CN207983382U - A kind of drive lacking fruits picking mechanical hand - Google Patents
A kind of drive lacking fruits picking mechanical hand Download PDFInfo
- Publication number
- CN207983382U CN207983382U CN201820273645.6U CN201820273645U CN207983382U CN 207983382 U CN207983382 U CN 207983382U CN 201820273645 U CN201820273645 U CN 201820273645U CN 207983382 U CN207983382 U CN 207983382U
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- CN
- China
- Prior art keywords
- joint
- hinged
- electric pushrod
- collecting pipe
- drive lacking
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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.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a kind of drive lacking fruits picking mechanical hands, including gripper, sliding tube, electric pushrod, collecting pipe；The collecting pipe empty set is outside sliding tube, one end of electric pushrod is fixedly connected with collecting pipe, the other end of electric pushrod is fixedly connected with sliding tube, gripper includes interior side seam and outer side seam etc., and interior side seam is made of lateral joint in lateral joint in long joint hinged successively, first, second and inside connecting joint；The outer side seam is made of hinged successively the first, second, third lateral articular and outside connecting joint；The outer end of first lateral articular and the middle part in long joint are hinged；The lower end of inside connecting joint is hinged on sliding tube, and the lower end of outside connecting joint is mounted on collecting pipe.The utility model utilizes the ingenious combination of hinge, drive lacking link mechanism, by the flexible of electric pushrod, realize the opening of drive lacking fruits picking mechanical hand and closes up, can pick the different size of fruit of multiclass, improve picking efficiency.
Description
Technical field
The utility model is related to picking mechanical arm design fields in fruit picking ancillary equipment, can especially pick each
The drive lacking fruits picking mechanical hand of the irregular fruit of class different size, shape.
Background technology
Fruits picking mechanical hand is indirect labor's fruit-picking, improves a kind of complementary tool of working efficiency.With society
The economic fast development of meeting, the increasingly improvement of living standard, fruit mass production and launch, enrich the dietary seafood of the people
Kind, improve the quality of life of the people.And China mostly area on fruit picking it is still main manually, therefore with reasonable
Structure improves picking efficiency and can guarantee that the fruits picking mechanical hand of fruit quality becomes a kind of primary tool.Vehicles Collected from Market
Upper fruits picking mechanical hand type is various, some increase image identification function, improve functionality.But picking mechanical arm is grabbed
For taking mode, mainly there are two kinds of gripping-type fruits picking mechanical hand and knife scissors fruits picking mechanical hand currently on the market, has
Body is as follows.
(1) gripping-type fruits picking mechanical hand.Patent of invention application No. is 201510401026.1 is a kind of hard and soft mixed
The underactuated manipulator for closing structure, is a gripping-type fruits picking mechanical hand, and Softening is made by being inflated to finger
Finger is heaved to capture fruit；It is flexible that major function, which is flexible manipulator finger and is contacted with fruit, is avoided because adopting
The fruit damage brought is plucked, the fruit quality picked is improved.But the flexible finger of the manipulator is easily damaged.Application
Number it is a kind of gripping-type fruits picking mechanical hand for 201710532483.3 patent of invention, manipulator is by three rigid paws
Composition, and tray is mounted with below manipulator, the fruit under adopting can be held, prevents fruit from falling ground damage；Manipulator is matched
For casing, the fruit of different height is picked by adjusting tube length.But the paw of the invention picking when easily to water
Fruit causes to damage, and can not pick the irregular fruit of various shapes.
(2) knife scissors fruits picking mechanical hand.It is a kind of scissors water application No. is the patent of invention of 201110190707.X
Fruit picking machine tool hand, is mounted with cutter head above manipulator, and manipulator first catches fruit when picking, then is cut carpopodium with cutter head
Under, instead of artificial, improve picking efficiency；A fruit pocket has been also mounted in the manipulator, and the fruit under adopting can be made to fall into
In pocket, prevent fruit from falling ground damage；But the invention easily causes to damage when cutting fruit carpopodium to fruit.Application No. is
200620058186.7 patent of invention is a kind of scissors fruits picking mechanical hand, which is mounted in manipulator handle upper end
Scissors can improve picking efficiency by under fruit shears；Manipulator is mounted with funnel shaped Nylon Bag, and the fruit cut can be made to fall
Enter in bag, ensure that the quality of fruit.But the invention is also easy to cause to damage to fruit in picking.Based on such present situation, hair
Drive lacking fruits picking mechanical hand is illustrated, which quickly can rationally adopt according to the shape of fruit with size progress
It plucks, can guarantee the quality for being adopted lower fruit.
