CN208724432U - Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism - Google Patents
Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism Download PDFInfo
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- CN208724432U CN208724432U CN201821370144.6U CN201821370144U CN208724432U CN 208724432 U CN208724432 U CN 208724432U CN 201821370144 U CN201821370144 U CN 201821370144U CN 208724432 U CN208724432 U CN 208724432U
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- 229910003460 diamond Inorganic materials 0.000 title claims abstract description 100
- 239000010432 diamond Substances 0.000 title claims abstract description 100
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 53
- 230000008602 contraction Effects 0.000 claims abstract description 22
- 238000005452 bending Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000003306 harvesting Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000013340 harvest operation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical compound Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 description 1
- 235000003283 Pachira macrocarpa Nutrition 0.000 description 1
- 240000001085 Trapa natans Species 0.000 description 1
- 235000014364 Trapa natans Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004709 eyebrow Anatomy 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 235000009165 saligot Nutrition 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The utility model belongs to picking mechanical arm design field, refers in particular to a kind of fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism.The manipulator solves the problems such as low prior art the degree of automation, large labor intensity, long elapsed time.The manipulator is mainly made of handle main body, transverse handle, handle, Double Diamond frame and manipulator；Transverse handle is fixed in the extension and contraction control portion in handle main body, and handle is perpendicularly fixed in handle main body；Double Diamond frame one end is mounted in handle main body；The other end solid mechanical hand of Double Diamond frame.The utility model has many advantages, such as that easy to operate, stability is good, wrapped good, at low cost, is suitable for fruit picking operation.
Description
Technical field
The utility model belongs to picking mechanical arm design field, refers in particular to a kind of based on three-dimensional diamond shape telescoping mechanism
Fruits picking mechanical hand.
Background technique
Fruit picking operation is a link most time-consuming, most laborious in Production of fruit, and harvest belongs to labour intensive again
Type operation needs during fruit harvest the labour of investment to account for about the 50%-70% of entire production process, and in fruit harvest operation
In the process, artificial harvest is frequently necessary to bend over or ascend a height by ladder, therefore fruit harvest operation is not only a labor intensity
Greatly, elapsed time is long, and is the labor operation with certain risk, with the continuous improvement of people's quality of life, people
Also it is badly in need of freeing from the labour of this high-intensitive high risk, therefore realizes that the mechanization of fruit harvest becomes more next
It is more urgent, it studies agriculture fruit picking mechanical arm and has great importance.
For domestic fruit picking at this stage mainly based on picking manually, the degree of automation is not high.In recent years, foreign countries are in fruit
Though many achievements are achieved in terms of the research of vegetable picking robot, due to the influence of the factors such as technology, market and price, picking
The research work of robot sinks into pause substantially.Compared with foreign countries, the domestic research in terminal executor of fruit and vegetable picking robot
Aspect is started late, and achievement is relatively fewer.Up to the present, the domestic end for developing fruit picking robot not yet executes
Device.
Summary of the invention
Goal of the invention:
The utility model be directed to a kind of light structure, it is easy to operate, easy to carry, can be achieved it is multi-direction adopt cut, from
Dynamicization degree is high, does not damage the fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism of fruit.
Technical solution:
Based on the fruits picking mechanical hand of three-dimensional diamond shape telescoping mechanism, which includes handle main body, cross
To handle, handle, Double Diamond frame and gripper；
Transverse handle is fixed in the extension and contraction control portion in handle main body, and handle is perpendicularly fixed in handle main body；
Double Diamond frame one end is mounted in handle main body；The other end of Double Diamond frame is connect with gripper；
Orthogonal diamond shape frame I and II both ends of diamond shape frame connect with retractable ends and extension and contraction control portion respectively in Double Diamond frame
It connects；Diamond shape frame I is connected among diamond shape frame II by several mandrels, and retractable ends are connect with gripper, extension and contraction control portion and hand
The connection of handle main body, handle trigger frame are fixed on handle, and one end of handle trigger is connect with handle trigger frame, handle
The other end of trigger is fixedly connected with one end of control line；The other end of control line is connect with gripper.
The fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism, diamond shape frame I are even rolled over by symmetrical two
What bar was constituted, even broken line is made of the short side at both ends and several long sides, is mounted on a mandrel among long side；
Symmetrical diamond shape frame II is made of two telescopic rods, and telescopic rod is connected by several diamond shape sides.
Hand support axis one end of the fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism, gripper is fixed
On retractable ends, the other end is equipped with the palm of the hand, and the palm of the hand is circumferentially uniformly arranged four double threaded screws outward, and double threaded screw passes through hand
Heart connecting rod head is connect with finger, and the transverse support bar of finger lower end is mounted on the lower end of hand support axis, the transverse direction of finger lower end
Spring is installed between support rod and retractable ends.
The palm of the hand and the finger inside of the fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism, gripper are equipped with
Cushion rubber bumper.
The fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism, retractable ends center are the sides with fixation hole
Body, four sides are respectively provided with a lug, and lug side is equipped with through-hole, and hand support axis is fixed by fixation hole and retractable ends；
Extension and contraction control portion center is equipped with the through-hole to match with handle main body diameter, and extension and contraction control portion is sliding in handle main body
Dynamic, four sides of cube are equipped with a convex block among extension and contraction control portion, and the side of convex block is equipped with fixation hole.
The fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism, handle end crosspiece are fixed on handle main body
End, handle end bow one end are fixed on handle end crosspiece, and the other end of handle end bow is mounted on
In mandrel.
The fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism, control line one end is fixed on handle trigger
On connecting hole, control line interlocks pulley on diamond shape frame I, on the other end of control line and the transverse support bar of finger lower end
Through-hole close to hand support axis is fixedly connected.
The fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism, it is every on company's pole of diamond shape frame I
A bending place is designed with pulley, and control line staggeredly controls the opening and closing of gripper by pulley up and down.
Advantage and effect:
Compared with prior art, the utility model has the advantage that
One, easy to operate: manipulator completely manual operation, operating method is simple and clear, has given up the complexity of apparatus control
Property, so that fruit picking rate is become higher.
Two, stability is good: manipulator uses Double Diamond frame mechanism, and stability and load-bearing capacity improve, even if picking is larger
Fruit also without lifting an eyebrow.The hand getting of this machinery is diamond shape telescoping mechanism, but the diamond shape for being different from traditional planar shaped is flexible
Mechanism, the maximum feature of this manipulator are to use three-dimensional diamond shape telescoping mechanism i.e. Double Diamond frame mechanism.Using the mechanism, one
Aspect ensure that manipulator has retractile characteristic, this is very helpful to the far and near different fruit of picking；It is prior
It is that Double Diamond frame mechanism supports each other, greatly improves the strength and stiffness of diamond shape telescoping mechanism, so that diamond shape telescoping mechanism
Even if collapsing length changes greatly, the fruit of achievement crawl distant place also can guarantee, and smoothly fetch.The Double Diamond frame telescopic machine
Structure is the main innovation point of the utility model.
Three, wrapped good: manipulator four paws is furnished with rubber mat, can preferably wrap up fruit, reduces fruit and breakage occurs
May, and be manually operated more proper than motor-driven dynamics control；Manipulator is furnished with spring, with self-return and can clamp water
Fruit.
Four, at low cost: the making material of manipulator is simple, can easily assemble very much, reduce unnecessary cost, phase
It is very bigger than the advantage of maneuver autopilot.
Detailed description of the invention:
Fig. 1 is the structural schematic diagram of the utility model robot arm；
Fig. 2 is the structural schematic diagram of the utility model Double Diamond frame；
Fig. 3 is the structural schematic diagram of the utility model handle gripping portion；
Fig. 4 is the overall structure diagram of the utility model；
Fig. 5 is the structural schematic diagram that Fig. 4 is rotated by 90 °；
Fig. 6 is the schematic perspective view of the utility model.
Description of symbols:
1, finger, 2, palm of the hand connecting rod head, 3, the palm of the hand, 4, spring, 5, hand support axis, 6, double threaded screw, 7, retractable ends,
8, diamond shape side, 9, pulley, 10, mandrel, 11, handle end bow, 12, handle end crosspiece, 13, handle main body, 14, hand
Handle trigger, 15, handle trigger frame, 16, transverse handle, 17, extension and contraction control portion, 18, diamond shape frame I, 19, diamond shape frame II.
Specific embodiment:
The utility model is described further with reference to the accompanying drawing:
As shown in fig. 6, the fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism, the fruits picking mechanical hand include hand
Handle main body 13, transverse handle 16, handle, Double Diamond frame and gripper；Shown in Fig. 6, entire picking mechanical arm is from front to back
It is sequentially connected gripper, Double Diamond frame and handle main body 13, transverse handle 16 is fixed on handle main body stretching close to Double Diamond frame
On the rear end face of contracting control unit 17, by push transverse handle 16 realize Double Diamond rack elongation and contraction, be conveniently adjusted with
The height relationships of fruit-picking.
As shown in figure 3, transverse handle 16 is fixed in the extension and contraction control portion 17 in handle main body 13, handle is vertically solid
Due in handle main body 13；Handle is vertically fixed in handle main body 13 by bolt, and handle mainly facilitates behaviour
Make support and fixation of the personnel to entire manipulator, stablizing when being easy to use holds；
Double Diamond frame one end is mounted in handle main body 13；The other end of Double Diamond frame is connect with gripper；
As shown in Figure 4 and Figure 5, in Double Diamond frame orthogonal diamond shape frame I 18 and II 19 both ends of diamond shape frame respectively with stretch
Contracting end 7 and extension and contraction control portion 17 connect；It is connected among diamond shape frame I 18 and diamond shape frame II 19 by several mandrels 10, telescopic end
Portion 7 is connect with gripper, and extension and contraction control portion 17 is connect with handle main body 13；In order to guarantee the firm of Double Diamond frame, diamond shape frame I 18
It is fixedly connected respectively with the fixation hole of 17 convex block of the through-hole of 7 lug of retractable ends and extension and contraction control portion with II 19 both ends of diamond shape frame,
It is fixed among diamond shape frame I 18 and diamond shape frame II 19 using mandrel 10 simultaneously, ensure that the overall stability of entire Double Diamond rack；
The quantity of mandrel 10 is that the number for the rhombic quadrangles that diamond shape frame I 18 or diamond shape frame II 19 are constituted subtracts one；
Using Double Diamond frame structure, it on the one hand ensure that manipulator has retractile characteristic, this is far and near to picking not
Same fruit is very helpful；Importantly, Double Diamond frame mechanism supports each other, diamond shape telescoping mechanism is greatly improved
Strength and stiffness, though it also can guarantee the fruit of achievement crawl distant place so that diamond shape telescoping mechanism collapsing length changes greatly, and
Smoothly fetch.
Transverse handle 16 is fixed on 17 bottom of extension and contraction control portion, and handle trigger frame 15 is fixed on handle, handle
One end of trigger 14 is connect with handle trigger frame 15, and the other end of handle trigger 14 is fixedly connected with one end of control line；Control
The other end of line processed is connect with gripper.It can control the opening and tightening of gripper by control line.
As shown in figure 5, diamond shape frame I 18 is made of symmetrical two company's poles, connect pole by the short side sum number at both ends
Long side is constituted, and installation on the mandrel 10, is equipped with through-hole among long side among long side, and mandrel 10 passes through long side intermediate throughholes and consolidates
It is fixed；
As shown in figure 4, symmetrical diamond shape frame II 19 is made of two telescopic rods, telescopic rod is connected by several diamond shape sides 8.Water chestnut
Shape frame I 18 and the elongation of diamond shape frame II 19 are equal with the movable length shunk, guarantee that entire Double Diamond supporting structure is stable, length of stretching
Degree synchronizes.
