CN114600642B - Three-finger three-joint dragon fruit picking manipulator - Google Patents
Three-finger three-joint dragon fruit picking manipulator Download PDFInfo
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- CN114600642B CN114600642B CN202210366456.4A CN202210366456A CN114600642B CN 114600642 B CN114600642 B CN 114600642B CN 202210366456 A CN202210366456 A CN 202210366456A CN 114600642 B CN114600642 B CN 114600642B
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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
- B25J11/00—Manipulators not otherwise provided for
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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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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The invention discloses a three-finger three-joint dragon fruit picking manipulator, which particularly relates to the technical field of oilfield exploitation and comprises a mechanical finger, wherein a non-slip mat is fixedly arranged on the surface of the mechanical finger, an adjusting assembly is movably arranged at one end of the mechanical finger, a connecting body is fixedly arranged on the back surface of the adjusting assembly, a rotating groove is formed in the surface of the connecting body, a shell is movably arranged in the rotating groove, and a cutting assembly and a grinding assembly are respectively and movably arranged on the surface of the shell.
Description
Technical Field
The invention relates to the technical field of mechanical picking, in particular to a three-finger three-joint pitaya picking manipulator.
Background
The manipulator is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of both the human and the manipulator machines in structure and performance, is the earliest industrial robot and the earliest modern robot, can replace heavy labor of the human to realize mechanization and automation of production, can operate in a harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.
Present three indicate picking manipulator all lacks corresponding cutting assembly, consequently generally can all pluck the dragon fruit through the mode that drags when plucking, the mode that drags can lead to the fact certain destruction to the dragon fruit leaf, thereby influence subsequent dragon fruit and grow the condition, and three finger structure in the manipulator mostly all lacks adjusting part, so can't carry out corresponding adjustment according to the size and the shape of dragon fruit, dragon fruit surface generally can have certain protrusion, so can't grind the flat to protrusion at the in-process manipulator of picking, consequently need grind the process of leveling in follow-up processing, can prolong normal process progress.
Therefore, the inventor aims to provide a three-finger three-joint pitaya picking manipulator for researching and improving the existing structure and deficiency by taking the experience of abundant design development and actual manufacturing of related industries for years, so as to achieve the purposes of improving picking efficiency and not influencing the growth of the pitaya.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a three-finger three-joint dragon fruit picking manipulator, the position of a mechanical finger can be changed by arranging an adjusting component, so that the mechanical finger can adjust the corresponding position according to the size and shape of a dragon fruit and can conveniently pick the dragon fruit, and the effect of improving the picking efficiency of the dragon fruit is achieved.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a three-finger three-joint dragon fruit picking manipulator, includes the mechanical finger, the fixed surface of mechanical finger installs the slipmat, the one end movable mounting of mechanical finger has adjusting part, adjusting part's back fixed mounting has the connector, the rotation groove has been seted up on the surface of connector, the inside movable mounting who rotates the groove has the shell, the surface of shell respectively movable mounting have cutting assembly and grind flat subassembly, connector one end movable mounting has movable joint.
In a preferred embodiment, the adjusting assembly comprises a circular mounting plate, a connecting groove is formed in the surface of the circular mounting plate, and an adjusting column is movably mounted inside the connecting groove.
In a preferred embodiment, the adjusting column comprises a connecting column, a cylindrical tube is fixedly mounted at one end of the connecting column, a movable groove is formed in the surface of the cylindrical tube, a movable column is movably mounted inside the movable groove, a connecting plate is fixedly mounted at one end of the movable column, a first rotating hole is formed in the inner wall of the connecting plate, and a first rotating column is movably mounted inside the first rotating hole.
In a preferred embodiment, the cutting assembly includes a first fixing plate, a moving groove is opened in the first fixing plate, and a first accommodating column is movably installed in the moving groove.
In a preferred embodiment, the first accommodating column includes a connecting block, a first moving block is fixedly mounted on a side surface of the connecting block, a second rotating column is movably mounted on a front surface of the connecting block, a fixed column is fixedly mounted at one end of the second rotating column, a square mounting plate is fixedly mounted at one end of the fixed column, a second rotating hole is formed in the square mounting plate, a rotating block is movably mounted in the second rotating hole, and a cutter is fixedly mounted on a side surface of the rotating block.
