CN108283056A - Collaboration fruit picking Elastic manipulator is grabbed in suction - Google Patents
Collaboration fruit picking Elastic manipulator is grabbed in suction Download PDFInfo
- Publication number
- CN108283056A CN108283056A CN201810163749.6A CN201810163749A CN108283056A CN 108283056 A CN108283056 A CN 108283056A CN 201810163749 A CN201810163749 A CN 201810163749A CN 108283056 A CN108283056 A CN 108283056A
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- CN
- China
- Prior art keywords
- tubule
- extra heavy
- heavy pipe
- fruit
- outside
- 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.)
- Granted
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 86
- 210000005239 tubule Anatomy 0.000 claims abstract description 48
- 229920001971 elastomer Polymers 0.000 claims description 10
- 239000000806 elastomer Substances 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 2
- 230000001788 irregular Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 239000004677 Nylon Substances 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 206010003246 arthritis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 230000037213 diet Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000011505 plaster Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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
-
- 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
- A01D46/253—Portable motorised fruit pickers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of suctions to grab collaboration fruit picking Elastic manipulator, including gripper, moving tube, cylinder, collection tube；The collection tube empty set is outside moving tube, one end of cylinder is fixedly connected with collection tube, the other end of cylinder is fixedly connected with moving tube, the gripper includes interior side seam, outside flexible member etc., interior side seam is connected with outside flexible member by thick, the tubule of three groups of mutual fittings, slightly, spring is installed, the lower end of interior side seam is hinged in the upper edge of moving tube, and the lower end of outside flexible member is mounted on collection tube between tubule.The present invention utilizes the ingenious combination of hinge, flexible member and rigid bar, by the flexible of small cylinder, realize and inhales the opening for grabbing collaboration fruits picking mechanical hand and close up, can pick various different size of fruit；The elasticity of spring is cleverly utilized, so that suction is grabbed collaboration fruits picking mechanical hand finger can rationally be deformed according to fruit shape, to realize the crawl to all kinds of fruit in irregular shape.
Description
Technical field
The present invention relates to picking mechanical arm design fields in fruit picking ancillary equipment, can especially pick it is all kinds of not
Collaboration fruit picking Elastic manipulator is grabbed in the suction of the irregular fruit of same size, shape.
Background technology
Fruits picking mechanical hand is indirect labor's fruit-picking, improves a kind of complementary tool of working efficiency.With society
The economic fast development of meeting, the mass production of fruit and launch, enrich the diet kind of the people, improve the life of the people
Bioplasm amount.And China mostly area on fruit picking it is still main manually, therefore with Rational structure, improve picking efficiency
And it can guarantee that the fruits picking mechanical hand of fruit quality becomes a kind of primary tool.Fruits picking mechanical hand kind on Vehicles Collected from Market
Class is various, some increase image identification function, improves functionality.But for picking mechanical arm grasp mode, city at present
Mainly there are two kinds of gripping-type fruits picking mechanical hand and knife scissors fruits picking mechanical hand on field, it is specific as follows.
(1) gripping-type fruits picking mechanical hand.Patent of invention application No. is 201510401026.1 is a kind of hard and soft mixed
The underactuated manipulator for closing structure, is a gripping-type fruits picking mechanical hand, and Softening is made by being inflated to finger
Finger is heaved to capture fruit；It is flexible that major function, which is flexible manipulator finger and is contacted with fruit, is avoided because adopting
The fruit damage brought is plucked, the fruit quality picked is improved.But the flexible finger of the manipulator is easily damaged, and adopt
It is single to pluck mode.Patent of invention application No. is 201710532483.3 is a kind of gripping-type fruits picking mechanical hand, machinery
Hand is made of three rigid paws, and tray is mounted with below manipulator, can be held the fruit under adopting, be prevented fruit from falling ground
Face is damaged；Manipulator is equipped with casing, and the fruit of different height is picked by adjusting tube length.But the paw of the invention
Easily fruit is caused to damage in picking, and the irregular fruit of various shapes can not be picked.
(2) knife scissors fruits picking mechanical hand.It is a kind of scissors water application No. is the patent of invention of 201110190707.X
Fruit picking machine tool hand, is mounted with cutter head above manipulator, and manipulator first catches fruit when picking, then is cut carpopodium with cutter head
Under, instead of artificial, improve picking efficiency；A fruit pocket has been also mounted in the manipulator, and the fruit under adopting can be made to fall into
In pocket, prevent fruit from falling ground damage；But the invention easily causes to damage when cutting fruit carpopodium to fruit.Application No. is
200620058186.7 patent of invention is a kind of scissors fruits picking mechanical hand, which is mounted in manipulator handle upper end
Scissors can improve picking efficiency by under fruit shears；Manipulator is mounted with funnel shaped Nylon Bag, and the fruit cut can be made to fall
Enter in bag, ensure that the quality of fruit.But the invention is also easy to cause to damage to fruit in picking, and Softening is single.