Utility model content
The utility model in view of the deficiencies of the prior art, provides a kind of drive lacking fruits picking mechanical hand, using hinge,
The ingenious combination of drive lacking link mechanism realizes the opening of drive lacking fruits picking mechanical hand by the flexible of electric pushrod
With close up, the different size of fruit of multiclass can be picked, improve picking efficiency；Drive lacking link mechanism is cleverly utilized,
Make drive lacking fruits picking mechanical hand finger that can rationally be deformed according to the shape of fruit, to realize to all kinds of shapes not
The crawl of regular fruit；And can not only make Softening diversified under quickly inhaling fruit to by way of collecting pipe air-breathing,
Also substantially increase picking efficiency.
In order to achieve the above object, technical solution used by the utility model is as follows：A kind of drive lacking fruit picking
Tool hand, including gripper, sliding tube, electric pushrod, collecting pipe；The collecting pipe empty set is outside sliding tube, and the one of electric pushrod
End is fixedly connected with collecting pipe, and the other end of electric pushrod is fixedly connected with sliding tube,
The gripper includes interior side seam, outer side seam, head rod, the second connecting rod, third connecting rod,
The interior side seam is closed by lateral joint in lateral joint in long joint hinged successively, first, second and inside connection
Section composition, articulated shaft are followed successively by a, b and c；
The outer side seam is by the first hinged successively lateral articular, the second lateral articular, third lateral articular and outside
Connecting joint forms, and articulated shaft is followed successively by d, e and f；
The outer end of first lateral articular and the middle part in long joint are hinged；
The both ends of head rod are separately mounted on articulated shaft a and d,
The both ends of second connecting rod are separately mounted on articulated shaft b and e,
The both ends of third connecting rod are separately mounted on articulated shaft c and f,
Head rod, the second connecting rod and third connecting rod are arranged parallel to；
The lower end of inside connecting joint is hinged in the upper edge of sliding tube, is extended with outside at the outer wall upper edge of the collecting pipe
The lower end of at least three hinged seats, outside connecting joint is mounted on hinged seat；
Above-mentioned hinged place is equipped with torsional spring.
Further, the quantity of the hinged seat is three.
Further, the upper edge of the sliding tube is outward extended with support arm, the other end of the electric pushrod and support
Arm is fixedly connected.
Further, the quantity of the support arm at least there are two, and be uniformly distributed along the circumferencial direction of sliding tube.
Further, the telescopic direction of the electric pushrod and the axis of collecting pipe are mutually parallel.
The beneficial effects of the utility model：Existing fruits picking mechanical hand can not ensure in indirect labor's picking process
The quality of fruit easily causes to damage to Fruit Peel, can not preferably improve picking efficiency.The utility model is avoided using complexity
Or special device, but utilize the ingenious combination of hinge, drive lacking link mechanism, pass through the flexible of electric pushrod, realize
The opening of drive lacking fruits picking mechanical hand with close up, the different size of fruit of multiclass can be picked, improve picking efficiency；
The elasticity of drive lacking link mechanism and torsional spring is cleverly utilized, makes drive lacking fruits picking mechanical hand finger can be according to fruit
Shape is rationally deformed, to realize the crawl to all kinds of fruit in irregular shape；And it can be by collecting pipe air-breathing
Under mode quickly inhales fruit, not only makes Softening diversified, also substantially increase picking efficiency.The utility model operation letter
It is single, light practicality.
