CN106171294A - A kind of human simulation hand getting device and picking - Google Patents
A kind of human simulation hand getting device and picking Download PDFInfo
- Publication number
- CN106171294A CN106171294A CN201610493982.1A CN201610493982A CN106171294A CN 106171294 A CN106171294 A CN 106171294A CN 201610493982 A CN201610493982 A CN 201610493982A CN 106171294 A CN106171294 A CN 106171294A
- Authority
- CN
- China
- Prior art keywords
- finger
- picking
- drive rod
- palm
- handgrip
- 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.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A kind of human simulation hand getting device and picking, including support bar, handgrip, described support bar is made up of handle, expansion link, electric rotating machine, the first drive rod, swingle, the second drive rod, end device handle under described support bar, described handle upper end device expansion link, described expansion link device for upper end electric rotating machine, described electric rotating machine upper end connects swingle by the first drive rod, and described swingle upper end connects handgrip by the second drive rod.The present invention copies palm and the finger form of real human, simulation real human to pluck fruit, and scientific and reasonable for structure, and picking efficiency is higher, will not damage fruit surface in picking process, and picking efficiency is higher, and uses very convenient.
Description
Technical field
The present invention relates to a kind of picker, particularly relate to a kind of human simulation hand getting device and picking.
Background technology
Along with the development of agricultural, modern science and technology also steps in agricultural development, helps peasant household's volume increase increment, carries for peasant household
Having carried out considerable economic benefit, therefore, the results of crop and fruit are the work faced by peasant household the most all needs, and picking fruit is general
Being to be all to use artificial harvesting, this is accomplished by substantial amounts of manpower and materials and time, wastes time and energy, and increases cost, for some relatively
The picking fruit of high position, often also needs to could realize by some ascending tools, and picking efficiency is low, dangerous greatly, additionally,
Crop and fruit maturation has seasonal concentration mostly, and this is accomplished by substantial amounts of labour force and completes, therefore, and traditional harvesting fruit
Method cannot meet the most far away fruit large batch of harvesting demand, limits the large-scale development of industry of planting forest or fruit tress and plant husbandry.
Therefore, some pickers also engender, but more existing pickers, generally have the disadvantage that
One, length is unadjustable, it is impossible to use length according to plant height regulation, uses more inconvenience；Second, automaticity is relatively
Low, waste time and energy；3rd, the Softening of mechanization, in picking process, the damage ratio to crop epidermis is the highest, reduces and makees material
Amount, affects it and sells；4th, in picking process, easily occur dropping and damage the situation of fruit, use inconvenience.
Based on the problems referred to above, the present invention, according to real human's palm and the form of finger, devises a kind of human simulation hand getting
Device and picking, has an advantage energy-efficient, easy to use, and does not haves the situation of the peel that drops, damages in picking process,
Reduce the labor intensity of peasant household, improve picking efficiency, preferably meet high-volume picking fruit demand.
Summary of the invention
It is an object of the invention to provide a kind of human simulation hand getting device and picking, copy palm and the finger type of real human
State, scientific and reasonable for structure, there is energy-efficient advantage, and picking efficiency is higher, use very convenient.
The purpose of the present invention is achieved through the following technical solutions:
A kind of human simulation hand getting device and picking, including support bar, handgrip, described support bar by handle, expansion link, electric rotating machine, the
One drive rod, swingle, the second drive rod are constituted, end device handle under described support bar, described handle upper end device expansion link,
Described expansion link device for upper end electric rotating machine, described electric rotating machine upper end connects swingle, described rotation by the first drive rod
Bar upper end connects handgrip by the second drive rod.
Outside described handle, device one encloses non-skid rubber ring.
Described expansion link middle-end left-hand unit adjusting knob.
Described second drive rod interior arrangement induction installation, handgrip driving means, intelligent controller.
Described handgrip is by palm, shaft coupling, the first finger, second finger, the 3rd finger, the 4th finger, the 5th finger structure
Become, described palm left-hand unit the first finger, described palm upper end device second finger the most successively, the 3rd finger, the
Four fingers, the 5th finger, described first finger, second finger, the 3rd finger, the 4th finger, the 5th finger press real human's hands
The form arrangement referred to, described palm bottom device shaft coupling, described palm interior arrangement force transmission mechanism, described force transmission mechanism passes through
Power transmission shaft connects second finger, the 3rd finger, the 4th finger, the 5th finger.
Equal one layer of elastic gum of device inside described first finger, second finger, the 3rd finger, the 4th finger, the 5th finger
Circle；Device sensor probe at described first finger, second finger, the 3rd finger, the 4th finger, the 5th finger fingertip.
