CN208323438U - A kind of apple-picking machinery hand - Google Patents

A kind of apple-picking machinery hand Download PDF

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Publication number
CN208323438U
CN208323438U CN201820608673.9U CN201820608673U CN208323438U CN 208323438 U CN208323438 U CN 208323438U CN 201820608673 U CN201820608673 U CN 201820608673U CN 208323438 U CN208323438 U CN 208323438U
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CN
China
Prior art keywords
apple
mechanical arm
arm
grip bracket
driving
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
Application number
CN201820608673.9U
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Chinese (zh)
Inventor
邱辰
莫瀚宁
陈奇峰
何银伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuzhou Huamr Automobile Technology Co ltd
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Wuzhou University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wuzhou University filed Critical Wuzhou University
Priority to CN201820608673.9U priority Critical patent/CN208323438U/en
Application granted granted Critical
Publication of CN208323438U publication Critical patent/CN208323438U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of apple-picking machinery hands, including mechanical arm telescopic device and the rotatable handgrip set on mechanical arm telescopic device front end, the mechanical arm telescopic device includes mechanical arm, the mechanical arm is equipped with the slide that can be slided, the slide, which is equipped with, slides along the extended telescopic arm in direction, the rotatable front end set on the telescopic arm of the handgrip;The mechanical arm slides driving mechanism equipped with the driving slide sliding.The apple-picking machinery hand of the utility model, scalable, rotation, crawl is convenient, and crawl rapidly, grabs the apple of different distance, without frequently shifting to device, adaptability is good;It is easy to control, it is swift in response;Rocker arm connecting rod component and clamping, which refer to, constitutes three joint structures, and clamping is made to refer to that bending angle convenient for control, acts more flexible;Degree of integration is high, compact-sized, occupies little space;Manipulator is flexible flexibly, quick-expansion, slides steady.