Description of the drawings
Fig. 1 is the utility model fruits picking mechanical hand schematic diagram；
Fig. 2 be the utility model not water acquisition fruit when drive lacking link mechanism schematic diagram；
Drive lacking link mechanism schematic diagram when Fig. 3 is the utility model water suction fruit；
Fig. 4 is drive lacking link mechanism schematic diagram when the utility model grabs fruit；
Schematic diagram when Fig. 5 is the utility model water suction fruit；
Fig. 6 is schematic diagram when the utility model grabs fruit；
In figure：Sliding tube 1, electric pushrod 2, collecting pipe 3, head rod 4, the second connecting rod 5, third connecting rod 6, length
Lateral joint 9, inside connecting joint 10, the first lateral articular 11, the second lateral articular in lateral joint 8, second in joint 7, first
12, third lateral articular 13, outside connecting joint 14, hinged seat 15, support arm 16.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and examples.
As shown in Figs 1-4, the utility model provides a kind of drive lacking fruits picking mechanical hand, including gripper, sliding
Pipe 1, electric pushrod 2, collecting pipe 3；3 empty set of the collecting pipe outside sliding tube 1, fix by one end and the collecting pipe 3 of electric pushrod 2
Connection, the other end of electric pushrod 2 are fixedly connected with sliding tube 1,
The gripper includes interior side seam, outer side seam, head rod 4, the second connecting rod 5, third connecting rod 6,
The interior side seam is connected by lateral joint 9 in lateral joint 8, second in long joint 7, first hinged successively and inside
Joint 10 forms, and articulated shaft is followed successively by a, b and c；
The outer side seam by the first hinged successively lateral articular 11, the second lateral articular 12, third lateral articular 13 with
And outside connecting joint 14 forms, articulated shaft is followed successively by d, e and f；
The outer end of first lateral articular 11 is hinged with the middle part in long joint 7；
The both ends of head rod 4 are separately mounted on articulated shaft a and d,
The both ends of second connecting rod 5 are separately mounted on articulated shaft b and e,
The both ends of third connecting rod 6 are separately mounted on articulated shaft c and f,
Head rod 4, the second connecting rod 5 and third connecting rod 6 are arranged parallel to；
The lower end of inside connecting joint 10 is hinged in the upper edge of sliding tube 1, extension at the outer wall upper edge of the collecting pipe 3
Stretching has at least three hinged seats 15, and the lower end of outside connecting joint 14 is mounted on hinged seat 15；
Above-mentioned hinged place is equipped with torsional spring.
Further, the quantity of the hinged seat 15 is three.
Further, the upper edge of the sliding tube 1 is outward extended with support arm 16, the other end of the electric pushrod 2 with
Support arm 16 is fixedly connected.
Further, the quantity of the support arm 16 at least there are two, and be uniformly distributed along the circumferencial direction of sliding tube 1.
Further, the axis of the telescopic direction of the electric pushrod 2 and collecting pipe 3 is mutually parallel.
The utility model may be implemented to inhale, grab two ways fruit-picking.
(1) the utility model inhales fruit condition
2 positive action of electric pushrod, push rod are released upwards, are driven sliding tube 1 to move up, are passed through drive lacking link mechanism
With the effect of torsional spring, make each joint that certain relative motion occur outward, to make entire manipulator open, then passes through collecting pipe
3 downward air-breathings, under fruit is inhaled, this inhales fruit condition for the utility model.As shown in figure 5, the state is mainly used in picking
The fruit that carpopodium toughness is not strong, is easy under being inhaled.
(2) the utility model grabs fruit condition
2 counteragent of electric pushrod, push rod are retracted downwards, are driven sliding tube 1 to move down, are passed through drive lacking link mechanism
With the effect of torsional spring, make each joint that certain relative motion inwardly occur, to make entire manipulator close up, paw is bonded fruit
Fruit is adopted down on surface, this grabs fruit condition for the utility model.As shown in fig. 6, the state be mainly used in picking carpopodium it is tough
Property fruit when being not easy under being inhaled compared with strong or branches and leaves are luxuriant.
Above-mentioned specific implementation mode is used for illustrating the utility model, rather than limits the utility model,
In the spirit and scope of the claims of the utility model, to any modifications and changes that the utility model is made, all fall
Enter the scope of protection of the utility model.