In a preferred embodiment, the grinding component includes a second fixed plate, a second moving block is movably mounted inside the second fixed plate, a sliding block is movably mounted on the surface of the second moving block, a second containing column is fixedly mounted on the surface of the sliding block, a telescopic column is movably mounted inside the second containing column, a fixed block is fixedly mounted at one end of the telescopic column, and a grinding roller is movably mounted inside the fixed block.
In a preferred embodiment, the number of the connecting columns is three, three connecting columns are movably mounted inside the connecting groove, the number of the first rotating columns is three, the three first rotating columns are respectively movably mounted inside the three connecting plates, and the surfaces of the three first rotating columns are respectively fixedly connected with the insides of the three mechanical fingers.
In a preferred embodiment, the number of the first moving blocks is two, the two first moving blocks are respectively and fixedly installed on the top surface and the bottom surface of the connecting block, and the surfaces of the two first moving blocks are respectively and movably connected with the insides of the two moving grooves.
In a preferred embodiment, the surface of the fixing block is movably connected with the inside of the second receiving column.
The invention has the technical effects and advantages that:
1. according to the dragon fruit picking device, the adjusting assembly is arranged, so that the cylindrical pipe can be driven to move simultaneously when the connecting column rotates in the connecting groove, the position of the mechanical finger can be changed, the mechanical finger can adjust the corresponding position according to the size and the shape of the dragon fruit, the dragon fruit is conveniently picked, the mechanical finger can extend through the movement of the movable column in the cylindrical pipe, and the effect of improving the dragon fruit picking efficiency is achieved.
2. According to the cutting device, the cutting assembly is arranged, so that the first moving block can drive the connecting block to move outwards when moving in the moving groove, the square mounting plate connected with the fixed column can extend out of the first fixing plate, the cutter can be in a vertical state through rotation of the rotating block, and when the second rotating column rotates, the cutter can be driven to rotate simultaneously, so that the dragon fruit roots can be cut, the condition that the fruit trees are damaged when the dragon fruit is dragged is avoided, and the effect that the normal growth of the dragon fruit is not influenced is achieved.
3. According to the invention, the grinding component is arranged, so that the second moving block can drive the second containing column to move outwards when moving in the second fixed plate, and therefore, the grinding rollers connected in the second containing column can move simultaneously, and the grinding rollers can be close to the surface of the dragon fruit through the telescopic columns, so that the grinding rollers can grind the protrusions on the surface of the dragon fruit, the grinding steps in subsequent processing are saved, and the effect of improving the practicability of the device is achieved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic perspective view of the assembled structure of the present invention.
Fig. 3 is a schematic structural diagram of the adjusting assembly of the present invention.
Fig. 4 is a schematic view of the structure of the adjusting column of the present invention.
FIG. 5 is a schematic view of a cutting assembly according to the present invention.
Fig. 6 is a schematic view of a first receiving column according to the present invention.
Fig. 7 is a schematic view of the structure of the smoothing assembly of the present invention.
The reference signs are: 1. a mechanical finger; 2. a non-slip mat; 3. an adjustment assembly; 4. a connector; 5. a rotating groove; 6. a housing; 7. a cutting assembly; 8. grinding the component; 9. a moveable joint; 31. a circular mounting plate; 32. connecting grooves; 33. an adjustment column; 331. connecting columns; 332. a cylindrical tube; 333. a movable groove; 334. a movable post; 335. a connecting plate; 336. a first rotation hole; 337. a first rotating column; 71. a first fixing plate; 72. a moving groove; 73. a first receiving column; 731. connecting blocks; 732. a first moving block; 733. a second rotating cylinder; 734. fixing a column; 735. a square mounting plate; 736. a second rotation hole; 737. rotating the block; 738. a cutter; 81. a second fixing plate; 82. a second moving block; 83. a slider; 84. a second receiving post; 85. a telescopic column; 86. a fixed block; 87. and (5) grinding the roller.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The three-finger three-joint pitaya picking mechanical arm comprises a mechanical finger 1, wherein an anti-slip pad 2 is fixedly mounted on the surface of the mechanical finger 1, an adjusting component 3 is movably mounted at one end of the mechanical finger 1, a connecting body 4 is fixedly mounted at the back of the adjusting component 3, a rotating groove 5 is formed in the surface of the connecting body 4, a shell 6 is movably mounted in the rotating groove 5, a cutting component 7 and a grinding component 8 are movably mounted on the surface of the shell 6 respectively, and a movable joint 9 is movably mounted at one end of the connecting body 4.
