CN112388665A - Passion fruit picking manipulator - Google Patents
Passion fruit picking manipulator Download PDFInfo
- Publication number
- CN112388665A CN112388665A CN202011234434.XA CN202011234434A CN112388665A CN 112388665 A CN112388665 A CN 112388665A CN 202011234434 A CN202011234434 A CN 202011234434A CN 112388665 A CN112388665 A CN 112388665A
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- China
- Prior art keywords
- connecting rod
- joint
- passion fruit
- hinged
- fruit picking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- 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
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a passion fruit picking manipulator, which belongs to the technical field of agricultural mechanical equipment and comprises a joint I, a joint II, a contact plate, a supporting frame and a transmission part, wherein the joint I is arranged on the supporting plate; the first joint is connected with the second joint, the upper end of the contact plate is hinged to the upper end of the left side of the outer frame, the other side of the second joint is connected with the supporting plate, the bottom of the supporting plate is connected with the supporting frame, and the transmission part is connected with the second joint and the supporting frame respectively. The second joint comprises an outer frame, a connecting rod B, a connecting rod C, a connecting rod D, a connecting rod E and a sliding block. According to the passion fruit picking manipulator provided by the invention, through the design of the joint and the internal structure of the picking manipulator, certain flexible fruit picking is realized in a spring mode, and the integrity of picked fruits, the picking effectiveness and the picking stability are ensured.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanical equipment, and particularly relates to a passion fruit picking manipulator.
Background
The passion fruit is a botanical vine of Passiflora in Passiflora. Cultivated in China in Guangdong, Hainan, Fujian, Yunnan and Taiwan, and sometimes in mountain valley jungle with elevation 180-1900 m. The fruit can be eaten as raw food or used as vegetable and feed; has the effects of exciting and strengthening after being used as a medicine; adding calcium bicarbonate and sugar into the pulp to obtain fragrant and delicious beverage; the seeds are used for oil pressing, and can be used for preparing edible soap, oil paint and the like; the flower is big and beautiful and can be used as garden ornamental plants.
Agricultural mechanization gradually develops in China, but the overall level is relatively laggard, particularly on mechanized equipment for fruit picking. The current fruit picking mode is mainly manual, the picking of the passion fruit is still manual, and the passion fruit picking mode is high in labor intensity, low in efficiency, high in labor cost and low in safety. Some fruit picking robots or devices are also available at present, but most of the fruit picking robots or devices are still in the research and test stage, cannot be put into practical use in real time, and mainly the picking technology is not mature enough. No devices or manipulators related to the picking of passion fruit have been found at present.
Disclosure of Invention
The invention aims to: aiming at the problems, the invention provides a passion fruit picking mechanical arm to solve the problem that mechanical and nondestructive picking of passion fruits cannot be achieved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a picking manipulator for passion fruits comprises a first joint 1, a second joint 2, a contact plate 3, a supporting plate 4, a supporting frame 5 and a transmission part; wherein, joint I1 is connected with joint II 2, and the upper end of contact plate 3 articulates in frame 21 left side upper end, and joint II 2 opposite side is connected with supporting disk 4, and supporting disk 4 bottom is connected with support frame 5, and the transmission part is connected with joint II 2 and support frame 5 respectively.
Preferably, the second joint 2 comprises an outer frame 21, a connecting rod B22, a connecting rod C23, a connecting rod D24, a connecting rod E25 and a sliding block 26; the upper end of the contact plate 3 is hinged to the upper end of the left side of the outer frame 21, the lower end of the contact plate 3 is hinged to the left end of the connecting rod E25, and the contact plate 3 is tightly attached to the passion fruit to fix the passion fruit when the device is used; the right end of a connecting rod E25 is hinged to the middle lower part of a connecting rod D24, the lower end of the connecting rod D24 is hinged to the bottom inside the outer frame 21, the upper end of a connecting rod D24 is connected with a connecting rod C23 in a sliding mode, the right end of a connecting rod C23 is hinged to the right side inside the outer frame 21, the left end of a connecting rod C23 is hinged to the lower end of a connecting rod B22, the upper end of a connecting rod B22 is hinged to the left side of the bottom of a joint I1, and; the right side of the top of the outer frame 21 is hinged to the right side of the bottom of the first joint 1 to limit the inclination angle of the first joint 1; the slide block 26 is fixedly installed at the bottom of the outer frame 21.