Claims (5)
1. a kind of drive lacking fruits picking mechanical hand, which is characterized in that including gripper, sliding tube, electric pushrod, collecting pipe；
Outside sliding tube, one end of electric pushrod is fixedly connected the collecting pipe empty set with collecting pipe, the other end and cunning of electric pushrod
Dynamic pipe is fixedly connected,
The gripper includes interior side seam, outer side seam, head rod, the second connecting rod, third connecting rod, the interior side seam by
Hinged long joint, lateral joint in first, lateral joint and inside connecting joint composition in second successively, articulated shaft be followed successively by a,
B and c；
The outer side seam is connected by the first hinged successively lateral articular, the second lateral articular, third lateral articular and outside
Joint forms, and articulated shaft is followed successively by d, e and f；
The outer end of first lateral articular and the middle part in long joint are hinged；
The both ends of head rod are separately mounted on articulated shaft a and d,
The both ends of second connecting rod are separately mounted on articulated shaft b and e,
The both ends of third connecting rod are separately mounted on articulated shaft c and f,
Head rod, the second connecting rod and third connecting rod are arranged parallel to；
The lower end of inside connecting joint is hinged in the upper edge of sliding tube, is extended at least outside at the outer wall upper edge of the collecting pipe
The lower end of three hinged seats, outside connecting joint is mounted on hinged seat；
Above-mentioned hinged place is equipped with torsional spring.
2. a kind of drive lacking fruits picking mechanical hand according to claim 1, which is characterized in that the quantity of the hinged seat
It is three.
3. a kind of drive lacking fruits picking mechanical hand according to claim 1 or 2, which is characterized in that the sliding tube
Upper edge is outward extended with support arm, and the other end of the electric pushrod is fixedly connected with support arm.
4. a kind of drive lacking fruits picking mechanical hand according to claim 3, which is characterized in that the quantity of the support arm
There are two at least, and it is uniformly distributed along the circumferencial direction of sliding tube.
5. a kind of drive lacking fruits picking mechanical hand according to claim 4, which is characterized in that the electric pushrod is stretched
The axis of contracting direction and collecting pipe is mutually parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820273645.6U CN207983382U (en) | 2018-02-27 | 2018-02-27 | A kind of drive lacking fruits picking mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820273645.6U CN207983382U (en) | 2018-02-27 | 2018-02-27 | A kind of drive lacking fruits picking mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983382U true CN207983382U (en) | 2018-10-19 |
Family
ID=63825877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820273645.6U Withdrawn - After Issue CN207983382U (en) | 2018-02-27 | 2018-02-27 | A kind of drive lacking fruits picking mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207983382U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312168A (en) * | 2018-02-27 | 2018-07-24 | 浙江水利水电学院 | Drive lacking fruits picking mechanical hand |
| CN109121722A (en) * | 2018-10-29 | 2019-01-04 | 常熟理工学院 | Integrated mechanical arm is collected in oscillatory type picking |
| CN109429722A (en) * | 2018-10-26 | 2019-03-08 | 苏州工业园区新国大研究院 | A kind of soft body adaptivity grabbing device of variation rigidity apery |
| CN113370241A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Large-bearing multi-finger type soft manipulator with net structure |
-
2018
- 2018-02-27 CN CN201820273645.6U patent/CN207983382U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312168A (en) * | 2018-02-27 | 2018-07-24 | 浙江水利水电学院 | Drive lacking fruits picking mechanical hand |
| CN109429722A (en) * | 2018-10-26 | 2019-03-08 | 苏州工业园区新国大研究院 | A kind of soft body adaptivity grabbing device of variation rigidity apery |
| CN109121722A (en) * | 2018-10-29 | 2019-01-04 | 常熟理工学院 | Integrated mechanical arm is collected in oscillatory type picking |
| CN109121722B (en) * | 2018-10-29 | 2020-10-02 | 常熟理工学院 | Vibrating type picking and collecting integrated mechanical arm |
| CN113370241A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Large-bearing multi-finger type soft manipulator with net structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181019 Effective date of abandoning: 20230606 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20181019 Effective date of abandoning: 20230606 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |