CN209089448U - Apple picking robot hand structure - Google Patents
Apple picking robot hand structure Download PDFInfo
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- CN209089448U CN209089448U CN201821923252.1U CN201821923252U CN209089448U CN 209089448 U CN209089448 U CN 209089448U CN 201821923252 U CN201821923252 U CN 201821923252U CN 209089448 U CN209089448 U CN 209089448U
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- finger
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- robot hand
- support rod
- picking robot
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Abstract
The utility model proposes a kind of apple picking robot hand structures, including pivot flange and support rod, pivot flange is connect with support rod, the support rod is connect with fixed ring, fixed ring is equipped with movable crawl finger and shearing finger, crawl finger is flexibly connected with telescoping mechanism I, and shearing finger is flexibly connected with telescoping mechanism II.The utility model has the beneficial effects that simultaneously including grasping mechanism and cutting mechanism, complete to can be realized the shearing to fruit while crawl；Grasping mechanism and cutting mechanism are mutually indepedent, and independent cylinder driving is respectively adopted, avoids influencing each other between the two, while being conducive to the dragging operation to fruit；Including adaptive component, manipulator is improved to the adaptedness of fruit size.
Description
Technical field
The utility model relates to mechanical device, particularly relate to have a kind of air pressure of adaptation function to drive robot hand knot
Structure.
Background technique
In recent years, robot obtains in fields such as industry, agricultural, medical treatment, military affairs due to the rapid development of robot technology
It must be widely applied.The application of agricultural robot, which can be improved labor productivity, improve working conditions, solve manpower shortage etc., asks
Topic.A seed type of the picking robot as agricultural robot is mainly used for picking tomato, apple, citrus etc., have very big
Development potentiality.
Foreign countries start from the forties in last century to orchard picking mechanical investigations, and the country headed by the U.S., Britain is relatively early to carry out
Research in this respect.To the sixties, picking mechanical is determined stroke and pushes away the machine of shaking to develop to inertia-type shaking machine, impacting type machine by single
A plurality of types of picking mechanicals such as tool.The sweet orange picking robot of Univ Florida USA uses two relatively independent machines
People, first robot is responsible for finding and finding the position of sweet orange, and calculates the picking path of full blast, by information and data
Second robot is reached, second robot is responsible for winning fruit.
China from the 1970s begin one's study orchard picking machinery, successively develop mechanical-vibration type hawthorn fruit picking
Machine, gasbag-type fruit picker and hand electric fruit picker.After the eighties, cutting-type device for picking is begun one's study and manufactured.2007 new
Boundary mechanical investigations institute has developed China's First multifunctional garden operation machine, i.e. LG-1 type multifunctional garden operation machine, this is one
The self-propelled working rig of the functions such as the picking of kind collection, trimming, transport.Hereafter there are more picking robot developments, push agricultural hair
Exhibition.
There are more problems, such as publication No. to be for shearing of the current picking mechanical arm to the crawl of fruit and carpopodium
CN107926281A, the patent application document and notification number of a kind of entitled pneumatic type apple-picking device are
A kind of CN203840780U, entitled patent document of fruit picker, only includes the grasping mechanism of fruit, is grabbing
Cheng Hou cannot shear carpopodium, and publication No. be CN108174690A, a kind of entitled patent document of fruit picking apparatus,
Although being equipped with blade on grabbing claw, carpopodium can be sheared after the completion of crawl, if fruit is excessive, grabbing claw can not be closed
Hold together, is unable to complete the merging shearing of blade, while existing picking mechanical arm is being grabbed mostly not to the adaptation function of fruit
When taking lesser fruit, it is easy to fall between the gap of manipulator.
To sum up, apple-picking machine hand there are the discriminations of fruit and picking rate not high, damage ratio and manufacturing cost
The problems such as higher.And the apple clamping manipulator of air pressure driving has small in size, high reliablity, and it is at low cost, it is environmentally protective etc. excellent
Point is widely used in fruit crawl operation.Therefore for above situation design it is a kind of improve the flexibility of manipulator, dexterity and
Versatility, improves picking success rate, reduces fruit damage ratio, and the manipulator with adaptation function has highly important
Art and practice significance.
Utility model content
The utility model proposes a kind of apple picking robot hand structures, solve existing fruits picking mechanical hand picking
Ineffective problem.
The technical solution of the utility model is achieved in that a kind of apple picking robot hand structure, including support
Flange and support rod, pivot flange are connect with support rod, and the support rod is connect with fixed ring, and fixed ring is equipped with movable
Finger and shearing finger are grabbed, crawl finger is flexibly connected with telescoping mechanism I, and shearing finger is flexibly connected with telescoping mechanism II.