Description

A kind of apple-picking machinery hand
Technical field
The utility model relates to agricultural equipment technical fields, more specifically, it relates to a kind of apple-picking machinery hand.
Background technique
Since in the 1970s, China for orchard picking machinery research and development just really, be successively manufactured that and hand Mechanical-vibration type hawthorn fruit picker, gasbag-type fruit picker and the hand electric fruit picker of tractor are helped, rear the two is actually Or the auxiliary to manual work is mechanical, is made preferably really at the protection injury-free aspect of fruit, but still faces effect The low problem of rate.From after the eighties, China has started the research and manufacture of cutting-type device for picking, formally uses scissors from artificial Orchard picking mode develop to and picked using mechanical device.Wherein, electric motor type device for picking mainly utilizes carpopodium to guide tab, First guide carpopodium into cutter, then with minitype motor driving cutter, it is slowly reciprocating, so that carpopodium is cut off.In addition, also There is a kind of shaking formula device for picking, is to protrude into fruit branch junction using shift fork, then swing shift fork and shedding reality of shaking with motor.Time saving province One of the advantages of power is cutting type picking, this method is also relatively small to the damage of fruit.Hereafter old more such as liquid The auxiliary tools such as compression shear branch hoistable platform, these tools can be used to be promoted the operating position of worker, be conducive to picking operation.Apparently phase Development to external artificial picking robot, the research and development of artificial intelligence robot of the China in picking research field also still in Starting stage.The handgrip of apple-picking machinery hand in the prior art cannot rotate, and cannot catch apple well.
Utility model content
The technical problems to be solved in the utility model is the above-mentioned deficiency for the prior art, and the purpose of this utility model is Provide it is a kind of it is scalable, rotate, grab rapid apple-picking machinery hand.
To achieve the above object, the utility model provides a kind of apple-picking machinery hand, including mechanical arm telescopic device With the rotatable handgrip set on mechanical arm telescopic device front end, the mechanical arm telescopic device includes mechanical arm, described Mechanical arm is equipped with the slide that can be slided, and the slide, which is equipped with, slides along the extended telescopic arm in direction, described to grab The rotatable front end set on the telescopic arm of hand;The mechanical arm slides driving machine equipped with the driving slide sliding Structure.
Further, the handgrip includes the grip bracket that can be rotated being equipped in the telescopic arm front end and described What grip bracket front end was equipped with can inwardly clamp, outward clamping refers to, between the grip bracket and the clamping refer to Equipped with rocker arm connecting rod component connecting the two, it is equipped between the grip bracket and the telescopic arm and the grip bracket is driven to turn Dynamic rotary drive mechanism.
Further, the rotary drive mechanism includes the driving grip bracket being equipped in the telescopic arm front end The third driving motor of rotation, the third driving motor is equipped with the guide rod being arranged across the grip bracket, described to lead The sliding part hinged with the rocking bar of the rocker arm connecting rod component is arranged on bar, between the grip bracket and the sliding part Equipped with the first lead screw transmission mechanism for driving the sliding part sliding.
Further, first lead screw transmission mechanism includes the driving sliding being equipped on the grip bracket First driving motor of part sliding, first driving motor are equipped with the first screw rod connecting with the sliding part, the cunning Moving part is equipped with connector sleeve compatible with first screw rod.
Further, there are two the front end of the grip bracket is evenly arranged or multiple clampings refer to;The rocker arm connecting rod Component includes the hinged seat being equipped on the grip bracket front end face, the rocking bar on the rocker arm connecting rod component and the sliding Part is hinged.
Further, the grip bracket includes front end-plate, end plate and the support rod connecting the two of parallel arrangement, The clamping refers to that on front end-plate, first driving motor is set on end plate;The guide rod is arranged in the front end The center of plate and end plate, the sliding part include the preceding turntable being sheathed on the guide rod, rear turntable and connection connection The rocking bar of the connecting rod of the two, the preceding turntable and the rocker arm connecting rod component is hinged, the front end-plate be equipped with it is described before The adaptable relief hole of turntable;The guide rod is equipped with the limit plate being arranged between the preceding turntable and rear turntable.
As a further improvement, the driving mechanism that slides includes that second be equipped in the rear end of the mechanical arm drives Dynamic motor is equipped with the second lead screw transmission mechanism for driving the slide sliding between second driving motor and the slide.
Further, second lead screw transmission mechanism includes second be equipped on second driving motor Bar and the screw hole compatible with second screw rod being equipped on the slide.
It is improved as further, the mechanical arm, which is equipped with, collects bracket and collecting net.
Beneficial effect
Compared with prior art, the apple-picking machinery hand of the utility model has the beneficial effect that: the utility model Apple-picking machinery hand, it is scalable, rotate, grab rapid apple-picking machinery hand, the apple of different distance is grabbed, without frequency Numerous pair of device shifts, and adaptability is good;It is easy to control, it is swift in response;Rocker arm connecting rod component and clamping, which refer to, constitutes three joints knot Structure makes clamping refer to that bending angle convenient for control, acts more flexible;Degree of integration is high, compact-sized, occupies little space;It is mechanical Hand is flexible flexibly, quick-expansion, slides steady.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the apple-picking machinery hand of the utility model;
Fig. 2 is the structural front view of mechanical arm telescopic device in the utility model;
Fig. 3 is the structure top view of mechanical arm telescopic device in the utility model;
Fig. 4 is the structural schematic diagram of handgrip in the utility model.
In figure: 1, handgrip;101, grip bracket;102, guide rod;103, rocker arm connecting rod component;104, rotary driving machine Structure;105, third driving motor;106, sliding part;107, the first lead screw transmission mechanism;108, the first driving motor;109, first Screw rod;110, clamping refers to;111, connector sleeve;112, limit plate;2, collecting net;3, bracket is collected;4, mechanical arm telescopic device; 401, mechanical arm;402, telescopic arm;403, driving mechanism is slided;404, slide;405, the second lead screw transmission mechanism;406, second Driving motor;407, the second screw rod.
Specific embodiment
With reference to the accompanying drawing, specific embodiment of the present utility model is described in detail, it is to be understood that this is practical Novel protection scope is not limited by the specific implementation.
Specific embodiment of the present utility model is such that as shown in Figs 1-4, a kind of apple-picking machinery hand, including Mechanical arm telescopic device 4 and the rotatable handgrip 1 set on 4 front end of mechanical arm telescopic device, mechanical arm telescopic device 4 include machine Tool arm 401, mechanical arm 401 are equipped with the slide 404 that can be slided, and slide 404, which is equipped with, slides along what direction was extended Telescopic arm 402, the rotatable front end set on telescopic arm 402 of handgrip 1;Mechanical arm 401 is equipped with what driving slide 404 slided Driving mechanism 403 is slided, this apple-picking machinery hand can allow handgrip 1 to stretch by mechanical arm telescopic device 4, and crawl is different The apple of distance, without frequently shifting to device, adaptability is good;And the telescopic arm 402 on mechanical arm 401 is by sliding Driving mechanism 403 makes slide 404 reciprocatingly slide, and slides steadily, slides driving mechanism 403 and connect with controller, realizes automation Control, it is easy to control, it is swift in response.
In the present embodiment, handgrip 1 include the grip bracket 101 that can be rotated being equipped in 402 front end of telescopic arm and What 101 front end of grip bracket was equipped with can inwardly clamp, outward clamping refers to 110, and grip bracket 101 and clamping refer to 110 Between be equipped with rocker arm connecting rod component 103 connecting the two, drive clamping to refer to 110 outwardly or inwardly by rocker arm connecting rod component 103 Mobile, to tighten or open handgrip 1, rocker arm connecting rod component 103 and clamping refer to that 110, grip bracket 101 is hinged, constitute three joints Structure makes clamping refer to that 110 bending angle are big, and movement is more flexible, and driving is equipped between grip bracket 101 and telescopic arm 402 and is grabbed The rotary drive mechanism 104 that hand bracket 101 rotates drives handgrip 1 to turn an angle, makes to grab by rotary drive mechanism 104 Clamping on hand 1 refers to that 110 preferably clamp apple, and adaptability is better.
In the present embodiment, rotary drive mechanism 104 includes the driving grip bracket 101 being equipped in 402 front end of telescopic arm The third driving motor 105 of rotation, third driving motor 105 are equipped with the guide rod 102 being arranged across grip bracket 101, grab Hand bracket 101 is rotated around guide rod 102, and handgrip can rotate, the position that adjustment clamping refers to, preferably to catch apple, rotation Steadily, the sliding part 106 hinged with the rocking bar of rocker arm connecting rod component 103 is arranged on guide rod 102, the sliding of sliding part 106 can To drive rocker arm connecting rod component 103 to act, so that clamping is driven to refer to that 110 move in or out, grip bracket 101 and sliding part It is equipped with the first lead screw transmission mechanism 107 that driving sliding part 106 slides between 106, drives sliding part 106 to slide by screw rod, First lead screw transmission mechanism 107, sliding part 106 are integrated, and degree of integration is high in grip bracket 101, compact-sized, occupies empty Between it is small.
In the present embodiment, the first lead screw transmission mechanism 107 includes the driving sliding part being equipped on grip bracket 101 First driving motor 108 of 106 slidings, the first driving motor 108 is equipped with the first screw rod 109 connecting with sliding part 106, sliding Moving part 106 is equipped with connector sleeve 111 compatible with the first screw rod 109.
In the present embodiment, there are two the front end of grip bracket 101 is evenly arranged or multiple clampings refer to 110, with apple Surface is adapted, preferably promptly apple, fall apple will not easily;Rocker arm connecting rod component 103 is included in grip bracket The hinged seat that 101 front end faces are equipped with, the rocking bar and sliding part 106 on rocker arm connecting rod component 103 are hinged.
In the present embodiment, grip bracket 101 includes front end-plate, end plate and the support connecting the two of parallel arrangement The edge of front end-plate, end plate is arranged in bar, support rod, and clamping refers to that 110 are set on front end-plate, and the first driving motor 108 is set In on end plate;Guide rod 102 is arranged in the center of front end-plate and end plate, and sliding part 106 includes being sheathed on guide rod 102 Preceding turntable, rear turntable and connection connecting rod connecting the two, the rocking bar of preceding turntable and rocker arm connecting rod component 103 is hinged, preceding End plate is equipped with the relief hole being adapted with preceding turntable, and sliding part 106 is set to the inside of support rod, makes sliding part 106 in handgrip The internal activity of bracket 101, degree of integration is high, compact-sized, occupies little space;Guide rod 102 is equipped with and is arranged in preceding turntable Limit plate 112 between rear turntable, according to the actual situation, the sliding stroke of limit slippage part 106, control handgrip 1 open or The amplitude of tightening.
In the present embodiment, sliding driving mechanism 403 includes the second driving motor being equipped in the rear end of mechanical arm 401 406, the second lead screw transmission mechanism 405 slided between the second driving motor 406 and slide 404 equipped with driving slide 404, second Lead screw transmission mechanism 405 include the second screw rod 407 being equipped on the second driving motor 406 and be equipped on slide 404 with The compatible screw hole of second screw rod 407, screw rod transmission are 404 energy quick-expansions of slide, slide steady.
In the present embodiment, mechanical arm 401, which is equipped with, collects bracket 3 and collecting net 2, collects bracket 3 and collecting net 2 is set to The lower section of handgrip 1, apple can be easily and fast placed into collecting net 2 by the crawl apple of handgrip 1 to be stored, and reticular structure has Flexible, will not damage apple surface.
Above are merely preferred embodiments of the utility model, it should be pointed out that for those skilled in the art, Under the premise of not departing from the utility model structure, several modifications and improvements can also be made, it is practical new that these all will not influence this The effect and patent practicability that type is implemented.

