar, cutting nippers is connected with by fix bar, and the opposite side of two cutting nippers is respectively arranged with thick mouth blade and thin mouth blade, thick mouth
Blade is applied to thicker branch and sheared, and thin mouth blade is applied to thinner branch and sheared.
The beneficial effects of the utility model：The utility model is simple in construction, easy to operate, can rapid picking fruit, and not
Fragile fruit surface, it is easy to use ingenious, suitably it is widely popularized.
Brief description of the drawings
Fig. 1 be the utility model proposes a kind of single-axis servo fruits picking mechanical hand structural representation.
Fig. 2 be the utility model proposes a kind of single-axis servo fruits picking mechanical hand mechanical paw mounting structure
Schematic diagram.
Fig. 3 be the utility model proposes a kind of single-axis servo fruits picking mechanical hand mechanical paw side view.
Fig. 4 is the enlarged drawing of A structures in Fig. 1.
In figure：1st, base；2nd, universal wheel；3rd, lifting arm；4th, linking arm；5th, Picker arm；6th, end effector；7th, manipulator
Pawl；8th, cutting nippers；9th, side gear；10th, motor；11st, rotating shaft；12nd, gear；13rd, fluid pressure drive device；14th, expansion link；15、
First sliding block；16th, the first chute；17th, the second chute；18th, the second sliding block；19th, connecting shaft；20th, servomotor；21st, connecting rod；
22nd, fix bar.
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 fruits picking mechanical hand of single-axis servo, including base 1 and lifting arm 3, lifting arm 3 are located at
The upper end of base 1, the lower end surrounding of base 1 are respectively equipped with universal wheel 2, groove are provided with the inside of the upper end of lifting arm 3, and in groove
Provided with linking arm 4, gear 12 is socketed with outside the lower end of linking arm 4, the side engagement of the upper end of gear 12 is connected with side gear 9,
The side of side gear 9 is connected with rotating shaft 11, and the one end of rotating shaft 11 away from side gear 9 is provided with motor 10, the upper end of linking arm 4
Picker arm 5 is rotatably connected to, the outer wall lower end of Picker arm 5 is provided with the first chute 16, the first sliding block 15 is provided with the first chute 16,
One end of first sliding block 15 is fixedly connected with expansion link 14, and the one end of expansion link 14 away from the first sliding block 15 fills provided with hydraulic-driven
13 are put, and fluid pressure drive device 13 is located at the outer wall side of linking arm 4, the one end of Picker arm 5 away from linking arm 4 is held provided with end
Row device 6, the both sides of end effector 6 are arranged with mechanical paw 7, and the bottom of two mechanical paws 7 has been fixedly connected with second
Sliding block 18, and be provided with end effector 6 and 18 corresponding second chute 17 of the second sliding block, the side point of two the second sliding blocks 18
Not She You connecting shaft 19, the one end of two connecting shafts 19 away from the second sliding block 18 is respectively equipped with servomotor 20, two manipulators
The upper end of pawl 7 has been fixedly connected with connecting rod 21, and two one end of connecting rod 21 away from mechanical paw 7 are horizontal to be provided with fix bar
22, two one end of fix bar 22 away from connecting rod 21 are equipped with cutting nippers 8.
Specifically, the madial wall of two mechanical paws 7 is equipped with one layer of slipmat, and two slipmat are silica gel material
Matter, add the skin-friction force of mechanical paw 7 so that crawl fruit is more stable.
Specifically, rotary shaft is provided between linking arm 4 and Picker arm 5, and linking arm 4 and Picker arm 5 are turned by rotary shaft
Dynamic connection, the rotational angle of Picker arm 5 is 0-90 °, can win the fruit of different azimuth and angle.
Specifically, the opposite side of two cutting nippers 8 is respectively equipped with thick mouth blade and thin mouth blade, thick mouth blade be applied to compared with
Thick branch shearing, thin mouth blade are applied to thinner branch and sheared.
Specifically, the side of end effector 6 and be provided with fruit collecting bag positioned at the lower end of mechanical paw 7, it is convenient mechanical
Hand directly packs after winning fruit, substantially increases operating efficiency.
In the utility model, the lower end surrounding of base 1 is respectively fixed with universal wheel 2, is moved easily, and the upper end of base 1
Lifting arm 3 is provided with, the harvesting of different height is realized by lifting arm 3, and the upper end of lifting arm 3 is provided with linking arm 4, connection
The outside that arm 4 is located in lifting arm 3 is socketed with gear 12, and the side of gear 12, which is engaged, is connected with side gear 9, and the one of side gear 9
End is fixedly connected with rotating shaft 11, and the other end of rotating shaft 11 is provided with motor 10, and the upper end of linking arm 4 is turned by rotary shaft
It is dynamic to be connected with Picker arm 5, and the lower end of Picker arm 5 is provided with the first chute 16, and the first sliding block 15 is provided with the first chute 16,
Expansion link 14 is connected with by the first sliding block 15, and the one end of expansion link 14 away from the first sliding block 15 is connected with fluid pressure drive device
13, for Picker arm 5 by the effect of the first sliding block 15 and expansion link 14, rotational angle is 0-90 °, can win different azimuth and angle
The fruit of degree, while the one end of Picker arm 5 away from linking arm 4 is provided with end effector 6, and the both sides pair of end effector 6
Title is provided with mechanical paw 7, and the madial wall of mechanical paw 7 is equipped with one layer of slipmat, and two slipmat are silica gel material
Matter, add the skin-friction force of mechanical paw 7 so that crawl fruit is more stable, and the bottom of two mechanical paws 7 is fixed
There is the second sliding block 18, and the side of the second sliding block 18 is connected with connecting shaft 19, and the one end of connecting shaft 19 away from the second sliding block 18
Servomotor 20 is provided with, clamping and the opening of two mechanical paws 7 are realized by servomotor 20, and is hardly damaged fruit
Epidermis, the integrality of fruit-picking is kept, while connecting rod 21 is respectively fixed with the upper end of mechanical paw 7, and connecting rod 21
One end it is horizontally disposed have fix bar 22, cutting nippers 8 is connected with by fix bar 22, and the opposite side of two cutting nippers 8 is set respectively
Thick mouth blade and thin mouth blade are equipped with, thick mouth blade is applied to thicker branch and sheared, and thin mouth blade is applied to thinner branch
Shearing.