As shown in fig. 3 and 4, the adjusting component 3 includes a circular mounting plate 31, a connecting groove 32 is formed in the surface of the circular mounting plate 31, an adjusting column 33 is movably mounted inside the connecting groove 32, the adjusting column 33 includes a connecting column 331, a cylindrical tube 332 is fixedly mounted at one end of the connecting column 331, a movable groove 333 is formed in the surface of the cylindrical tube 332, a movable column 334 is movably mounted inside the movable groove 333, a connecting plate 335 is fixedly mounted at one end of the movable column 334, a first rotating hole 336 is formed in the inner wall of the connecting plate 335, a first rotating column 337 is movably mounted inside the first rotating hole 336, the number of the connecting columns 331 is three, the three connecting columns 331 are movably mounted inside the connecting groove 32, the number of the first rotating columns 337 is three, the three first rotating columns 337 are movably mounted inside the three connecting plates 335 respectively, and the surfaces of the three first rotating columns 337 are fixedly connected with the insides of the three mechanical fingers 1 respectively.
Specifically, make cylinder pipe 332 can rotate simultaneously through the rotation of spliced pole 331 inside the spread groove 32, consequently, the mechanical finger 1 under the three finger state can change into two finger states, thereby the clamp that the mechanical finger 1 got the scope and is changed, and when the movable column 334 when cylinder pipe 332 inside removes, can drive mechanical finger 1 and extend, in addition through the rotation of first rotation post 337 at first rotation hole 336, can make the expansion angle of mechanical finger 1 change, consequently, make mechanical finger 1 can adapt to the dragon fruit of different sizes and shapes and press from both sides it and get, adjusting part 3 has been utilized, can make mechanical finger 1 carry out the adjustment in position and the angle according to the size and the shape of dragon fruit, make things convenient for mechanical finger 1 to adapt to various dragon fruits, thereby the effect of dragon fruit efficiency of takeing has been reached.
As shown in fig. 5 and 6, the cutting assembly 7 includes a first fixing plate 71, a moving groove 72 is formed in the first fixing plate 71, a first accommodating column 73 is movably mounted in the moving groove 72, the first accommodating column 73 includes a connecting block 731, a first moving block 732 is fixedly mounted on a side surface of the connecting block 731, a second rotating column 733 is movably mounted on a front surface of the connecting block 731, a fixed column 734 is fixedly mounted at one end of the second rotating column 733, a square mounting plate 735 is fixedly mounted at one end of the fixed column 734, a second rotating hole 736 is formed in the square mounting plate 735, a rotating block 737 is movably mounted in the second rotating hole 736, a cutter 738 is fixedly mounted on a side surface of the rotating block 737, the number of the first moving blocks 732 is two, the two first moving blocks 732 are fixedly mounted on a top surface and a bottom surface of the connecting block 731, and surfaces of the two first moving blocks 732 are movably connected with the insides of the two moving grooves 72.
Specifically, through the activity of the first moving block 732 in the moving groove 72, the connecting block 731 can be moved outwards, so that the fixing column 734 connected with the connecting block 731 can be driven to move simultaneously, the cutter 738 can be moved to the outside of the first fixing plate 71, and the rotating block 737 rotates in the second rotating hole 736, so that the cutter 738 is changed into a vertical state from a horizontal state, when the second rotating column 733 rotates inside the connecting block 731, the cutter 738 can be driven to rotate simultaneously, so that the cutter 738 can cut fruit roots, the cutting assembly 7 is utilized, the fruit roots can be directly cut, damage to fruit trees when the dragon fruits are prevented from being dragged, and the effect of not influencing the normal growth of the dragon fruits is achieved.
As shown in fig. 7, the leveling assembly 8 includes a second fixed plate 81, a second moving block 82 is movably mounted inside the second fixed plate 81, a sliding block 83 is movably mounted on a surface of the second moving block 82, a second accommodating post 84 is fixedly mounted on a surface of the sliding block 83, a telescopic post 85 is movably mounted inside the second accommodating post 84, a fixed block 86 is fixedly mounted at one end of the telescopic post 85, a leveling roller 87 is movably mounted inside the fixed block 86, and a surface of the fixed block 86 is movably connected with an inside of the second accommodating post 84.