As shown in Figure 1,5 one end of hand support axis of gripper is fixed on retractable ends 7, the other end is equipped with the palm of the hand 3,
The palm of the hand 3 is circumferential outward to be uniformly arranged four double threaded screws 6, and double threaded screw 6 is connect by palm of the hand connecting rod head 2 with finger 1, finger 1
The transverse support bar of lower end is mounted on the lower end of hand support axis 5, between the transverse support bar and retractable ends 7 of 1 lower end of finger
Spring 4 is installed, spring 4 plays self-return and clamps
Palm of the hand connecting rod head 2 and finger 1 are hinged, and the lower end and transverse support bar one end of finger 1 are rotatablely connected, transverse support bar
The other end and hand support axis 5 are fixed, and transverse support bar is equipped with the through-hole of fixed control line；
Cushion rubber bumper is equipped on the inside of the palm of the hand 3 and finger 1 of gripper.In order to improve gripper to the wrapped of fruit and
Guarantee to be damaged when fruit will not be picked again, rubber pad or other elastic gums will be equipped on the inside of gripper finger 1 and the palm of the hand 3
Pad.
From fig. 6, it can be seen that 7 center of retractable ends is the cube with fixation hole, four sides are respectively provided with a lug, lug side
Face is equipped with through-hole, and hand support axis 5 is fixed by fixation hole and retractable ends 7；
17 center of extension and contraction control portion is equipped with the through-hole to match with 13 diameter of handle main body, and extension and contraction control portion 17 is in handle master
It is slided on body 13, four sides of the intermediate cube in extension and contraction control portion 17 are equipped with a convex block, and the side of convex block is equipped with fixation hole.
As shown in figure 3, handle end crosspiece 12 is fixed on 13 end of handle main body, 11 one end of handle end bow is solid
It is scheduled on handle end crosspiece 12, the other end of handle end bow 11 is mounted on the mandrel 10." T " shape handle
12 one end of end rails is bolted with handle main body 13,12 other end of handle end crosspiece and two handle end fork-shapeds
11 one end of bracket is respectively fixedly connected with, and the handle end bow other end is equipped with through-hole and passes through mandrel 10, can preferably be protected
Demonstrate,prove the stabilization of Double Diamond frame；
Control line one end is fixed on handle trigger 14 on connecting hole, and control line interlocks pulley on diamond shape frame I 18
9, the other end of control line is fixedly connected with the through-hole in the transverse support bar of 1 lower end of finger close to hand support axis 5.
As shown in Fig. 2, each bending place on company's pole of diamond shape frame I 18 is designed with pulley 9, above and below control line
The opening and closing of gripper are staggeredly controlled by pulley 9.
As shown in fig. 6, specific implementation process can be generally high according to fruit tree according to fruit tree height adjustment Double Diamond frame structure
Degree, preferably every company's pole of diamond shape frame I 18 are interconnected to constitute by two short sides and intermediate three long sides of two sides, diamond shape
The every telescopic rod of frame II 19 is connected with each other by 8 diamond shape sides 8.
The specific operation process of fruits picking mechanical hand is:
The collapsing length that diamond shape frame is adjusted by promotion transverse handle 16 reaches height required for fruit-picking,
Handheld mechanical hand handle main body 13 detains handle trigger 14, the control line for driving handle trigger 14 to connect, four fingers of gripper
It opens, is directed at the fruit of picking, release handle trigger 14, spring 4 resets, and four fingers 1 collapse, and fruit clamps, and then exerts oneself
Fruit is taken, primary picking movement is completed.
Claims (8)
1. the fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism, it is characterised in that: the fruits picking mechanical hand includes hand
Handle main body (13), transverse handle (16), handle, Double Diamond frame and gripper；
Transverse handle (16) is fixed in the extension and contraction control portion (17) on handle main body (13), and handle is perpendicularly fixed at handle
In main body (13)；Double Diamond frame one end is mounted on handle main body (13)；The other end of Double Diamond frame is connect with gripper；
In Double Diamond frame orthogonal diamond shape frame I (18) and diamond shape frame II (19) both ends respectively with retractable ends (7) and flexible
Control unit (17) connection；Pass through several mandrels (10) among diamond shape frame I (18) and diamond shape frame II (19) to connect, retractable ends (7)
It is connect with gripper, extension and contraction control portion (17) are connect with handle main body (13), and handle trigger frame (15) is fixed on handle
On, one end of handle trigger (14) is connect with handle trigger frame (15), and the one of the other end of handle trigger (14) and control line
End is fixedly connected；The other end of control line is connect with gripper.