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 (5)
1. a kind of fruits picking mechanical hand of single-axis servo, including universal wheel, base, lifting arm, linking arm, motor, adopt
Pluck arm, fluid pressure drive device, servomotor and end effector, it is characterised in that：The lower end surrounding of base is respectively equipped with universal
Wheel, the upper end installation lifting arm of base, the upper end inner side of lifting arm is provided with groove, and is provided with linking arm in groove, linking arm
Upper end is rotatably connected to Picker arm, and the one end of Picker arm away from linking arm is provided with end effector；Wherein, outside the lower end of linking arm
Portion is socketed with gear, and the side engagement of gear upper end is connected with side gear, and the side of side gear is connected with rotating shaft, and rotating shaft is away from side
One end connection motor of gear；The outer wall lower end of Picker arm is provided with the first chute, and the first sliding block is provided with the first chute, the
One end of one sliding block is fixedly connected with expansion link, and the one end of expansion link away from the first sliding block is provided with fluid pressure drive device, and hydraulic pressure
Drive device is located at the outer wall side of linking arm；The both sides of end effector are arranged with two mechanical paws, two manipulators
The bottom of pawl has been fixedly connected with the second sliding block, and the second chute corresponding with the second sliding block is provided with end effector, two
The side of second sliding block is respectively equipped with connecting shaft, and two one end of connecting shaft away from the second sliding block are respectively equipped with servomotor, and two
The upper end of individual mechanical paw has been fixedly connected with connecting rod, and two one end of connecting rod away from mechanical paw horizontal be provided with is fixed
Bar, two one end of fix bar away from connecting rod are equipped with cutting nippers.
2. the fruits picking mechanical hand of single-axis servo as claimed in claim 1, it is characterised in that：The inner side of two mechanical paws
Wall is equipped with one layer of slipmat, and slipmat is silica gel material.
3. the fruits picking mechanical hand of single-axis servo as claimed in claim 1 or 2, it is characterised in that：Linking arm and Picker arm
Between be provided with rotary shaft, and linking arm and Picker arm are rotatablely connected by rotary shaft, and the rotational angle of Picker arm is 0-90 °.
4. the fruits picking mechanical hand of single-axis servo as claimed in claim 1 or 2, it is characterised in that：Two cutting nippers
Opposite side is respectively equipped with thick mouth blade and thin mouth blade.
5. the fruits picking mechanical hand of single-axis servo as claimed in claim 1 or 2, it is characterised in that：The end effector
Fruit collecting bag is provided with positioned at the side of the lower end of mechanical paw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720396113.7U CN206821311U (en) | 2017-04-17 | 2017-04-17 | A kind of fruits picking mechanical hand of single-axis servo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720396113.7U CN206821311U (en) | 2017-04-17 | 2017-04-17 | A kind of fruits picking mechanical hand of single-axis servo |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206821311U true CN206821311U (en) | 2018-01-02 |
Family
ID=60767523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720396113.7U Expired - Fee Related CN206821311U (en) | 2017-04-17 | 2017-04-17 | A kind of fruits picking mechanical hand of single-axis servo |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206821311U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108633463A (en) * | 2018-05-16 | 2018-10-12 | 芜湖腾飞信息科技有限公司 | A kind of agricultural machinery picking fruit device |
| CN108834559A (en) * | 2018-07-02 | 2018-11-20 | 广西师范大学 | A kind of segmented Mulberry leaves plucking machine |
| CN110892822A (en) * | 2019-12-27 | 2020-03-20 | 无为县万祠农机专业合作社 | Apple picking device |
| CN111683514A (en) * | 2020-06-10 | 2020-09-18 | 深圳汉和智造有限公司 | False pressure alignment method and false pressure equipment |
-
2017
- 2017-04-17 CN CN201720396113.7U patent/CN206821311U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108633463A (en) * | 2018-05-16 | 2018-10-12 | 芜湖腾飞信息科技有限公司 | A kind of agricultural machinery picking fruit device |
| CN108834559A (en) * | 2018-07-02 | 2018-11-20 | 广西师范大学 | A kind of segmented Mulberry leaves plucking machine |
| CN108834559B (en) * | 2018-07-02 | 2023-07-14 | 广西师范大学 | Sectional type mulberry leaf picking machine |
| CN110892822A (en) * | 2019-12-27 | 2020-03-20 | 无为县万祠农机专业合作社 | Apple picking device |
| CN111683514A (en) * | 2020-06-10 | 2020-09-18 | 深圳汉和智造有限公司 | False pressure alignment method and false pressure equipment |
| CN111683514B (en) * | 2020-06-10 | 2024-03-12 | 深圳汉和智造有限公司 | False pressure equipment |
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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: 20180102 Termination date: 20180417 |
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| CF01 | Termination of patent right due to non-payment of annual fee |