Specifically, through the removal of second movable block 82 inside second fixed plate 81, can make the inside second that connects of second movable block 82 hold post 84 and remove simultaneously, and when flexible post 85 outwards extended, can make and grind flat roller 87 and be close to the dragon fruit and grind the protrusion on its surface, through the rotation on connector 4 surface of shell 6, make and grind flat roller 87 and can rotate around the whole dragon fruit of dragon fruit, utilized and ground flat subassembly 8, can grind the protrusion on dragon fruit surface flat, the time of later stage reprocessing has been saved, thereby reached the effect that improves the device practicality.
The working principle of the invention is as follows: the cylindrical tube 332 can rotate simultaneously through the rotation of the connecting column 331 inside the connecting groove 32, so that the mechanical finger 1 in a three-finger state can be changed into a two-finger state, the clamping range of the mechanical finger 1 is changed, the mechanical finger 1 can be driven to extend when the movable column 334 moves inside the cylindrical tube 332, and in addition, the expansion angle of the mechanical finger 1 can be changed through the rotation of the first rotating column 337 in the first rotating hole 336, so that the mechanical finger 1 can adapt to and clamp dragon fruits with different sizes and shapes; the connecting block 731 can be moved outwards by the movement of the first moving block 732 in the moving groove 72, so that the fixed column 734 connected with the connecting block 731 can be driven to move simultaneously, the cutter 738 can be moved to the outside of the first fixed plate 71, the cutter 738 can be changed from a horizontal state to a vertical state by the rotation of the rotating block 737 in the second rotating hole 736, and when the second rotating column 733 rotates in the connecting block 731, the cutter 738 can be driven to rotate simultaneously, so that the cutter 738 can cut fruit roots; through the movement of the second moving block 82 in the second fixing plate 81, the second containing column 84 connected in the second moving block 82 can be moved simultaneously, and when the telescopic column 85 extends outwards, the flattening roller 87 can be close to the dragon fruit and flatten the convex objects on the surface of the dragon fruit, and the flattening roller 87 can rotate around the whole dragon fruit through the rotation of the shell 6 on the surface of the connecting body 4.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiment of the invention, only the structures related to the disclosed embodiment are related, other structures can refer to common design, and the same embodiment and different embodiments of the invention can be combined mutually under the condition of no conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. The dragon fruit picking manipulator with three fingers and three joints comprises a mechanical finger (1) and is characterized in that an anti-slip pad (2) is fixedly mounted on the surface of the mechanical finger (1), an adjusting component (3) is movably mounted at one end of the mechanical finger (1), a connecting body (4) is fixedly mounted on the back surface of the adjusting component (3), a rotating groove (5) is formed in the surface of the connecting body (4), a shell (6) is movably mounted in the rotating groove (5), a cutting component (7) and a grinding component (8) are respectively movably mounted on the surface of the shell (6), and a movable joint (9) is movably mounted at one end of the connecting body (4);
the adjusting assembly (3) comprises a circular mounting plate (31), a connecting groove (32) is formed in the surface of the circular mounting plate (31), and an adjusting column (33) is movably mounted inside the connecting groove (32);
the adjusting column (33) comprises a connecting column (331), a cylindrical tube (332) is fixedly mounted at one end of the connecting column (331), a movable groove (333) is formed in the surface of the cylindrical tube (332), a movable column (334) is movably mounted in the movable groove (333), a connecting plate (335) is fixedly mounted at one end of the movable column (334), a first rotating hole (336) is formed in the inner wall of the connecting plate (335), and a first rotating column (337) is movably mounted in the first rotating hole (336);
the cutting assembly (7) comprises a first fixing plate (71), a moving groove (72) is formed in the first fixing plate (71), and a first accommodating column (73) is movably mounted in the moving groove (72);
the first accommodating column (73) comprises a connecting block (731), a first moving block (732) is fixedly mounted on the side surface of the connecting block (731), a second rotating column (733) is movably mounted on the front surface of the connecting block (731), a fixing column (734) is fixedly mounted at one end of the second rotating column (733), a square mounting plate (735) is fixedly mounted at one end of the fixing column (734), a second rotating hole (736) is formed in the square mounting plate (735), a rotating block (737) is movably mounted in the second rotating hole (736), and a cutter (738) is fixedly mounted on the side surface of the rotating block (737);
grind flat subassembly (8) including second fixed plate (81), the inside movable mounting of second fixed plate (81) has second movable block (82), the surface movable mounting of second movable block (82) has sliding block (83), the fixed surface mounting of sliding block (83) has the second to hold post (84), the inside movable mounting that the post (84) was held to the second has flexible post (85), the one end fixed mounting of flexible post (85) has fixed block (86), the inside movable mounting of fixed block (86) has and grinds flat roller (87).