Based on such present situation, suction is invented and has grabbed collaboration fruits picking mechanical hand, the invention Softening is various, can utmostly ensure water
The quality of fruit, and substantially increase picking efficiency.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of suctions to grab collaboration fruit picking Elastic manipulator, utilizes hinge
The ingenious combination of chain, flexible member and rigid bar realizes to inhale and grabs collaboration fruits picking mechanical hand by the flexible of cylinder
It opens and closes up, various different size of fruit can be picked；The elasticity of spring is cleverly utilized, so that suction is grabbed collaboration fruit and adopts
Plucking manipulator finger can rationally be deformed according to fruit shape, to realize the crawl to all kinds of fruit in irregular shape；
And it can not only make Softening diversified under quickly inhaling fruit to by way of collection tube air-breathing, also substantially increase and adopt
Pluck efficiency.
In order to achieve the above object, the technical solution adopted in the present invention is as follows：A kind of inhale grabs collaboration fruit picking elasticity
Manipulator, including gripper, moving tube, cylinder, collection tube；The collection tube empty set outside moving tube, one end of cylinder with adopt
Collector is fixedly connected, and the other end of cylinder is fixedly connected with moving tube,
The gripper includes that interior side seam, outside flexible member, rigid bar, the first extra heavy pipe, the second extra heavy pipe, third are thick
Pipe, the first tubule, the second tubule, third tubule,
The interior side seam is closed by lateral joint in lateral joint in long joint hinged successively, first, second and inside connection
Section composition, articulated shaft are followed successively by a, b and c；
One end of rigid bar and the middle part in long joint are connected, one end of the other end and outside flexible member of rigid bar
Hinged, the first extra heavy pipe, the second extra heavy pipe and third extra heavy pipe are connected in the middle part of outside flexible member successively,
First extra heavy pipe is slidably located in outside the first tubule, and has elastomer between the first extra heavy pipe and the first tubule, and first
The outer end of tubule is hinged with articulated shaft a,
Second extra heavy pipe is slidably located in outside the second tubule, and has elastomer between the second extra heavy pipe and the second tubule, and second
The outer end of tubule is hinged with articulated shaft b,
Third extra heavy pipe is slidably located in outside third tubule, and has elastomer, third between third extra heavy pipe and third tubule
The outer end of tubule is hinged with articulated shaft c,
The lower end of inside connecting joint is hinged in the upper edge of moving tube, is extended with outside at the outer wall upper edge of the collection tube
The lower end of at least three hinged seats, outside flexible member is mounted on hinged seat.
Further, the elastomer is spring.
Further, first extra heavy pipe, the second extra heavy pipe are identical with third extra heavy pipe structure size, first tubule,
Two tubules are identical with third capillary structure size.
Further, the quantity of the hinged seat is three.
Further, the upper edge of the moving tube is outward extended with support arm, and the other end and support arm of the cylinder are solid
Fixed connection.
Further, the quantity of the support arm at least there are two, and be uniformly distributed along the circumferencial direction of moving tube.
Further, the telescopic direction of the cylinder and the axis of collection tube are mutually parallel.
Beneficial effects of the present invention：Existing fruits picking mechanical hand can not ensure fruit in indirect labor's picking process
Quality, easily fruit is caused to damage, and Softening is single, can not preferably improve picking efficiency.The present invention avoids using
Complicated or special device, but the ingenious combination of hinge, flexible member and rigid bar is utilized, pass through stretching for small cylinder
Contracting realizes and inhales the opening for grabbing collaboration fruits picking mechanical hand and close up, can pick various different size of fruit；Cleverly
The elasticity of spring is utilized, so that suction is grabbed collaboration fruits picking mechanical hand finger can rationally be deformed according to fruit shape, to
Realize the crawl to all kinds of fruit in irregular shape；And it can be under fruit be quickly inhaled to by way of collection tube air-breathing, no
Only make Softening diversified, also substantially increases picking efficiency.Easy to operate, light practicality of the invention.
