CN221104135U - End actuating mechanism is picked to grape - Google Patents
End actuating mechanism is picked to grape Download PDFInfo
- Publication number
- CN221104135U CN221104135U CN202322821240.5U CN202322821240U CN221104135U CN 221104135 U CN221104135 U CN 221104135U CN 202322821240 U CN202322821240 U CN 202322821240U CN 221104135 U CN221104135 U CN 221104135U
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- Prior art keywords
- clamping arm
- guide
- plate
- grape
- clamping
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- 235000009754 Vitis X bourquina Nutrition 0.000 title claims abstract description 31
- 235000012333 Vitis X labruscana Nutrition 0.000 title claims abstract description 31
- 235000014787 Vitis vinifera Nutrition 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 title claims abstract description 14
- 240000006365 Vitis vinifera Species 0.000 title 1
- 241000219095 Vitis Species 0.000 claims abstract description 30
- 239000012636 effector Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 abstract description 10
- 238000010008 shearing Methods 0.000 abstract description 8
- 240000000560 Citrus x paradisi Species 0.000 abstract description 5
- 241000219094 Vitaceae Species 0.000 abstract description 5
- 235000021021 grapes Nutrition 0.000 abstract description 5
- 230000008719 thickening Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The utility model relates to the technical field of pickers, and discloses a grape picking end actuating mechanism, which comprises: a mounting plate, further comprising: the clamping plates are respectively and fixedly arranged at the upper part and the lower part of the mounting plate; according to the end actuating mechanism for picking grapes, the moving plate moves from left to right to drive the two guide plates to move from left to right, the two guide plates move from left to right to enable the inner rod to gradually move in the inclined guide groove towards the straight groove direction, and when the inner rod gradually moves in the inclined guide groove, the first clamping arm and the second clamping arm are forced to be mutually folded, and grape stalks are clamped through the two clamping plates; after grape fruit stalk is cliied, two guide plates and interior pole continue to move rightwards, and two splint still keep the clamping state this moment, and the guide plate then can cut off grape fruit stalk through the tool bit, accomplishes the shearing action.
Description
Technical Field
The utility model relates to the technical field of pickers, in particular to a grape picking end actuating mechanism.
Background
The grape picking end actuating mechanism is one of core components of the intelligent grape picking manipulator, and whether the design is good or bad directly influences the precision and the working efficiency of grape picking; in the prior art, there are also various types of designs for grape picking end effectors.
In the utility model patent with the publication number of CN218388779U, a grape picking device is provided and comprises an extension rod, a handle mechanism is arranged on one end surface of the extension rod, a pull rope is arranged on the surface of the handle mechanism, a roll shaft is fixedly connected with the other end surface of the extension rod, a fixed clamping plate is fixedly connected with the surface of the roll shaft, a spring is arranged on the inner side of the fixed clamping plate, a movable clamping plate is connected with the surface of the roll shaft in a sleeved mode, and a shearing device is arranged on the surface of the other side of the top end of the extension rod so as to solve the problem that the grape is easy to damage after falling in the background.
The grape picking device can effectively avoid grape damage caused by falling of grapes, but in practical application, we find that certain defects exist, such as.
When the grape picking device is used for grape picking, the stability of the grape picking device is not easy to control, and meanwhile, the grape picking device cannot finish clamping and shearing actions at one time.
Based on this, we propose an end effector for picking grapes.
Disclosure of utility model
Solves the technical problems.
Aiming at the defects of the prior art, the utility model provides the grape picking end actuating mechanism which has the advantages of being capable of completing clamping action and shearing action at one time and high in picking efficiency.
The technical proposal is that.
In order to achieve the purpose of completing the clamping action, the shearing action and the picking efficiency at one time, the utility model provides the following technical scheme: an end actuating mechanism is picked to grape, includes the mounting panel, still includes.
The clamping device comprises a first clamping arm and a second clamping arm, wherein clamping plates are fixedly installed at one ends of the first clamping arm and the second clamping arm, the other ends of the first clamping arm and the second clamping arm are rotatably arranged between two fixing plates which are oppositely arranged, and the two fixing plates are fixedly installed on the upper portion and the lower portion of a mounting plate respectively.
The top and the bottom of first arm lock and second arm lock all control the activity and are provided with the guide board, two be provided with the interior pole between the tip of guide board, oblique guide slot and the straight flute of intercommunication each other have all been seted up on first arm lock and the second arm lock, interior pole activity sets up in oblique guide slot and straight flute.
As a preferable technical scheme of the utility model, the side of the upper guide plate, which faces away from the mounting plate, is fixedly provided with a cutter head.
As a preferred embodiment of the utility model, the inner rod is fixedly mounted between the ends of the two guide plates.