Advantages of the present invention: the present invention copies real human's palm, finger form, devises a kind of human simulation hand getting and plucks dress
Putting, during harvesting, after handgrip finger touches fruit, induction information is sent to inside the second drive rod by the sensor probe at finger tip
Induction installation, intelligent controller by drive motor connect force transmission mechanism, after five fingers hold fruit, electric rotating machine passes through
First drive rod connects swingle, thus swingle drives the second drive rod and handgrip to rotate, and simulates real human's wrist rotation
Pluck fruit, in picking process, flexible and convenient to use as staff, and the equal flexible cushion rubber of device inside finger, will not
Damage peel, and after plucking fruit, it is possible to holding fruit, fruit does not falls out damage, will not damage periphery in picking process
Fruit, picking efficiency is higher；Secondly, the scalable use of expansion link, by the adjusting knob of middle-end on the left of expansion link, regulation is flexible
Pole length, stands on the ground the harvesting that can realize eminence fruit；Additionally, the present invention is the most portable, it is convenient for carrying, uses
Very convenient.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the gripping structure schematic diagram of the present invention；
In figure, 1-support bar；2-handgrip；3-handle；4-expansion link；5-electric rotating machine；6-the first drive rod；7-swingle；8-
Second drive rod；9-non-skid rubber ring；10-adjusting knob；11-palm；12-shaft coupling；13-the first finger；14-second finger；
15-the 3rd finger；16-the 4th finger；17-the 5th finger；18-force transmission mechanism；19-power transmission shaft；20-flexible rubber ring；21-senses
Probe.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Embodiment 1
As it can be seen, a kind of human simulation hand getting device and picking, including support bar 1, handgrip 2, described support bar 1 is by handle 3, expansion link
4, electric rotating machine the 5, first drive rod 6, swingle the 7, second drive rod 8 are constituted, and 1 time end device handle 3 of described support bar is described
Handle 3 device for upper end expansion link 4, described expansion link 4 device for upper end electric rotating machine 5, described electric rotating machine 5 upper end is driven by first
Lever 6 connects swingle 7, and described swingle 7 upper end connects handgrip 2 by the second drive rod 8.
Embodiment 2
As it can be seen, device one encloses non-skid rubber ring 9 outside described handle 3.
Embodiment 3
As it can be seen, described expansion link 4 middle-end left-hand unit adjusting knob 10.
Embodiment 4
As it can be seen, described second drive rod 6 interior arrangement induction installation, handgrip driving means, intelligent controller.
Embodiment 5
As it can be seen, described handgrip 2 is by palm 11, shaft coupling the 12, first finger 13, second finger the 14, the 3rd finger the 15, the 4th
Finger the 16, the 5th finger 17 is constituted, and described palm 11 left-hand unit the first finger 13, described palm 11 upper end is the most successively
Device second finger the 14, the 3rd finger the 15, the 4th finger the 16, the 5th finger 17, described first finger 13, second finger 14,
Three finger the 15, the 4th finger the 16, the 5th fingers 17 are by the form arrangement of real human's finger, described palm 11 bottom device shaft coupling
Device 12, described palm 11 interior arrangement force transmission mechanism 18, described force transmission mechanism 18 by power transmission shaft 19 connect second finger 14, the
Three finger the 15, the 4th finger the 16, the 5th fingers 17.
Embodiment 6
As it can be seen, inside described first finger 13, second finger the 14, the 3rd finger the 15, the 4th finger the 16, the 5th finger 17 all
One layer of flexible rubber ring 20 of device, described first finger 13, second finger the 14, the 3rd finger the 15, the 4th finger the 16, the 5th finger 17
Device sensor probe 21 at finger tip.
Claims (6)
1. a human simulation hand getting device and picking, including support bar, handgrip, it is characterised in that: described support bar is by handle, flexible
Bar, electric rotating machine, the first drive rod, swingle, the second drive rod are constituted, end device handle under described support bar, described handle
Device for upper end expansion link, described expansion link device for upper end electric rotating machine, described electric rotating machine upper end is connected by the first drive rod
Swingle, described swingle upper end connects handgrip by the second drive rod.
A kind of human simulation hand getting device and picking, it is characterised in that: outside described handle, device one circle is anti-
Sliding cushion rubber.
A kind of human simulation hand getting device and picking, it is characterised in that: described expansion link middle-end left-hand unit
Adjusting knob.
A kind of human simulation hand getting device and picking, it is characterised in that: described second drive rod interior arrangement
Induction installation, handgrip driving means, intelligent controller.
A kind of human simulation hand getting device and picking, it is characterised in that: described handgrip by palm, shaft coupling,
First finger, second finger, the 3rd finger, the 4th finger, the 5th finger are constituted, described palm left-hand unit the first finger, institute
State palm upper end device second finger the most successively, the 3rd finger, the 4th finger, the 5th finger, described first finger,
Two fingers, the 3rd finger, the 4th finger, the 5th finger are by the form arrangement of real human's finger, and described palm bottom device joins
Axial organ, described palm interior arrangement force transmission mechanism, described force transmission mechanism by power transmission shaft connect second finger, the 3rd finger, the
Four fingers, the 5th finger.