Preferably, a sliding groove is arranged on the connecting rod C23.
Preferably, the upper end of the connecting rod D24 is provided with a cylindrical pin 27, and the cylindrical pin 27 can slide in a sliding groove of the connecting rod C23.
Preferably, the support plate 4 is provided with a guide slot, and the slide block 26 is slidably mounted in the guide slot of the support plate 4, and the slide block 26 is slidable in the guide slot.
Preferably, a spring B10 is further disposed between the guide groove of the support plate 4 and the slider 26, and the spring B10 can be pressed against the slider 26 in a natural state, so that the slider 26 is held at the right side of the guide groove.
Preferably, the first joint 1 is in an arc-shaped structure.
Preferably, the transmission part comprises a pull ring 8 and a connecting rod A9, the upper end of the connecting rod A9 is hinged on the left side of the sliding block 26, and the lower end of the connecting rod A9 is connected with the pull ring 8.
Preferably, the pull ring 8 is internally provided with a cylindrical pull rod 6 and a spring A7; the cylindrical pull rod 6 penetrates through a central hole of the support frame 5 and a central hole at the top of the pull ring 8 to form sliding connection; the spring A7 is arranged between the top end inside the pull ring 8 and the bottom end of the cylindrical pull rod 6, the lower end of the connecting rod A9 is hinged at the upper end of the cylindrical pull rod 6, and the cylindrical pull rod 6 is connected with the sliding block 26 through the connecting rod A9; when the pull ring 8 is pulled, the cylindrical pull rod 6 is moved to the same moving direction as the pull ring 8 against the elastic force of the spring A7.
The invention has the beneficial effects that:
1. according to the invention, the clamping action of the first joint and the second joint can be realized only by pulling the pull ring and the contact plate to clamp the passion fruit in a linkage manner, the structure is ingenious and reasonable, and the energy consumption is low.
2. According to the passion fruit picking manipulator, due to the design of the joint and the internal structure of the picking manipulator, the springs are arranged at two positions, namely the springs A, B, so that certain flexible clamping can be realized, passion fruits are protected from being damaged due to overlarge pressure during picking, and meanwhile, the stability in the fruit picking process is ensured.
Drawings
FIG. 1 is an overall external structural view of the apparatus of the present invention;
FIG. 2 is a view showing the internal structure of a joint II of the present invention;
FIG. 3 is a diagram of a partial relationship between a support plate and a support frame of the apparatus of the present invention;
fig. 4 is a structural view of a link D of the apparatus of the present invention.
In the figure: 1-joint I, 2-joint II, 21-outer frame, 22-connecting rod B, 23-connecting rod C, 24-connecting rod D, 25-connecting rod E, 26-sliding block, 27-cylindrical pin, 3-contact plate, 4-supporting disk, 5-supporting frame, 6-cylindrical pull rod, 7-spring A, 8-pull ring, 9-connecting rod A and 10-spring B.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Example 1
As shown in fig. 1-4, a passion fruit picking manipulator comprises a first joint, a second joint, a contact plate, a support frame and a transmission part; the first joint is connected with the second joint, the upper end of the contact plate is hinged to the upper end of the left side of the outer frame, the other side of the second joint is connected with the supporting plate, the bottom of the supporting plate is connected with the supporting frame, and the transmission part is connected with the second joint and the supporting frame respectively.