As a preferable technical scheme of the utility model, the end part of the guide plate is provided with a rotating groove, the inner rod is rotatably arranged in the rotating groove, the middle part of the inner rod is also provided with a thickening sleeve, and the diameter of the thickening sleeve is larger than the width of the rotating groove.
As a preferable technical scheme of the utility model, the two guide plates are connected through a moving plate, and the moving plate is movably arranged between the first clamping arm and the second clamping arm left and right.
As a preferable technical scheme of the utility model, the movable plate is in threaded connection with the screw rod, one end of the screw rod is rotatably connected with the tail plate, the other end of the screw rod is fixedly connected with an output shaft of the motor, and the motor is fixedly arranged on the mounting plate.
The tail plate is fixedly connected with the mounting plate through a guide rod, and a guide hole for the guide rod to pass through is formed in the moving plate.
As a preferred embodiment of the present utility model, the inclined guide groove is inclined toward the center of the mounting plate.
Has the beneficial effects of.
Compared with the prior art, the utility model provides the grape picking end actuating mechanism, which has the following beneficial effects.
1. According to the end actuating mechanism for picking grapes, the moving plate moves from left to right to drive the two guide plates to move from left to right, the two guide plates move from left to right to enable the inner rod to gradually move in the inclined guide groove towards the straight groove direction, and when the inner rod gradually moves in the inclined guide groove, the first clamping arm and the second clamping arm are forced to be mutually folded, and grape stalks are clamped through the two clamping plates; after grape fruit stalk is cliied, two guide plates and interior pole continue to move rightwards, and two splint still keep the clamping state this moment, and the guide plate then can cut off grape fruit stalk through the tool bit, accomplishes the shearing action.
2. This an end actuating mechanism for grape is picked, motor operation drives the terminal lead screw of its output shaft and rotates, and the lead screw is rotatory can drive its outer wall threaded connection's movable plate and move about, and then drives two guide boards and move about, realizes the centre gripping and the shutoff to grape fruit stalk.
Drawings
Fig. 1 is a perspective view of the overall structure of the present utility model.
Fig. 2 is a schematic view of the overall structure of the tool bit of the utility model after removal.
Fig. 3 is an enlarged schematic view of a bit portion of the present utility model.
In the figure: 1. a mounting plate; 2. a fixing plate; 3. a first clamp arm; 4. a second clamp arm; 5. a clamping plate; 6. an inclined guide groove; 7. a straight groove; 8. a guide rod; 9. a tail plate; 10. a screw rod; 11. a motor; 12. a moving plate; 13. a guide hole; 14. a guide plate; 15. a cutter head; 16. a rotating groove; 17. an inner rod; 18. and (5) thickening the sleeve.
Description of the embodiments
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-3, an end effector for picking grapes comprises a mounting plate 1, as shown in fig. 1, a first clamping arm 3 and a second clamping arm 4, wherein clamping plates 5 are fixedly arranged at one ends of the first clamping arm 3 and the second clamping arm 4, the other ends of the first clamping arm 3 and the second clamping arm 4 are rotatably arranged between two fixing plates 2 which are oppositely arranged, and the two fixing plates 2 are fixedly arranged at the upper part and the lower part of the mounting plate 1 respectively; as shown in fig. 1, the first clamping arm 3 and the second clamping arm 4 are arranged in an arc shape, two clamping plates 5 at the tail ends of the first clamping arm 3 and the second clamping arm 4 can clamp together, and a space is reserved between the arm bodies of the first clamping arm 3 and the second clamping arm 4.
As shown in fig. 1 and 3, guide plates 14 are movably arranged at the top and bottom of the first clamping arm 3 and the second clamping arm 4 left and right, an inner rod 17 is arranged between the end parts of the two guide plates 14, the first clamping arm 3 and the second clamping arm 4 are provided with an inclined guide groove 6 and a straight groove 7 which are mutually communicated, the inner rod 17 is movably arranged in the inclined guide groove 6 and the straight groove 7, and the inclined guide groove 6 is inclined towards the center of the mounting plate 1; in this embodiment, two guide plates 14 are connected by a moving plate 12, the moving plate 12 is movably disposed between the first clamping arm 3 and the second clamping arm 4, and a cutter head 15 is fixedly mounted on a side of the upper guide plate 14 facing away from the mounting plate 1.
The moving plate 12 moves left to right to drive the two guide plates 14 to move left to right, the two guide plates 14 move left to right to enable the inner rod 17 to gradually move towards the straight groove 7 in the inclined guide groove 6, and when the inner rod 17 gradually moves in the inclined guide groove 6, the first clamping arm 3 and the second clamping arm 4 are forced to be mutually folded, and the grape stalks are clamped by the two clamping plates 5; after the grape stalks are clamped, the two guide plates 14 and the inner rod 17 continue to move rightwards (at the moment, the inner rod 17 moves in the straight groove 7), at the moment, the two clamping plates 5 still keep the clamping state, and the guide plates 14 cut off the grape stalks through the cutter head 15, so that the shearing action is completed.