A kind of human simulation hand getting device and picking, it is characterised in that: described first finger, second finger,
Equal one layer of flexible rubber ring of device inside 3rd finger, the 4th finger, the 5th finger；Described first finger, second finger, the 3rd hands
Device sensor probe at finger, the 4th finger, the 5th finger fingertip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610493982.1A CN106171294A (en) | 2016-06-30 | 2016-06-30 | A kind of human simulation hand getting device and picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610493982.1A CN106171294A (en) | 2016-06-30 | 2016-06-30 | A kind of human simulation hand getting device and picking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106171294A true CN106171294A (en) | 2016-12-07 |
Family
ID=57461538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610493982.1A Pending CN106171294A (en) | 2016-06-30 | 2016-06-30 | A kind of human simulation hand getting device and picking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106171294A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041782A (en) * | 2018-08-24 | 2018-12-21 | 张振阳 | Semi-automatic high-altitude fruit picking device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227973A (en) * | 2011-04-27 | 2011-11-02 | 南京工程学院 | End effector of ball-like fruit picking robot |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| KR200468131Y1 (en) * | 2013-03-04 | 2013-07-24 | 한우석 | Apparatus of Harvest for fruit |
| CN203788732U (en) * | 2014-05-05 | 2014-08-27 | 俞良 | Chinese torreya picker |
| CN105643643A (en) * | 2016-04-02 | 2016-06-08 | 西北农林科技大学 | Five-finger end effector |
| CN205961869U (en) * | 2016-06-30 | 2017-02-22 | 哈尔滨尼亚农业有限公司 | Device is picked to emulation staff |
-
2016
- 2016-06-30 CN CN201610493982.1A patent/CN106171294A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227973A (en) * | 2011-04-27 | 2011-11-02 | 南京工程学院 | End effector of ball-like fruit picking robot |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| KR200468131Y1 (en) * | 2013-03-04 | 2013-07-24 | 한우석 | Apparatus of Harvest for fruit |
| CN203788732U (en) * | 2014-05-05 | 2014-08-27 | 俞良 | Chinese torreya picker |
| CN105643643A (en) * | 2016-04-02 | 2016-06-08 | 西北农林科技大学 | Five-finger end effector |
| CN205961869U (en) * | 2016-06-30 | 2017-02-22 | 哈尔滨尼亚农业有限公司 | Device is picked to emulation staff |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041782A (en) * | 2018-08-24 | 2018-12-21 | 张振阳 | Semi-automatic high-altitude fruit picking device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205961869U (en) | Device is picked to emulation staff | |
| CN104206122B (en) | A kind of remote control turns a bowl belt clean classification cherry picking machine from walking aspiration comb bar serrated knife | |
| CN205454643U (en) | Unsettled harvesting ware of forestry branches of tall trees pine nut | |
| CN108243723A (en) | A kind of knob type fruit and vegetable picking device | |
| CN106823294A (en) | A kind of multi-functional gradual upper limbs comprehensive rehabilitation training system | |
| CN106171294A (en) | A kind of human simulation hand getting device and picking | |
| CN206729999U (en) | A kind of artificial tooth sanding apparatus | |
| CN206792797U (en) | A kind of skin surface wound clears up chlorination equipment | |
| CN104641797B (en) | Fruit picker | |
| CN109463115A (en) | Hand propelled medlar-picking machine | |
| CN205145072U (en) | Traditional chinese medical science nursing is with strikeing recovered ware | |
| CN106808425B (en) | A kind of hand-held object plucks screw device | |
| CN209435822U (en) | Hand propelled medlar-picking machine | |
| CN203590731U (en) | Portable picking machine | |
| CN209201557U (en) | A kind of electronic woods fruit collection device | |
| CN209204586U (en) | A kind of vollyball collection device | |
| CN104303710B (en) | A kind of remote control is from walking to comb bar serrated knife formula longan picking selecting machine | |
| CN208540436U (en) | A kind of orchard mechanical arm | |
| CN204484029U (en) | A kind of Miniature portable clothes hair catcher | |
| CN208523252U (en) | A kind of rotary machine for picking fruits | |
| CN205908116U (en) | Foot -operated door handle | |
| CN201682741U (en) | Corn and sunflower thinning machine | |
| CN205830404U (en) | A kind of Novel hand-held adjustment height device for picking fruit | |
| CN204031833U (en) | A kind of white bur picking head | |
| CN201978420U (en) | Ball picker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161207 |