Description of the drawings
Fig. 1 is fruit picking Elastic manipulator schematic diagram of the present invention；
Elastic finger schematic diagram when Fig. 2 is not water acquisition fruit of the invention；
Elastic finger schematic diagram when Fig. 3 is present invention water suction fruit；
Fig. 4 is elastic finger schematic diagram when the present invention grabs fruit；
Schematic diagram when Fig. 5 is present invention water suction fruit；
Fig. 6 is the schematic diagram when present invention grabs fruit；
In figure：Moving tube 1, cylinder 2, collection tube 3, outside flexible member 4, rigid bar 5, the first extra heavy pipe 6, the second extra heavy pipe
7, third extra heavy pipe 8, the first tubule 9, the second tubule 10, third tubule 11, the 13, second inside of lateral joint in long joint 12, first
Joint 14, inside connecting joint 15, hinged seat 16, support arm 17.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figs 1-4, the present invention provides a kind of inhale and grabs collaboration fruit picking Elastic manipulator, including gripper, movement
Pipe 1, cylinder 2, collection tube 3；3 empty set of the collection tube is outside moving tube 1, and one end of cylinder 2 is fixedly connected with collection tube 3, gas
The other end of cylinder 2 is fixedly connected with moving tube 1,
The gripper includes interior side seam, outside flexible member 4, rigid bar 5, the first extra heavy pipe 6, the second extra heavy pipe 7, third
Extra heavy pipe 8, the first tubule 9, the second tubule 10, third tubule 11,
The interior side seam is by lateral joint 14 and inside in lateral joint 13, second in long joint 12, first hinged successively
Connecting joint 15 forms, and articulated shaft is followed successively by a, b and c；
One end of rigid bar 5 and the middle part in long joint 12 are connected, the other end and the outside flexible member 4 of rigid bar 5
One end it is hinged, the first extra heavy pipe 6, the second extra heavy pipe 7 and third extra heavy pipe 8 are connected in the middle part of outside flexible member 4 successively,
First extra heavy pipe 6 is slidably located in outside the first tubule 9, and has elastomer between the first extra heavy pipe 6 and the first tubule 9,
The outer end of first tubule 9 is hinged with articulated shaft a,
Second extra heavy pipe 7 is slidably located in outside the second tubule 10, and has elasticity between the second extra heavy pipe 7 and the second tubule 10
Body, the outer end of the second tubule 10 and articulated shaft b are hinged,
Third extra heavy pipe 8 is slidably located in outside third tubule 11, and has elasticity between third extra heavy pipe 8 and third tubule 11
Body, the outer end of third tubule 11 and articulated shaft c are hinged,
The lower end of inside connecting joint 15 is hinged in the upper edge of moving tube 1, extension at the outer wall upper edge of the collection tube 3
It stretches there are three hinged seat 16, the lower end of outside flexible member 4 is mounted on hinged seat 16.
Further, the elastomer is spring.
Further, first extra heavy pipe 6, the second extra heavy pipe 7 are identical with 8 structure size of third extra heavy pipe, first tubule
9, the second tubule 10 is identical with 11 structure size of third tubule.
Further, the upper edge of the moving tube 1 is outward extended with support arm 17, the other end of the cylinder 2 and support
Arm 17 is fixedly connected.
Further, the quantity of the support arm 17 at least there are two, and be uniformly distributed along the circumferencial direction of moving tube 1.
Further, the axis of the telescopic direction of the cylinder 2 and collection tube 3 is mutually parallel.
The present invention may be implemented to inhale, grab two ways collaboration fruit-picking.
(1) present invention inhales fruit condition
The gas bar of 2 positive action of cylinder, cylinder 2 is released upwards, is driven moving tube 1 to move up, using linkage, is made
Entire manipulator opens, then by 3 downward air-breathing of collection tube, and under fruit is inhaled, this inhales fruit condition for the present invention.Such as Fig. 5 institutes
Show, which is mainly used in the fruit that picking carpopodium toughness is not strong, is easy under being inhaled.
(2) present invention grabs fruit condition
The gas bar of 2 counteragent of cylinder, cylinder 2 is retracted downwards, and moving tube 1 is driven to move down, since spring has bullet
Property, when paw touches fruit, outside flexible member 4 curves inwardly, and each arthritis adhesive plaster closes fruit surface, and fruit is adopted down, this
Fruit condition is grabbed for the present invention.As shown in fig. 6, the state be mainly used in picking carpopodium toughness it is luxuriant compared with strong or branches and leaves be not easy by
Fruit when under suction.
Above-mentioned specific implementation mode is used for illustrating the present invention, rather than limits the invention, the present invention's
In spirit and scope of the claims, to any modifications and changes that the present invention makes, the protection model of the present invention is both fallen within
It encloses.
Claims (7)
1. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction, which is characterized in that including gripper, moving tube, cylinder, collection tube
Deng；Outside moving tube, one end of cylinder is fixedly connected the collection tube empty set with collection tube, and the other end and moving tube of cylinder are solid
Fixed connection,
The gripper includes interior side seam, outside flexible member, rigid bar, the first extra heavy pipe, the second extra heavy pipe, third extra heavy pipe,
One tubule, the second tubule, third tubule,
The interior side seam is by lateral joint and inside connecting joint group in lateral joint in long joint hinged successively, first, second
At articulated shaft is followed successively by a, b and c；
One end of rigid bar and the middle part in long joint are connected, and the other end of rigid bar is cut with scissors with one end of outside flexible member
It connecing, the first extra heavy pipe, the second extra heavy pipe and third extra heavy pipe are connected in the middle part of outside flexible member successively,
First extra heavy pipe is slidably located in outside the first tubule, and has elastomer, the first tubule between the first extra heavy pipe and the first tubule
Outer end and articulated shaft a it is hinged,
Second extra heavy pipe is slidably located in outside the second tubule, and has elastomer, the second tubule between the second extra heavy pipe and the second tubule
Outer end and articulated shaft b it is hinged,
Third extra heavy pipe is slidably located in outside third tubule, and has elastomer, third tubule between third extra heavy pipe and third tubule
Outer end and articulated shaft c it is hinged,
The lower end of inside connecting joint is hinged in the upper edge of moving tube, is extended at least outside at the outer wall upper edge of the collection tube
The lower end of three hinged seats, outside flexible member is mounted on hinged seat.
2. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 1, which is characterized in that the elastomer
For spring.
3. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 1 or 2, which is characterized in that described the
One extra heavy pipe, the second extra heavy pipe are identical with third extra heavy pipe structure size, first tubule, the second tubule and third capillary structure size
It is identical.
4. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 3, which is characterized in that the hinged seat
Quantity be three.
5. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 4, which is characterized in that the moving tube
Upper edge be outward extended with support arm, the other end of the cylinder is fixedly connected with support arm.
6. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 5, which is characterized in that the support arm
Quantity at least there are two, and be uniformly distributed along the circumferencial direction of moving tube.
7. collaboration fruit picking Elastic manipulator is grabbed in a kind of suction according to claim 6, which is characterized in that the cylinder
The axis of telescopic direction and collection tube is mutually parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163749.6A CN108283056B (en) | 2018-02-27 | 2018-02-27 | Elastic manipulator for picking fruit by sucking and grabbing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163749.6A CN108283056B (en) | 2018-02-27 | 2018-02-27 | Elastic manipulator for picking fruit by sucking and grabbing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108283056A true CN108283056A (en) | 2018-07-17 |
| CN108283056B CN108283056B (en) | 2024-02-13 |
Family
ID=62833169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810163749.6A Active CN108283056B (en) | 2018-02-27 | 2018-02-27 | Elastic manipulator for picking fruit by sucking and grabbing |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050218679A1 (en) * | 2002-06-24 | 2005-10-06 | Kazuo Yokoyama | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN203752160U (en) * | 2014-03-25 | 2014-08-06 | 甘肃农业大学 | Quick under-actuated absorbing picking manipulator |
| CN104029208A (en) * | 2013-03-08 | 2014-09-10 | 河北农业大学 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN208029498U (en) * | 2018-02-27 | 2018-11-02 | 浙江水利水电学院 | A kind of inhale grabs collaboration fruit picking Elastic manipulator |
-
2018
- 2018-02-27 CN CN201810163749.6A patent/CN108283056B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050218679A1 (en) * | 2002-06-24 | 2005-10-06 | Kazuo Yokoyama | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN104029208A (en) * | 2013-03-08 | 2014-09-10 | 河北农业大学 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
| CN203752160U (en) * | 2014-03-25 | 2014-08-06 | 甘肃农业大学 | Quick under-actuated absorbing picking manipulator |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| CN208029498U (en) * | 2018-02-27 | 2018-11-02 | 浙江水利水电学院 | A kind of inhale grabs collaboration fruit picking Elastic manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
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| Publication number | Publication date |
|---|---|
| CN108283056B (en) | 2024-02-13 |
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