Claims (9)

1. a kind of apple-picking machinery hand, which is characterized in that including mechanical arm telescopic device (4) and it is rotatable be set to the machine The handgrip (1) of tool arm telescopic device (4) front end, the mechanical arm telescopic device (4) include mechanical arm (401), the mechanical arm (401) it is equipped with the slide (404) that can be slided, direction is extended to stretch the slide (404) equipped with sliding along Arm (402), the rotatable front end set on the telescopic arm (402) of the handgrip (1);The mechanical arm (401), which is equipped with, drives That moves the slide (404) sliding slides driving mechanism (403).
2. a kind of apple-picking machinery hand according to claim 1, which is characterized in that the handgrip (1) is included in described The grip bracket (101) that can be rotated that telescopic arm (402) front end is equipped with and the energy being equipped in the grip bracket (101) front end Enough inwardly clampings, outward clamping refer to (110) that the grip bracket (101) and the clamping refer to the company of being equipped between (110) The rocker arm connecting rod component (103) for connecing the two is equipped with described in driving between the grip bracket (101) and the telescopic arm (402) The rotary drive mechanism (104) of grip bracket (101) rotation.
3. a kind of apple-picking machinery hand according to claim 2, which is characterized in that the rotary drive mechanism (104) It is included in the third driving motor (105) for the driving grip bracket (101) rotation that the telescopic arm (402) front end is equipped with, The third driving motor (105) is equipped with the guide rod (102) being arranged across the grip bracket (101), the guide rod (102) sliding part (106) hinged with the rocking bar of the rocker arm connecting rod component (103), the grip bracket (101) are arranged on The first lead screw transmission mechanism (107) for driving sliding part (106) sliding is equipped between the sliding part (106).
4. a kind of apple-picking machinery hand according to claim 3, which is characterized in that first lead screw transmission mechanism (107) include the grip bracket (101) be equipped with the driving sliding part (106) sliding the first driving motor (108), first driving motor (108) is equipped with the first screw rod (109) connecting with the sliding part (106), the cunning Moving part (106) is equipped with first screw rod (109) compatible connector sleeve (111).
5. a kind of apple-picking machinery hand according to claim 4, which is characterized in that before the grip bracket (101) There are two end is evenly arranged or multiple clampings refer to (110);The rocker arm connecting rod component (103) is included in the grip bracket (101) hinged seat that front end face is equipped with, the rocking bar and the sliding part (106) on the rocker arm connecting rod component (103) are hinged.
6. a kind of apple-picking machinery hand according to claim 5, which is characterized in that the grip bracket (101) includes Front end-plate, end plate and the support rod connecting the two of parallel arrangement, the clamping refer to that (110) are set on front end-plate, described the One driving motor (108) is set on end plate;The guide rod (102) is arranged in the center of the front end-plate and end plate, institute Stating sliding part (106) includes the preceding turntable being sheathed on the guide rod (102), rear turntable and connection connection connecting the two Bar, the preceding turntable and the rocking bar of the rocker arm connecting rod component (103) are hinged, and the front end-plate is equipped with and the preceding turntable phase The relief hole of adaptation;The guide rod (102) is equipped with the limit plate (112) being arranged between the preceding turntable and rear turntable.
7. according to claim 1 to a kind of apple-picking machinery hand described in 6 any one, which is characterized in that the cunning The second driving motor (406) that the rear end that row driving mechanism (403) is included in the mechanical arm (401) is equipped with, described second drives The second lead screw transmission mechanism for driving slide (404) sliding is equipped between dynamic motor (406) and the slide (404) (405)。
8. a kind of apple-picking machinery hand according to claim 7, which is characterized in that second lead screw transmission mechanism (405) include the second screw rod (407) and be equipped on the slide (404) that second driving motor (406) is equipped with The compatible screw hole with second screw rod (407).
9. a kind of apple-picking machinery hand according to claim 1, which is characterized in that the mechanical arm (401) is equipped with Collect bracket (3) and collecting net (2).
CN201820608673.9U 2018-04-26 2018-04-26 A kind of apple-picking machinery hand Expired - Fee Related CN208323438U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820608673.9U CN208323438U (en) 2018-04-26 2018-04-26 A kind of apple-picking machinery hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820608673.9U CN208323438U (en) 2018-04-26 2018-04-26 A kind of apple-picking machinery hand