The second joint comprises an outer frame, a connecting rod B, a connecting rod C, a connecting rod D, a connecting rod E and a sliding block; the upper end of the contact plate is hinged to the upper end of the left side of the outer frame, the lower end of the contact plate is hinged to the left end of the connecting rod E, and the contact plate is tightly attached to the passion fruit to fix the passion fruit when the device is used; the right end of a connecting rod E is hinged to the middle lower part of a connecting rod D, the lower end of the connecting rod D is hinged to the bottom inside the outer frame, the upper end of the connecting rod D is connected with a connecting rod C in a sliding mode, the right end of the connecting rod C is hinged to the right side inside the outer frame, the left end of the connecting rod C is hinged to the lower end of a connecting rod B, the upper end of the connecting rod B is hinged to the left side of the bottom of the joint; the right side of the top of the outer frame is hinged to the right side of the bottom of the first joint so as to limit an inclined angle of the first joint; the sliding block is fixedly arranged at the bottom of the outer frame.
And a sliding groove is formed in the connecting rod C.
And the upper end of the connecting rod D is provided with a cylindrical pin, and the cylindrical pin can slide in the sliding groove of the connecting rod C.
The supporting disk is provided with the guide slot, and slider slidable mounting is in the guide slot of supporting disk, and the slider can slide in the guide slot.
Still be provided with spring B between the guide slot of supporting disk and the slider, spring B can withstand the slider under natural state, makes the slider keep in the guide slot right side.
The outer surface of the joint is of an arc structure.
The transmission part comprises a pull ring and a connecting rod A, the upper end of the connecting rod A is hinged to the left side of the sliding block, and the lower end of the connecting rod A is connected with the pull ring.
A cylindrical pull rod and a spring A are arranged in the pull ring; the cylindrical pull rod penetrates through a center hole of the support frame and a center hole at the top of the pull ring to form sliding connection; the spring A is arranged between the top end inside the pull ring and the bottom end of the cylindrical pull rod, the lower end of the connecting rod A is hinged to the upper end of the cylindrical pull rod, and the cylindrical pull rod is connected with the sliding block through the connecting rod A; when the pull ring is pulled, the cylindrical pull rod moves towards the same movement direction as the pull ring by overcoming the elastic force of the spring A.
The working principle of the embodiment is as follows: pulling the pull ring 8, according to the transmission relation between the second joint 2 and the transmission part in the device, firstly overcoming the elastic force effect of the spring A7, pulling the three second joints 2 to move inwards to the passion fruit clamping through the transmission part, when the passion fruit touches the contact plate 3, driving the link mechanism in the second joint 2, further driving the three first joints 1 to rotate from top to bottom so as to clamp the top of the passion fruit, and enabling the passion fruit to be stably clamped in the whole process so as to guarantee the follow-up picking.
Claims (9)
1. The utility model provides a Passion fruit picking manipulator which characterized in that: comprises a joint I (1), a joint II (2), a contact plate (3), a supporting disk (4), a supporting frame (5) and a transmission part; the first joint (1) is connected with the second joint (2), the contact plate (3) is arranged on the second joint (2), the other side of the second joint (2) is connected with the supporting disc (4), the bottom of the supporting disc (4) is connected with the supporting frame (5), and the transmission part is respectively connected with the second joint (2) and the supporting frame (5).
2. The passion fruit picking manipulator of claim 1, wherein: the second joint (2) comprises an outer frame (21), a connecting rod B (22), a connecting rod C (23), a connecting rod D (24), a connecting rod E (25) and a sliding block (26); the upper end of the contact plate (3) is hinged to the upper end of the left side of the outer frame (21), the lower end of the contact plate (3) is hinged to the left end of the connecting rod E (25), the right end of the connecting rod E (25) is hinged to the middle lower part of the connecting rod D (24), the lower end of the connecting rod D (24) is hinged to the bottom inside the outer frame (21), the upper end of the connecting rod D (24) is connected with the connecting rod C (23) in a sliding mode, the right end of the connecting rod C (23) is hinged to the right side inside the outer frame (21), the left end of the connecting rod C (23) is hinged to the lower end of the connecting rod B (22), the upper end of the connecting rod B (22) is hinged to the bottom of the joint I (1); the slide block (26) is fixedly arranged at the bottom of the outer frame (21).
3. The passion fruit picking manipulator of claim 2, wherein: and a sliding groove is formed in the connecting rod C (23).
4. The passion fruit picking manipulator of claim 2, wherein: the upper end of the connecting rod D (24) is provided with a cylindrical pin (27), and the cylindrical pin (27) can slide in a sliding groove of the connecting rod C (23).
5. The passion fruit picking manipulator of claim 1 or 2, wherein: the supporting disk (4) is provided with a guide groove, the sliding block (26) is slidably arranged in the guide groove of the supporting disk (4), and the sliding block (26) can slide in the guide groove.
6. The passion fruit picking manipulator of claim 1 or 2, wherein: and a spring B (10) is also arranged between the guide groove of the supporting disk (4) and the sliding block (26).
7. The passion fruit picking manipulator of claim 1, wherein: the outer surface of the first joint (1) is of an arc-shaped structure.
8. The passion fruit picking manipulator of claim 1, wherein: the transmission part comprises a pull ring (8) and a connecting rod A (9), the upper end of the connecting rod A (9) is hinged to the left side of the sliding block (26), and the lower end of the connecting rod A (9) is connected with the pull ring (8).
9. The passion fruit picking manipulator of claim 1 or 8, wherein: a cylindrical pull rod (6) and a spring A (7) are arranged in the pull ring (8); the cylindrical pull rod (6) penetrates through a center hole of the support frame (5) and a center hole at the top of the pull ring (8) to form sliding connection; spring A (7) sets up between inside top of pull ring (8) and cylinder pull rod (6) bottom, and connecting rod A (9) lower extreme articulates in cylinder pull rod (6) upper end, and cylinder pull rod (6) are connected with slider (26) through connecting rod A (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011234434.XA CN112388665A (en) | 2020-11-07 | 2020-11-07 | Passion fruit picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011234434.XA CN112388665A (en) | 2020-11-07 | 2020-11-07 | Passion fruit picking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112388665A true CN112388665A (en) | 2021-02-23 |
Family
ID=74597583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011234434.XA Pending CN112388665A (en) | 2020-11-07 | 2020-11-07 | Passion fruit picking manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN112388665A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0566809A1 (en) * | 1992-04-24 | 1993-10-27 | REYNOLDS & OLIVEIRA - EMPRESA DE PROJECTOS E COMERCIALIZACAO DE MAQUINAS, R & O, Lda. | Improvements in the mechanical shaker for fruit harvesting |
| CN201107918Y (en) * | 2007-11-28 | 2008-09-03 | 范明合 | Fruit picking device |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| CN107838934A (en) * | 2017-10-27 | 2018-03-27 | 北京理工大学 | It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger |
| CN108184424A (en) * | 2018-03-07 | 2018-06-22 | 宜春学院 | A kind of drive lacking envelop-type fruit picker |
| CN211030058U (en) * | 2019-10-11 | 2020-07-17 | 湖南理工学院 | Transfer robot that workshop was used |
-
2020
- 2020-11-07 CN CN202011234434.XA patent/CN112388665A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0566809A1 (en) * | 1992-04-24 | 1993-10-27 | REYNOLDS & OLIVEIRA - EMPRESA DE PROJECTOS E COMERCIALIZACAO DE MAQUINAS, R & O, Lda. | Improvements in the mechanical shaker for fruit harvesting |
| CN201107918Y (en) * | 2007-11-28 | 2008-09-03 | 范明合 | Fruit picking device |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| CN107838934A (en) * | 2017-10-27 | 2018-03-27 | 北京理工大学 | It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger |
| CN108184424A (en) * | 2018-03-07 | 2018-06-22 | 宜春学院 | A kind of drive lacking envelop-type fruit picker |
| CN211030058U (en) * | 2019-10-11 | 2020-07-17 | 湖南理工学院 | Transfer robot that workshop was used |
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Application publication date: 20210223 |