2. the fruits picking mechanical hand according to claim 1 based on three-dimensional diamond shape telescoping mechanism, it is characterised in that: diamond shape
Frame I (18) is made of symmetrical two company's poles, and even broken line is made of the short side at both ends and several long sides, peace among long side
On mandrel (10)；
Symmetrical diamond shape frame II (19) is made of two telescopic rods, and telescopic rod is connected by several diamond shape sides (8).
3. the fruits picking mechanical hand according to claim 1 based on three-dimensional diamond shape telescoping mechanism, it is characterised in that: mechanical
Hand support axis (5) one end of pawl is fixed on retractable ends (7), and the other end is equipped with the palm of the hand (3), and the palm of the hand (3) is circumferential outward
Four double threaded screws (6) are uniformly arranged, double threaded screw (6) is connect by palm of the hand connecting rod head (2) with finger (1), finger (1) lower end
Transverse support bar be mounted on the lower ends of hand support axis (5), the transverse support bar of finger (1) lower end and retractable ends (7) it
Between spring (4) are installed.
4. the fruits picking mechanical hand according to claim 3 based on three-dimensional diamond shape telescoping mechanism, it is characterised in that: mechanical
Cushion rubber bumper is equipped on the inside of the palm of the hand (3) and finger (1) of pawl.
5. the fruits picking mechanical hand according to claim 1 based on three-dimensional diamond shape telescoping mechanism, it is characterised in that: flexible
End (7) center is the cube with fixation hole, and four sides are respectively provided with a lug, and lug side is equipped with through-hole, hand support axis (5)
It is fixed by fixation hole and retractable ends (7)；
Extension and contraction control portion (17) center is equipped with the through-hole to match with handle main body (13) diameter, and extension and contraction control portion (17) are in handle
Main body is slided on (13), and four sides of extension and contraction control portion (17) intermediate cube are equipped with a convex block, and the side of convex block is equipped with
Fixation hole.
6. the fruits picking mechanical hand according to claim 1 based on three-dimensional diamond shape telescoping mechanism, it is characterised in that: handle
End rails (12) are fixed on handle main body (13) end, and handle end bow (11) one end is fixed on handle end crosspiece
(12) on, the other end of handle end bow (11) is mounted on mandrel (10).
7. the fruits picking mechanical hand according to claim 1 based on three-dimensional diamond shape telescoping mechanism, it is characterised in that: control
Line one end is fixed on handle trigger (14) on connecting hole, and control line interlocks pulley (9) on diamond shape frame I (18), control
The other end of line is fixedly connected with the through-hole in the transverse support bar of finger (1) lower end close to hand support axis (5).
8. the fruits picking mechanical hand according to claim 1 or claim 7 based on three-dimensional diamond shape telescoping mechanism, it is characterised in that:
Each bending place on one company's pole of diamond shape frame I (18) is designed with pulley (9), and control line staggeredly passes through pulley (9) up and down
Control the opening and closing of gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821370144.6U CN208724432U (en) | 2018-08-24 | 2018-08-24 | Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821370144.6U CN208724432U (en) | 2018-08-24 | 2018-08-24 | Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208724432U true CN208724432U (en) | 2019-04-12 |
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ID=66032229
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821370144.6U Active CN208724432U (en) | 2018-08-24 | 2018-08-24 | Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN208724432U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901363A (en) * | 2018-08-24 | 2018-11-30 | 沈阳工业大学 | Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism |
-
2018
- 2018-08-24 CN CN201821370144.6U patent/CN208724432U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901363A (en) * | 2018-08-24 | 2018-11-30 | 沈阳工业大学 | Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism |
| CN108901363B (en) * | 2018-08-24 | 2024-04-05 | 沈阳工业大学 | Fruit picking manipulator based on three-dimensional diamond telescopic mechanism |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240322 Address after: 310000, 5th Floor, Building 1, Liandong U Valley, No. 189 Hongcan Road, Hongkeng Farm, Xiaoshan Economic and Technological Development Zone, Xinjie Street, Xiaoshan District, Hangzhou City, Zhejiang Province -503 Patentee after: Gangruan Robot Intelligent Technology (Zhejiang) Co.,Ltd. Country or region after: China Address before: No.111 Shenyang West Liaoning Economic Development Zone Patentee before: SHENYANG University OF TECHNOLOGY Country or region before: China |