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CN208323438U true CN208323438U (en) 2019-01-04

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109940591A (en) * 2019-04-29 2019-06-28 中信戴卡股份有限公司 A kind of wheel hub conveying robot
CN110896731A (en) * 2019-02-21 2020-03-24 山东理工职业学院 Harmless fig is broken off with fingers and thumb and is draged to receive juice packing light protection car
CN111527882A (en) * 2020-05-12 2020-08-14 青岛科技大学 Parallel type automatic famous tea picking robot
CN111758380A (en) * 2020-06-28 2020-10-13 中国农业大学 Fruit and vegetable picking manipulator, picking robot and picking method thereof
CN112660797A (en) * 2020-12-09 2021-04-16 中广核研究院有限公司 Filter core sewage collection device
CN113748975A (en) * 2021-10-13 2021-12-07 南京纪曼图数码科技有限公司 Integrated harvesting device for soilless culture green tomatoes
CN114161436A (en) * 2021-11-24 2022-03-11 新疆钵施然智能农机股份有限公司 Mechanical gripper for picking fruits without damage

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110896731A (en) * 2019-02-21 2020-03-24 山东理工职业学院 Harmless fig is broken off with fingers and thumb and is draged to receive juice packing light protection car
CN109940591A (en) * 2019-04-29 2019-06-28 中信戴卡股份有限公司 A kind of wheel hub conveying robot
CN111527882A (en) * 2020-05-12 2020-08-14 青岛科技大学 Parallel type automatic famous tea picking robot
CN111758380A (en) * 2020-06-28 2020-10-13 中国农业大学 Fruit and vegetable picking manipulator, picking robot and picking method thereof
CN112660797A (en) * 2020-12-09 2021-04-16 中广核研究院有限公司 Filter core sewage collection device
CN113748975A (en) * 2021-10-13 2021-12-07 南京纪曼图数码科技有限公司 Integrated harvesting device for soilless culture green tomatoes
CN114161436A (en) * 2021-11-24 2022-03-11 新疆钵施然智能农机股份有限公司 Mechanical gripper for picking fruits without damage

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Date Code Title Description
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20211111

Address after: 543000 the third row of iron fences in the west block (5) of Rulong tunnel, Changzhou District, Wuzhou City, Guangxi Zhuang Autonomous Region

Patentee after: Wuzhou huamr Automobile Technology Co.,Ltd.

Address before: 543000 No. 82, Fumin 3rd road, Wanxiu District, Wuzhou City, Guangxi Zhuang Autonomous Region

Patentee before: WUZHOU University

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: 20190104