CN208029498U - A kind of inhale grabs collaboration fruit picking Elastic manipulator - Google Patents
A kind of inhale grabs collaboration fruit picking Elastic manipulator Download PDFInfo
- Publication number
- CN208029498U CN208029498U CN201820273643.7U CN201820273643U CN208029498U CN 208029498 U CN208029498 U CN 208029498U CN 201820273643 U CN201820273643 U CN 201820273643U CN 208029498 U CN208029498 U CN 208029498U
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- Prior art keywords
- tubule
- extra heavy
- heavy pipe
- fruit
- outside
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 86
- 210000005239 tubule Anatomy 0.000 claims abstract description 48
- 229920001971 elastomer Polymers 0.000 claims description 10
- 239000000806 elastomer Substances 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 2
- 230000001788 irregular Effects 0.000 abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000004677 Nylon Substances 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 206010003246 arthritis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 230000037213 diet Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000011505 plaster Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Abstract
The utility model discloses a kind of suctions to grab collaboration fruit picking Elastic manipulator, including gripper, moving tube, cylinder, collection tube；The collection tube empty set is outside moving tube, one end of cylinder is fixedly connected with collection tube, the other end of cylinder is fixedly connected with moving tube, the gripper includes interior side seam, outside flexible member etc., interior side seam is connected with outside flexible member by thick, the tubule of three groups of mutual fittings, slightly, spring is installed, the lower end of interior side seam is hinged in the upper edge of moving tube, and the lower end of outside flexible member is mounted on collection tube between tubule.The utility model utilizes the ingenious combination of hinge, flexible member and rigid bar, by the flexible of small cylinder, realize and inhales the opening for grabbing collaboration fruits picking mechanical hand and close up, can pick various different size of fruit；The elasticity of spring is cleverly utilized, so that suction is grabbed collaboration fruits picking mechanical hand finger can rationally be deformed according to fruit shape, to realize the crawl to all kinds of fruit in irregular shape.
Description
Technical field
The utility model is related to picking mechanical arm design fields in fruit picking ancillary equipment, can especially pick each
Collaboration fruit picking Elastic manipulator is grabbed in the suction 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 mass production of fruit and launch, enrich the diet kind of the people, improve the life of the people
Bioplasm amount.And China mostly area on fruit picking it is still main manually, therefore with Rational structure, improve picking efficiency
And it can guarantee that the fruits picking mechanical hand of fruit quality becomes a kind of primary tool.Fruits picking mechanical hand kind on Vehicles Collected from Market
Class is various, some increase image identification function, improves functionality.But for picking mechanical arm grasp mode, city at present
Mainly there are two kinds of gripping-type fruits picking mechanical hand and knife scissors fruits picking mechanical hand on field, it is specific 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, and adopt
It is single to pluck mode.Patent of invention application No. is 201710532483.3 is a kind of gripping-type fruits picking mechanical hand, machinery
Hand is made of three rigid paws, and tray is mounted with below manipulator, can be held the fruit under adopting, be prevented fruit from falling ground
Face is damaged；Manipulator is equipped with casing, and the fruit of different height is picked by adjusting tube length.But the paw of the invention
Easily fruit is caused to damage in picking, and the irregular fruit of various shapes can not be picked.
(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, and Softening is single.
Based on such present situation, suction is invented and has grabbed collaboration fruits picking mechanical hand, the invention Softening is various, can utmostly ensure water
The quality of fruit, and substantially increase picking efficiency.
Utility model content
The utility model in view of the deficiencies of the prior art, provides a kind of inhale and grabs collaboration fruit picking Elastic manipulator, profit
It is realized suction by the flexible of cylinder with the ingenious combination of hinge, flexible member and rigid bar and grabs collaboration fruits picking mechanical
The opening of hand with close up, various different size of fruit can be picked；The elasticity of spring is cleverly utilized, suction is made to grab collaboration water
Fruit picking machine tool hand finger can rationally be deformed according to fruit shape, be grabbed to all kinds of fruit in irregular shape to realize
It takes；And it can not only make Softening diversified under quickly inhaling fruit to by way of collection tube air-breathing, also substantially increase
Picking efficiency.
In order to achieve the above object, technical solution used by the utility model is as follows：Collaboration fruit picking is grabbed in a kind of suction
Elastic manipulator, including gripper, moving tube, cylinder, collection tube；The collection tube empty set is outside moving tube, one end of cylinder
It being fixedly connected with collection tube, the other end of cylinder is fixedly connected with moving tube,
The gripper includes that interior side seam, outside flexible member, rigid bar, the first extra heavy pipe, the second extra heavy pipe, third are thick
Pipe, the first tubule, the second tubule, third tubule,
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；
One end of rigid bar and the middle part in long joint are connected, one end of the other end and outside flexible member of rigid bar
Hinged, the first extra heavy pipe, the second extra heavy pipe and third extra heavy pipe are connected in the middle part of outside flexible member successively,
First extra heavy pipe is slidably located in outside the first tubule, and has elastomer between the first extra heavy pipe and the first tubule, and first
The outer end of tubule is hinged with articulated shaft a,
Second extra heavy pipe is slidably located in outside the second tubule, and has elastomer between the second extra heavy pipe and the second tubule, and second
The outer end of tubule is hinged with articulated shaft b,
Third extra heavy pipe is slidably located in outside third tubule, and has elastomer, third between third extra heavy pipe and third tubule
The outer end of tubule is hinged with articulated shaft c,
The lower end of inside connecting joint is hinged in the upper edge of moving tube, is extended with outside at the outer wall upper edge of the collection tube
The lower end of at least three hinged seats, outside flexible member is mounted on hinged seat.