2. The three-finger three-joint pitaya picking manipulator as claimed in claim 1, wherein: the quantity of spliced pole (331) is three, three equal movable mounting in the inside of spread groove (32) of spliced pole (331), the quantity of first rotation post (337) is three, three first rotation post (337) movable mounting is in the inside of three connecting plate (335) respectively, and is three the surface of first rotation post (337) indicates the inside fixed connection of (1) with three machinery respectively.
3. The three-finger three-joint pitaya picking manipulator as claimed in claim 2, wherein: the number of the first moving blocks (732) is two, the two first moving blocks (732) are respectively and fixedly arranged on the top surface and the bottom surface of the connecting block (731), and the surfaces of the two first moving blocks (732) are respectively and movably connected with the interiors of the two moving grooves (72).
4. The three-finger three-joint pitaya picking manipulator as claimed in any one of claims 1 to 3, wherein: the surface of the fixed block (86) is movably connected with the inner part of the second containing column (84).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210366456.4A CN114600642B (en) | 2022-04-08 | 2022-04-08 | Three-finger three-joint dragon fruit picking manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210366456.4A CN114600642B (en) | 2022-04-08 | 2022-04-08 | Three-finger three-joint dragon fruit picking manipulator |
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| CN114600642A CN114600642A (en) | 2022-06-10 |
| CN114600642B true CN114600642B (en) | 2023-02-17 |
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| CN202210366456.4A Active CN114600642B (en) | 2022-04-08 | 2022-04-08 | Three-finger three-joint dragon fruit picking manipulator |
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| CN208196800U (en) * | 2018-05-27 | 2018-12-07 | 福建省新一航消防科技有限公司 | A kind of manipulator of adjustable angle |
| CN110861115A (en) * | 2019-11-11 | 2020-03-06 | 珠海格力智能装备有限公司 | Mechanical finger and mechanical arm |
| CN210247568U (en) * | 2019-07-18 | 2020-04-07 | 咸宁市咸安区奇特水果种植专业合作社 | Electric telescopic picking frame for dragon fruits |
| CN212497765U (en) * | 2020-04-14 | 2021-02-09 | 上海铭模机械设备有限公司 | Manipulator of convenient regulation |
| KR20210138953A (en) * | 2020-05-13 | 2021-11-22 | 전남대학교산학협력단 | End effector of robot |
| CN113858170A (en) * | 2021-09-08 | 2021-12-31 | 江苏叁拾叁信息技术有限公司 | Intelligent manipulator for picking grapes |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9554512B2 (en) * | 2014-09-12 | 2017-01-31 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| WO2018015416A1 (en) * | 2016-07-19 | 2018-01-25 | Octinion Bvba | Device for picking fruit having an improved robot arm |
| CN210093985U (en) * | 2019-04-27 | 2020-02-21 | 钟明仁 | Dragon fruit picking and collecting integrated device |
| CN112189449A (en) * | 2020-10-10 | 2021-01-08 | 广西农业职业技术学院 | Dragon fruit picking equipment |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208196800U (en) * | 2018-05-27 | 2018-12-07 | 福建省新一航消防科技有限公司 | A kind of manipulator of adjustable angle |
| CN210247568U (en) * | 2019-07-18 | 2020-04-07 | 咸宁市咸安区奇特水果种植专业合作社 | Electric telescopic picking frame for dragon fruits |
| CN110861115A (en) * | 2019-11-11 | 2020-03-06 | 珠海格力智能装备有限公司 | Mechanical finger and mechanical arm |
| CN212497765U (en) * | 2020-04-14 | 2021-02-09 | 上海铭模机械设备有限公司 | Manipulator of convenient regulation |
| KR20210138953A (en) * | 2020-05-13 | 2021-11-22 | 전남대학교산학협력단 | End effector of robot |
| CN113858170A (en) * | 2021-09-08 | 2021-12-31 | 江苏叁拾叁信息技术有限公司 | Intelligent manipulator for picking grapes |
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| CN114600642A (en) | 2022-06-10 |
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