Therefore, in the embodiment, the clamping action and the shearing action can be completed at one time, the whole structure is simpler and more reliable, and the picking efficiency is higher.
In this embodiment, the inner rod 17 may be fixedly installed directly between the ends of the two guide plates 14, in which case sliding friction is provided between the inner rod 17 and the inner walls of the inclined guide groove 6 and the straight groove 7; sliding friction is easily worn, and in this embodiment, the following manner may be provided as shown in fig. 3.
The end part of the guide plate 14 is provided with a rotating groove 16, an inner rod 17 is rotatably arranged in the rotating groove 16, the middle part of the inner rod 17 is also provided with a thickening sleeve 18, the diameter of the thickening sleeve 18 is larger than the width of the rotating groove 16, and the inner rod 17 is prevented from falling through the rotating groove 16; in the above arrangement, rolling friction is provided between the thickening 18 and the groove, and is also easy to replace after wear.
The moving plate 12 is movably arranged between the first clamping arm 3 and the second clamping arm 4 in a left-right mode, and specifically: the movable plate 12 is in threaded connection with the screw rod 10, one end of the screw rod 10 is rotationally connected with the tail plate 9, the other end of the screw rod is fixedly connected with an output shaft of the motor 11, and the motor 11 is fixedly arranged on the mounting plate 1; the tail plate 9 is fixedly connected with the mounting plate 1 through the guide rod 8, a guide hole 13 for the guide rod 8 to pass through is formed in the moving plate 12, and the guide rod 8 can limit the rotation of the moving plate 12 on one hand and is also used for positioning the tail plate 9 on the other hand.
The motor 11 operates to drive the screw rod 10 at the tail end of the output shaft to rotate, the screw rod 10 rotates to drive the moving plate 12 in threaded connection with the outer wall of the screw rod to move left and right, and further the two guide plates 14 are driven to move left and right, so that the grape stalks are clamped and cut off.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. End actuating mechanism is picked to grape, including mounting panel (1), its characterized in that still includes:
The clamping device comprises a first clamping arm (3) and a second clamping arm (4), wherein clamping plates (5) are fixedly arranged at one ends of the first clamping arm and the second clamping arm, the other ends of the first clamping arm and the second clamping arm are rotatably arranged between two fixing plates (2) which are oppositely arranged, and the two fixing plates (2) are respectively fixedly arranged at the upper part and the lower part of a mounting plate (1);
Guide plates (14) are movably arranged at the top and the bottom of the first clamping arm (3) and the second clamping arm (4) left and right, an inner rod (17) is arranged between the end parts of the two guide plates (14), oblique guide grooves (6) and straight grooves (7) which are mutually communicated are formed in the first clamping arm (3) and the second clamping arm (4), and the inner rod (17) is movably arranged in the oblique guide grooves (6) and the straight grooves (7);
a cutter head (15) is fixedly arranged on one side of the upper guide plate (14) which is away from the mounting plate (1);
The two guide plates (14) are connected through a moving plate (12), and the moving plate (12) is movably arranged between the first clamping arm (3) and the second clamping arm (4) left and right.
2. The grape picking end effector of claim 1, wherein: the inner rod (17) is fixedly mounted between the ends of the two guide plates (14).
3. The grape picking end effector of claim 1, wherein: the end of guide board (14) has seted up rotation groove (16), interior pole (17) rotate and set up in rotation groove (16), the middle part of interior pole (17) still is provided with and adds thick cover (18), add the diameter of thick cover (18) and be greater than the width of rotation groove (16).
4. The grape picking end effector of claim 1, wherein: the movable plate (12) is in threaded connection with the screw rod (10), one end of the screw rod (10) is rotationally connected with the tail plate (9), the other end of the screw rod is fixedly connected with an output shaft of the motor (11), and the motor (11) is fixedly arranged on the mounting plate (1);
The tail plate (9) is fixedly connected with the mounting plate (1) through the guide rod (8), and the moving plate (12) is provided with a guide hole (13) for the guide rod (8) to pass through.
5. The grape picking end effector of claim 1, wherein: the inclined guide groove (6) is inclined towards the center of the mounting plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322821240.5U CN221104135U (en) | 2023-10-20 | 2023-10-20 | End actuating mechanism is picked to grape |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322821240.5U CN221104135U (en) | 2023-10-20 | 2023-10-20 | End actuating mechanism is picked to grape |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221104135U true CN221104135U (en) | 2024-06-11 |
Family
ID=91367486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322821240.5U Active CN221104135U (en) | 2023-10-20 | 2023-10-20 | End actuating mechanism is picked to grape |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221104135U (en) |
-
2023
- 2023-10-20 CN CN202322821240.5U patent/CN221104135U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant |