CN215683458U

CN215683458U - Apple picking manipulator and apple picking mechanical equipment

Info

Publication number: CN215683458U
Application number: CN202120537775.8U
Authority: CN
Inventors: 刘鹏; 张新杰; 赵雪琳; 王伟昊; 张琦; 寇福强
Original assignee: Qingdao Agricultural University
Current assignee: Qingdao Agricultural University
Priority date: 2021-03-16
Filing date: 2021-03-16
Publication date: 2022-02-01
Anticipated expiration: 2031-03-16

Abstract

The utility model discloses an apple picking manipulator and apple picking mechanical equipment. The apple picking manipulator includes: subassembly, supporting component, step motor, lead screw and base are grabbed to hand, the subassembly is grabbed to hand includes a plurality of clamping jaws, the internal surface of clamping jaw is provided with soft rubber, the supporting component includes many connecting rods, many spinal branchs vaulting pole, a plurality of linking arm, mount pad and screw, the one end of bracing piece is fixed on the base, another tip of bracing piece articulates there is the clamping jaw, the mount pad is fixed many between the bracing piece, the linking arm is fixed duplex winding on the screw the axis of screw distributes, the connecting rod articulates and corresponds the linking arm with between the clamping jaw, step motor fixes on the mount pad, step motor's pivot with lead screw connection, lead screw threaded connection is in the screw. The fruit picking machine has the advantages that the fruit and the branches are not easy to damage, the fruits are picked, manpower is saved, and the efficiency is improved.

Description

Apple picking manipulator and apple picking mechanical equipment

Technical Field

The utility model relates to the technical field of agricultural machinery, in particular to an apple picking manipulator and apple picking mechanical equipment.

Background

At present, most of orchards adopt manual picking when picking apples, so that the apples can be guaranteed to be intact and the damage to fruit trees is small. However, the manual picking efficiency is low, and the apple grown at a higher position cannot be directly touched by the apple tree, so people need to take a herringbone ladder or an escalator.

In addition, some apple pickers which are convenient for picking apples emerge on the market, for example, patent document CN109379984A discloses an apple picker with a mechanical separation structure, which is structured by four clamping rods arranged in a double-layer manner, and is controlled by a handle through a steel wire with a sleeve outside. The continuous actions of clamping the apple handle by two clamping rods on the inner layer, propping the branches by two clamping rods on the outer layer and pulling the apple handle downwards by two clamping rods on the inner layer can be realized by pinching the handle once. When the separation handle is pinched to draw the steel wire downwards, the separation device at the front end of the picking head is closed firstly to clamp the apple stem, and when the handle is pinched continuously, the inner clamping arm slides downwards along the outer layer arm, so that the apple stem is disconnected from the branch. The fruit picker can save manpower to a certain extent, but the fruit and the branches can be damaged by the pulling, so that the fruit yield of the fruit tree in the next year is influenced.

Therefore, the actions of manual picking are required to be simulated, an automatic fruit picking device is designed, fruit picking efficiency is improved on the basis of protecting fruit trees and fruits, physical consumption of workers is reduced, and manpower is saved.

Disclosure of Invention

The technical problem to be solved by the utility model is as follows: the utility model provides an apple picking manipulator and apple picking mechanical equipment realizes when difficult damage fruit and branch, and automatic picking fruit is picked, practices thrift the manpower, raises the efficiency.

The technical scheme provided by the utility model is that the apple picking manipulator comprises: subassembly, supporting component, step motor, lead screw and base are grabbed to hand, the subassembly is grabbed to hand includes a plurality of clamping jaws, the internal surface of clamping jaw is provided with soft rubber, the supporting component includes many connecting rods, many spinal branchs vaulting pole, a plurality of linking arm, mount pad and screw, the one end of bracing piece is fixed on the base, another tip of bracing piece articulates there is the clamping jaw, the mount pad is fixed many between the bracing piece, the linking arm is fixed duplex winding on the screw the axis of screw distributes, the connecting rod articulates and corresponds the linking arm with between the clamping jaw, step motor fixes on the mount pad, step motor's pivot with lead screw connection, lead screw threaded connection is in the screw.

Further, the clamping jaw is a triangular pyramid with an arc-shaped inner side.

Further, the hand grasping assembly comprises three clamping jaws.

Furthermore, the connecting arms are provided with inserting openings, and the supporting rods are inserted into the corresponding inserting openings.

Furthermore, a through hole is formed in the base, and the free end portion of the lead screw is rotatably arranged in the through hole.

The utility model also provides apple picking mechanical equipment which comprises a mechanical arm and the apple picking mechanical arm, wherein a base of the apple picking mechanical arm is fixed on the mechanical arm.

Compared with the prior art, the utility model has the advantages and positive effects that:

1. the clamping jaw is internally made of soft rubber imitating fingers of a human hand, the outer part of the clamping jaw is made of hard rubber to provide support, and the binding face is in an apple arc shape to be more easily bound.

2. The clamping jaws are arranged in a hollowed-out trapezoidal manner, so that soft rubber materials in the clamping jaws are easier to bear force, and the clamping jaws are more compact in fitting.

3. The end parts of the clamping jaws are processed by round corners, so that apples are not easy to damage.

4. The utility model adopts screw drive, so that the movement connection part is simpler, and fruit branches are not easy to damage.

5. The utility model can meet the requirement that operators pick low-level and high-level fruits on the ground, saves manpower and improves efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of an embodiment of an apple picking robot of the present invention;

fig. 2 is a reference view of the use state of the embodiment of the apple picking manipulator.

In the figure, 1, a hand grasping assembly, 101, a first clamping jaw, 102, a second clamping jaw, 103, a third clamping jaw, 104, a mounting seat, 2, a supporting assembly, 201, a first connecting rod, 202, a second connecting rod, 203, a third connecting rod, 204, a mounting seat, 205, a connecting arm, 206, a supporting rod, 207, a screw nut, 3, a stepping motor, 4, a lead screw, 5 and a base.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 and 2, the apple picking manipulator of the present embodiment includes: the hand grasping assembly 1, the supporting assembly 2, the stepping motor 3, the lead screw 4 and the base 3. The subassembly is grabbed to hand includes a plurality of clamping jaws, the internal surface of clamping jaw is provided with soft rubber, supporting component includes many connecting rods, many spinal branch vaulting poles 206, a plurality of linking arm 205, mount pad 204 and screw 207, the one end of bracing piece is fixed on the base, another tip of bracing piece articulates there is the clamping jaw, the mount pad is fixed many between the bracing piece, the linking arm is fixed duplex winding on the screw the axis of screw distributes, the connecting rod articulates and corresponds the linking arm with between the clamping jaw, step motor fixes on the mount pad, step motor's pivot with screw connection, screw threaded connection is in the screw.

Specifically, the assembly 1 is grabbed to hand includes first clamping jaw 101, second clamping jaw 102 and third clamping jaw 103, and every is grabbed and is configured with mount pad 104, and three clamping jaw is fixed on three mount pad 104, and the dead lever is connected to the mount pad outside joint support pole, the inboard of first clamping jaw 101, connects two dead levers on the mount pad of second clamping jaw 102 and third clamping jaw 103. The three clamping jaws of the hand grasping assembly are triangular cones with arc-shaped inner sides, the cones are arranged in a hollowed-out trapezoidal mode, and the end portions of the clamping jaws are processed through round corners.

The support assembly 2 includes a first connecting rod 201, a second connecting rod 202, a third connecting rod 203, a mounting seat 204, and a connecting arm 205. The support rods 206 and the three fixing rods are connected to the connecting arm 204, and the connecting arm 204 is connected to the base 3. The connecting arm 204 is in the shape of a three-pointed star, three sides of which are longer than the outer edge of the base 3,

the stepping motor 3 is connected to one end of the screw rod 4, and the other end of the screw rod 4 is connected to the connecting arm 204 through a screw rod sleeve ring.

The base 3 is a circular sheet with three recesses.

For the convenience of installation, the connecting arm 205 is provided with a socket (not labeled), and the supporting rod is inserted into the corresponding socket. Specifically, during assembly, in order to save space, the support rod 206 is inserted into the connecting arm 205 disposed at a corresponding position, and meanwhile, when the nut 207 drives the connecting arm 205 to move, the support rod 206 can be used to guide the connecting arm 205, so as to ensure smooth synchronous movement of the plurality of clamping jaws.

In addition, in order to effectively support the screw rod to rotate, a through hole (not marked) is formed in the base, and a free end portion of the screw rod is rotatably arranged in the through hole. In order to reduce the wear of the screw, the screw may be provided with a bearing, and the bearing may be fitted into the through hole.

The utility model also provides apple picking mechanical equipment which comprises a mechanical arm 1000 and the apple picking mechanical arm, wherein a base 6 of the apple picking mechanical arm is fixed on the mechanical arm.

The application method of the apple picking manipulator comprises the following steps:

the apple picking manipulator of the utility model can be connected to a mechanical arm through a base 3, and the mechanical arm can be arranged on a picking vehicle. Near the manipulator sends the fruit to the manipulator, make through the operation under operator's observation and hold subassembly 1 parcel and live the apple, drive lead screw 4 through step motor 3 and rotate, make through leverage and hold subassembly 1 shrink tight fruit of clamp, make three clamping jaw internal surface laminate with the fruit completely, rotate the fruit under step motor 3's effect, the shrink effect simulation manual picking process of cooperation arm simultaneously, make fruit and fruit stalk separation, the adjustment arm is placed the fruit in corresponding position, accomplish whole picking process. The utility model can meet the requirement that operators pick low-level and high-level fruits on the ground, saves manpower and improves efficiency.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An apple picking manipulator, comprising: subassembly, supporting component, step motor, lead screw and base are grabbed to hand, the subassembly is grabbed to hand includes a plurality of clamping jaws, the internal surface of clamping jaw is provided with soft rubber, the supporting component includes many connecting rods, many spinal branchs vaulting pole, a plurality of linking arm, mount pad and screw, the one end of bracing piece is fixed on the base, another tip of bracing piece articulates there is the clamping jaw, the mount pad is fixed many between the bracing piece, the linking arm is fixed duplex winding on the screw the axis of screw distributes, the connecting rod articulates and corresponds the linking arm with between the clamping jaw, step motor fixes on the mount pad, step motor's pivot with lead screw connection, lead screw threaded connection is in the screw.

2. The apple picking manipulator of claim 1, wherein the jaws are triangular pyramids with an inner side that is curved.

3. The apple picking manipulator of claim 2, wherein the hand grip assembly comprises three of the jaws.

4. The apple picking manipulator according to claim 3, wherein the connecting arms are provided with sockets into which the support rods are inserted.

5. The apple picking manipulator of claim 4, wherein the base is provided with a through hole, and a free end of the screw is rotatably disposed in the through hole.

6. An apple picking mechanism comprising a robotic arm, further comprising an apple picking manipulator as claimed in any of claims 1 to 5, the base of the apple picking manipulator being secured to the robotic arm.