Further, the elastomer is spring.
Further, first extra heavy pipe, the second extra heavy pipe are identical with third extra heavy pipe structure size, first tubule,
Two tubules are identical with third capillary structure size.
Further, the quantity of the hinged seat is three.
Further, the upper edge of the moving tube is outward extended with support arm, and the other end and support arm of the cylinder are solid
Fixed connection.
Further, the quantity of the support arm at least there are two, and be uniformly distributed along the circumferencial direction of moving tube.
Further, the telescopic direction of the cylinder and the axis of collection tube 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, and Softening is single, can not preferably improve picking efficiency.The utility model
It avoids using complicated or special device, but utilizes the ingenious combination of hinge, flexible member and rigid bar, by small-sized
Cylinder stretches, and realizes and inhales the opening for grabbing collaboration fruits picking mechanical hand and close up, can pick various different size of water
Fruit；The elasticity of spring is cleverly utilized, so that suction is grabbed collaboration fruits picking mechanical hand finger can carry out rationally according to fruit shape
Deformation, to realize the crawl to all kinds of fruit in irregular shape；And it can be fast by fruit by way of to collection tube air-breathing
Under speed is inhaled, not only makes Softening diversified, also substantially increase picking efficiency.The utility model is easy to operate, light practicality.
Description of the drawings
Fig. 1 is the utility model fruit picking Elastic manipulator schematic diagram；
Fig. 2 be the utility model not water acquisition fruit when elastic finger schematic diagram；
Elastic finger schematic diagram when Fig. 3 is the utility model water suction fruit；
Fig. 4 is elastic finger 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：Moving tube 1, cylinder 2, collection tube 3, outside flexible member 4, rigid bar 5, the first extra heavy pipe 6, the second extra heavy pipe
7, third extra heavy pipe 8, the first tubule 9, the second tubule 10, third tubule 11, the 13, second inside of lateral joint in long joint 12, first
Joint 14, inside connecting joint 15, hinged seat 16, support arm 17.
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 inhale and grabs collaboration fruit picking Elastic manipulator, including gripper,
Moving tube 1, cylinder 2, collection tube 3；Outside moving tube 1, one end of cylinder 2 is fixed with collection tube 3 to be connected 3 empty set of the collection tube
It connecing, the other end of cylinder 2 is fixedly connected with moving tube 1,
The gripper includes interior side seam, outside flexible member 4, rigid bar 5, the first extra heavy pipe 6, the second extra heavy pipe 7, third
Extra heavy pipe 8, the first tubule 9, the second tubule 10, third tubule 11,
The interior side seam is by lateral joint 14 and inside in lateral joint 13, second in long joint 12, first hinged successively
Connecting joint 15 forms, and articulated shaft is followed successively by a, b and c；
One end of rigid bar 5 and the middle part in long joint 12 are connected, the other end and the outside flexible member 4 of rigid bar 5
One end it is hinged, the first extra heavy pipe 6, the second extra heavy pipe 7 and third extra heavy pipe 8 are connected in the middle part of outside flexible member 4 successively,
First extra heavy pipe 6 is slidably located in outside the first tubule 9, and has elastomer between the first extra heavy pipe 6 and the first tubule 9,
The outer end of first tubule 9 is hinged with articulated shaft a,
Second extra heavy pipe 7 is slidably located in outside the second tubule 10, and has elasticity between the second extra heavy pipe 7 and the second tubule 10
Body, the outer end of the second tubule 10 and articulated shaft b are hinged,
Third extra heavy pipe 8 is slidably located in outside third tubule 11, and has elasticity between third extra heavy pipe 8 and third tubule 11
Body, the outer end of third tubule 11 and articulated shaft c are hinged,
The lower end of inside connecting joint 15 is hinged in the upper edge of moving tube 1, extension at the outer wall upper edge of the collection tube 3
It stretches there are three hinged seat 16, the lower end of outside flexible member 4 is mounted on hinged seat 16.
Further, the elastomer is spring.
Further, first extra heavy pipe 6, the second extra heavy pipe 7 are identical with 8 structure size of third extra heavy pipe, first tubule
9, the second tubule 10 is identical with 11 structure size of third tubule.