The telescoping mechanism II is set on support rod, and telescoping mechanism II is connect with pivot flange.
The telescoping mechanism II includes connecting rod II, loose collar II, connector II and cylinder II, shearing finger with connect
Bar II is flexibly connected, and connecting rod II is flexibly connected with loose collar II, and loose collar II is set on support rod, loose collar II with connect
Part II is flexibly connected, and connector II is connect with cylinder I I, and cylinder I I is connect with pivot flange.
The loose collar II is connect with guide rod II, and guide rod II is slidably matched with pivot flange.
The support rod is connect with adaptive component.
The adaptive component includes pallet, spring, shifting axle and fixes sleeve, and fixes sleeve is connect with support rod,
Shifting axle activity is fastened in fixes sleeve, and shifting axle is connect with pallet, and spring is equipped between pallet and fixes sleeve.
The crawl finger is equipped with rubber pad.
The end of the shearing finger is equipped with blade.
The pivot flange and wrist flanged joint, wrist flange are connect with Telescopic rotating arm mechanism.
The utility model has the beneficial effects that simultaneously including grasping mechanism and cutting mechanism, it can while completing crawl
Realize the shearing to fruit；Grasping mechanism and cutting mechanism are mutually indepedent, and independent cylinder driving is respectively adopted, avoids the two
Between influence each other, cause grasping mechanism to influence the situation of cutting mechanism, while being conducive to the dragging operation to fruit；Including adaptive
Component is answered, improves manipulator to the adaptedness of fruit size.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the adaptive component structure diagram of the utility model.
Fig. 4 is the A-A direction view of Fig. 2.
In figure: 1. crawl fingers, 2. shearing fingers, 3. adaptive components, 4. rotating assemblies, 5. connecting rod I, 6. loose collars
I, 7. connector I, 8. cylinder Is, 9. support frame I, 10. pivot flanges, 11. bolt connection piece I, 12. bolt connection piece II, 13.
Wrist flange, 14. guide rod I, 15. support rods, 16. axle sleeve I, 17. fixed rings, 18. rubber pads, 19. connecting rod II, 20. is living
Rotating ring II, 21. connector II, 22. cylinder I I, 23. support frame II, 24. guide rod II, 25. axle sleeve II, 3-1. pallets, 3-2.
Spring, 3-3. shifting axle, 3-4. fixes sleeve, 4-1. axle sleeve III, 4-2. shaft, 4-3. retaining ring.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are under that premise of not paying creative labor
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figs. 1-2, the utility model is that the air pressure with adaptation function drives robot hand structure, including grabs
Take finger 1, shearing finger 2, adaptive component 3, rotating assembly 4, connecting rod I 5, loose collar I 6, connector I7, cylinder I 8, branch
Support I 9, pivot flange 10, bolt connection piece I11, bolt connection piece II12, wrist flange 13, guide rod I14, support rod 15,
Axle sleeve I16, fixed ring 17, rubber pad 18, connecting rod II19, loose collar II 20, connector II21, cylinder II 22, support frame II
23, guide rod II24 and axle sleeve II25.
It is hinged by rotating assembly 4 and fixed ring 17 to grab finger 1, crawl finger 1 passes through rotating assembly 4 and connecting rod I 5
Hingedly, connecting rod I 5 is hinged by rotating assembly 4 and loose collar I 6, to form four-bar linkage, grabs and installs on finger 1
There is rubber pad 18, for protecting apple；Similarly, shearing finger 2 is hinged by rotating assembly 4 and fixed ring 17, and shearing finger 2 is logical
It crosses rotating assembly 4 and connecting rod II19 is hinged, connecting rod II19 is hinged by rotating assembly 4 and loose collar II20, forms plane
Four-bar mechanism.
Fixed ring 17, which is connected through a screw thread, to be fixed on support rod 15, and loose collar I 6 and loose collar II 20 pass through axle sleeve respectively
I 16 cooperations form prismatic pair on support rod 15, and connector I 7 and pneumatic cylinder I 8 are connected through a screw thread fixation, and connector I 7 passes through
Rotating assembly 4 and loose collar I 6 are hinged, and so that cylinder is provided driving force slides loose collar I 6 on support rod 15；Similarly, it connects
Part II 21 and cylinder II 22 are connected through a screw thread fixation, and connector II 21 is hinged by rotating assembly 4 and loose collar II 20, use
Identical installation method and driving method.
Support frame I 9 is bolted part II12 and is fixed on pivot flange 10, and cylinder I 8, which is connected through a screw thread, to be fixed on
On support frame I 9；Similarly, support frame II 23 is bolted part II12 and is fixed on pivot flange 10, and cylinder II 22 passes through spiral shell
Line is fastened on support frame II23.
In I 6 sliding process of loose collar, in order to reduce friction, guide rod I 14 and shaft sleeve II 25, guide rod I 14 1 are added
End is connect with connector I 7, and the other end passes through pivot flange 10, is matched with the axle sleeve II25 sliding being fixed in 10 hole of pivot flange
It closes, moves in a straight line I 14 boot activity ring I 6 of guide rod, reduce tilting moment, to reduce frictional force；Similarly, guide rod
II 24 one end are connect with connector II21, and the other end is slidably matched with axle sleeve II25, and II 24 boot activity ring II 20 of guide rod is done
Linear motion reduces tilting moment, to reduce frictional force.
Support rod 15 is fastened on pivot flange 10 by nut, wrist flange 13 be bolted part I11 with
Pivot flange 10 is connected and fixed, and wrist flange 13 is preset with connecting hole, and robot hand structure is mounted on machine by connecting hole
On the Telescopic rotating arm mechanism of device people.
As shown in Figs. 1-2, crawl finger 1 and shearing finger 2 are processed into arc, and difference is, shearing finger 2 needs to protect
The accurate closure of card, thereby may be ensured that good shear effect, therefore shear prolonging in the tangential direction along circular arc for finger 2
It is long, and it is processed into blade in end, carpopodium is sheared using the blade after touching two fingers.
As shown in figure 3, adaptive component 3 includes pallet 3-1, spring 3-2, shifting axle 3-3 and fixes sleeve 3-4.It is fixed
Sleeve 3-4 is locked on support rod 15, and shifting axle 3-3 activity is fastened in fixes sleeve 3-4, and pallet 3-1 is locked in shifting axle
On 3-3, spring 3-2 is between pallet 3-1 and fixes sleeve 3-4, and spring 3-2 covers on shifting axle 3-3.Work as manipulator
When grabbing apple, apple squeezes pallet 3-1, and spring 3-2 is shunk, and shifting axle 3-3 is mobile, so as to adapt to apple of different sizes
Fruit.The outer diameter of apple is by crawl finger positioning, and apple height is by crawl finger top and the positioning of adaptive component.Finally,
Apple is by reliable grip and positioning.The adaptability to apple of manipulator can be improved in adaptive component, can be promptly different
The apple of outer diameter and axial height.Meanwhile it is consistent with the length that crawl finger can guarantee to win apple stalk by the component, it keeps away
Exempt to shear finger to the secondary damage of apple.
As shown in figure 4, rotating assembly 4 includes III 4-1 of axle sleeve, shaft 4-2 and retaining ring 4-3.To shear finger 2 and connecting rod
For II19, the outer circle of axle sleeve III4-1 and the connection in shearing 2 hole of finger are using interference fit, between inner circle and shaft 4-2 use
Gap cooperation, shaft 4-2 pass through shearing finger 2 and connecting rod II9, and retaining ring 4-3 blocks shaft 4-2, to form revolute pair.Air pressure
The four-bar mechanism revolute pair of driving finger all uses rotating assembly 4 to constitute.
The course of work and principle of the utility model are as follows: the initial shift of the utility model mainly completes grabbing for apple
It takes and shearing work, realizes the mechanical picking of fruit.Cylinder I 8 work, piston rod stretch out drive by loose collar I 6, connecting rod I 5,
Grab the rotation of the composed four-bar mechanism of finger 1 and fixed ring 17, i.e. turn of the mobile drive crawl finger 1 of loose collar I 6
Dynamic, crawl finger 1 is closed, and envelope apple, adaptive component 3 carries out self-adapting grasping adjustment by apple compression spring 3-2；Together
The piston rod of reason, cylinder II 22 stretches out, and shearing finger closure 2, carpopodium is cut.Crawl finger and shearing finger exist simultaneously,
The crawl that finger completes apple is grabbed, shearing finger realizes the shearing of the further crawl and carpopodium to apple；Grasping mechanism and
Cutting mechanism is again mutually indepedent, and independent cylinder driving is respectively adopted, will not be too big due to apple, and causes shearing finger can not
The case where closing up；According to actual needs, hand structure and arm structure cooperate, and grab apple by hand first, then
Arm retraction pulls apple, and the carpopodium of apple is exposed, then the carpopodium of apple is sheared by the shearing finger of hand, just
In operation；Adaptive component can be improved hand structure and be applicable in different apples.The second stage of the utility model is mainly complete
It is moved to transporting position at apple, is discharged.Pneumatic cylinder II 22 works, and the piston rod of cylinder II 22, which is retracted, drives loose collar II
20 retract, and shearing finger 2 opens；Similarly, the piston rod of cylinder I 8 is retracted, and crawl finger 1 opens, and apple is released, while from
Component 3 is adapted to restore to the original state.Next, into the cycle operation state of picking robot apple.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (9)
1. a kind of apple picking robot hand structure, including pivot flange (10) and support rod (15), pivot flange (10) with
Support rod (15) connection, it is characterised in that: the support rod (15) is connect with fixed ring (17), and fixed ring (17), which is equipped with, lives
Dynamic crawl finger (1) and shearing finger (2), crawl finger (1) are flexibly connected with telescoping mechanism I, are sheared finger (2) and flexible
Mechanism II is flexibly connected.
2. apple picking robot hand structure according to claim 1, it is characterised in that: the telescoping mechanism II set
It is located on support rod (15), telescoping mechanism II is connect with pivot flange (10).
3. apple picking robot hand structure according to claim 2, it is characterised in that: the telescoping mechanism II packet
Include connecting rod II(19), loose collar II(20), connector II(21) and cylinder II(22), shearing finger (2) and connecting rod II
(19) it is flexibly connected, connecting rod II(19) be flexibly connected with loose collar II(20), loose collar II(20) it is set in support rod (15)
On, loose collar II(20) be flexibly connected with connector II(21), connector II(21) connect with cylinder I I(22), cylinder I I(22)
It is connect with pivot flange (10).
4. apple picking robot hand structure according to claim 3, it is characterised in that: the loose collar II(20)
It is connect with guide rod II(24), guide rod II(24) it is slidably matched with pivot flange (10).
5. apple picking robot hand structure according to claim 1, it is characterised in that: the support rod (15) with
Adaptive component (3) connection.
6. apple picking robot hand structure according to claim 5, it is characterised in that: the adaptive component
It (3) include pallet (3-1), spring (3-2), shifting axle (3-3) and fixes sleeve (3-4), fixes sleeve (3-4) and support rod
(15) it connects, shifting axle (3-3) activity is fastened in fixes sleeve (3-4), and shifting axle (3-3) is connect with pallet (3-1), pallet
Spring (3-2) is equipped between (3-1) and fixes sleeve (3-4).
7. apple picking robot hand structure according to claim 1, it is characterised in that: the crawl finger (1)
It is equipped with rubber pad (18).
8. apple picking robot hand structure according to claim 1, it is characterised in that: the shearing finger (2)
End be equipped with blade.
9. apple picking robot hand structure according to claim 1, it is characterised in that: the pivot flange (10)
It is connect with wrist flange (13), wrist flange (13) is connect with Telescopic rotating arm mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821923252.1U CN209089448U (en) | 2018-11-21 | 2018-11-21 | Apple picking robot hand structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821923252.1U CN209089448U (en) | 2018-11-21 | 2018-11-21 | Apple picking robot hand structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209089448U true CN209089448U (en) | 2019-07-12 |
Family
ID=67160873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821923252.1U Active CN209089448U (en) | 2018-11-21 | 2018-11-21 | Apple picking robot hand structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209089448U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109258103A (en) * | 2018-11-21 | 2019-01-25 | 郑州轻工业学院 | A kind of apple picking robot hand structure |
| CN111165171A (en) * | 2019-12-29 | 2020-05-19 | 浙江大学 | Knot ball vegetables pick system with touch perception function |
| CN113632642A (en) * | 2021-08-16 | 2021-11-12 | 重庆交通职业学院 | Fruit picking mechanical arm |
-
2018
- 2018-11-21 CN CN201821923252.1U patent/CN209089448U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109258103A (en) * | 2018-11-21 | 2019-01-25 | 郑州轻工业学院 | A kind of apple picking robot hand structure |
| CN111165171A (en) * | 2019-12-29 | 2020-05-19 | 浙江大学 | Knot ball vegetables pick system with touch perception function |
| CN113632642A (en) * | 2021-08-16 | 2021-11-12 | 重庆交通职业学院 | Fruit picking mechanical arm |
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