Further, the upper edge of the moving tube 1 is outward extended with support arm 17, the other end of the cylinder 2 and support
Arm 17 is fixedly connected.
Further, the quantity of the support arm 17 at least there are two, and be uniformly distributed along the circumferencial direction of moving tube 1.
Further, the axis of the telescopic direction of the cylinder 2 and collection tube 3 is mutually parallel.
The utility model may be implemented to inhale, grab two ways collaboration fruit-picking.
(1) the utility model inhales fruit condition
The gas bar of 2 positive action of cylinder, cylinder 2 is released upwards, is driven moving tube 1 to move up, using linkage, is made
Entire manipulator opens, then by 3 downward air-breathing of collection tube, and under fruit is inhaled, this inhales fruit condition for the utility model.Such as figure
Shown in 5, which is mainly used in the fruit that picking carpopodium toughness is not strong, is easy under being inhaled.
(2) the utility model grabs fruit condition
The gas bar of 2 counteragent of cylinder, cylinder 2 is retracted downwards, and moving tube 1 is driven to move down, since spring has bullet
Property, when paw touches fruit, outside flexible member 4 curves inwardly, and each arthritis adhesive plaster closes fruit surface, and fruit is adopted down, this
Fruit condition is grabbed for the utility model.As shown in fig. 6, to be mainly used in picking carpopodium toughness luxuriant not compared with strong or branches and leaves for the state
Fruit when under easily being inhaled.
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 (7)
1. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction, which is characterized in that including gripper, moving tube, cylinder, acquisition
Pipe；Outside moving tube, one end of cylinder is fixedly connected the collection tube empty set with collection tube, and the other end and moving tube of cylinder are solid
Fixed connection,
The gripper includes interior side seam, outside flexible member, rigid bar, the first extra heavy pipe, the second extra heavy pipe, third extra heavy pipe,
One tubule, the second tubule, third tubule,
The interior side seam is by lateral joint and inside connecting joint group in lateral joint in long joint hinged successively, first, second
At articulated shaft is followed successively by a, b and c；
One end of rigid bar and the middle part in long joint are connected, and the other end of rigid bar is cut with scissors with one end of outside flexible member
It connects, the first extra heavy pipe, the second extra heavy pipe and third extra heavy pipe are connected in the middle part of outside flexible member successively, and the first extra heavy pipe is slidably located in
Outside first tubule, and there is elastomer between the first extra heavy pipe and the first tubule, the outer end of the first tubule and articulated shaft a are hinged,
Second extra heavy pipe is slidably located in outside the second tubule, and has elastomer, the second tubule between the second extra heavy pipe and the second tubule
Outer end and articulated shaft b it is hinged,
Third extra heavy pipe is slidably located in outside third tubule, and has elastomer, third tubule between third extra heavy pipe and third tubule
Outer end and articulated shaft c it is hinged,
The lower end of inside connecting joint is hinged in the upper edge of moving tube, is extended at least outside at the outer wall upper edge of the collection tube
The lower end of three hinged seats, outside flexible member is mounted on hinged seat.
2. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 1, which is characterized in that the elastomer
For spring.
3. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 1 or 2, which is characterized in that described the
One extra heavy pipe, the second extra heavy pipe are identical with third extra heavy pipe structure size, first tubule, the second tubule and third capillary structure size
It is identical.
4. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 3, which is characterized in that the hinged seat
Quantity be three.
5. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 4, which is characterized in that the moving tube
Upper edge be outward extended with support arm, the other end of the cylinder is fixedly connected with support arm.
6. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 5, which is characterized in that the support arm
Quantity at least there are two, and be uniformly distributed along the circumferencial direction of moving tube.
7. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 6, which is characterized in that the cylinder
The axis of telescopic direction and collection tube is mutually parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820273643.7U CN208029498U (en) | 2018-02-27 | 2018-02-27 | A kind of inhale grabs collaboration fruit picking Elastic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820273643.7U CN208029498U (en) | 2018-02-27 | 2018-02-27 | A kind of inhale grabs collaboration fruit picking Elastic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208029498U true CN208029498U (en) | 2018-11-02 |
Family
ID=63950123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820273643.7U Withdrawn - After Issue CN208029498U (en) | 2018-02-27 | 2018-02-27 | A kind of inhale grabs collaboration fruit picking Elastic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208029498U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108283056A (en) * | 2018-02-27 | 2018-07-17 | 浙江水利水电学院 | Collaboration fruit picking Elastic manipulator is grabbed in suction |
-
2018
- 2018-02-27 CN CN201820273643.7U patent/CN208029498U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108283056A (en) * | 2018-02-27 | 2018-07-17 | 浙江水利水电学院 | Collaboration fruit picking Elastic manipulator is grabbed in suction |
| CN108283056B (en) * | 2018-02-27 | 2024-02-13 | 浙江水利水电学院 | Elastic manipulator for picking fruit by sucking and grabbing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181102 Effective date of abandoning: 20240213 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20181102 Effective date of abandoning: 20240213 |