Five-finger picking mechanical claw
By designing the structure of the five-finger picking mechanical claw, effective clamping and cutting of fruits during the picking process is achieved, the problem of damage to fruits and fruit trees in the prior art is solved, and the picking efficiency and yield are improved.
Patent Information
- Application Number
- CN202421117053.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-22
- Publication Date
- 2025-01-03
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing agricultural picking machinery is prone to damage fruits and fruit trees during the picking process, resulting in low picking efficiency and reduced yield.
A five-finger picking mechanical claw is designed, using a structure such as the rear fixing plate, sliding sleeve inner rail, shear blade and drive rod. Through the collection of the mechanical claws, the knuckles are shrinked and the fruit is cut simultaneously to protect the Fruits and improve picking efficiency.
Effectively protect fruits, improve picking efficiency, reduce damage to fruits and fruit trees, and improve the stability and yield of the picking process.
Smart Images
Figure CN222284015U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of picking mechanical claws, in particular to a five-finger picking mechanical claw. Background Art
[0002] Strawberry picking robots have a wide range of practical applications. Compared with traditional manual picking, using strawberry picking robots for farming can significantly improve picking efficiency, reduce the labor burden of farmers, and ensure the quality of strawberry picking. At the same time, through data analysis, the robot also shows a low failure rate in long-term operation and has good stability and reliability. This study developed a strawberry picking mechanical claw. While filling the technical gap in agricultural production, it also injected new vitality into agricultural modernization.
[0003] At present, considering the existing research and development directions of agricultural harvesting machinery, it is mainly divided into two categories: one is auxiliary mechanical devices; the other is harvesting robots. Research on auxiliary mechanical devices shows that, taking orange picking as an example, most auxiliary mechanical devices use telescopic devices to directly pick oranges by extending the mechanical arm, which damages the connection between the orange stalks and thus damages the quality of the fruit. At the same time, some fruits cannot be picked by force. Forced picking will cause different degrees of damage to the roots and stems of the fruit trees, thereby reducing the yield of the fruit. For this reason, we propose a five-finger picking mechanical claw to solve the above problems. Utility Model Content
[0004] The purpose of the utility model is to provide a five-finger picking mechanical claw to solve the problems raised in the above background technology.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a five-finger picking mechanical claw, comprising a rear fixed plate, the rear fixed plate is fixedly sleeved with an outer sliding sleeve of a sliding sleeve inner rail, the outer sliding sleeve of the sliding sleeve inner rail is slidably sleeved with an inner sliding sleeve of the sliding sleeve inner rail, one end of the sliding sleeve inner rail is mortised to a front movable plate, one side of the front movable plate is fixedly connected to a shearing portion base, two sides of the shearing portion base away from the front movable plate are respectively hinged to one end of a plurality of shearing positioning connecting rods, the other ends of the shearing positioning connecting rods are all hinged to a shearing blade, one end of the shearing blade is respectively hinged to one end of a shearing control connecting rod, the other end of the shearing control connecting rod is hinged to one end of a shearing rear connecting rod, the other end of the shearing rear connecting rod is hinged to the rear fixed plate, the middle part of the shearing control connecting rod is hinged to the shearing portion base;
[0006] The three sides of the rear fixed plate are respectively fixedly connected to the collection drive rod fixing plates, and the collection drive rod fixing plates are respectively hinged to one end of the collection drive rod, and the other end of the collection drive rod is hinged to one end of the collection second section control link rod one through a cylindrical pin, the other end of the collection second section control link rod one is hinged to one side of the collection finger second section, and the other side of the collection finger second section is hinged to one end of the collection fixed plate, and the other end of the collection fixed plate is fixedly connected to the rear fixed plate through a latch, a sliding groove is provided on one side of the collection fixed plate and a cylindrical pin is slidably engaged in the sliding groove, and the end of the cylindrical pin away from the collection drive rod is hinged to one end of the collection second section control link rod two, the other end of the collection second section control link rod two is hinged to one side of the collection finger first section, and the other side of the collection finger first section is hinged to the collection finger second section.
[0007] Preferably, a sliding sleeve inner rail control ear axis is fixedly connected to an outer wall of one side of the sliding sleeve inner rail outer sliding sleeve.
[0008] Preferably, the rear fixing plate and the inner rail and outer sleeve of the sleeve are all made of aluminum alloy.
[0009] Preferably, the shear blade is made of T10 steel.
[0010] Compared with the prior art, the beneficial effects of the utility model are: the mechanical claw has the advantage of strong adaptability, the collecting knuckles of the mechanical claw contract to complete the clamping operation of the fruit, and the shearing blade works synchronously to complete the shearing action of the fruit stalk, which can effectively protect the fruit while improving the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 It is a schematic diagram of the structure of the utility model;
[0012] Figure 2 This is a schematic diagram of the structure of the utility model from another perspective;
[0013] Figure 3 This is a schematic diagram of the shear blade structure of the utility model;
[0014] Figure 4 This is a schematic diagram of the structure of each part of the second section of the collection finger of the utility model.
[0015] In the figure: rear fixed plate 1, front movable plate 2, shearing blade 3, collection drive rod 4, collection drive rod fixing plate 5, sliding sleeve inner rail 6, collection second section control link 1 7, collection fixed plate 8, collection second section control link 2 9, collection finger second section 10, collection finger first section 11, shearing control link 12, shearing part base 13, shearing rear link 14, shearing positioning link 15, sliding sleeve inner rail control ear shaft 16, sliding sleeve inner rail outer sliding sleeve 17. DETAILED DESCRIPTION
[0016] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0017] Example 1
[0018] Reference Figure 1 , 2 , which is the first embodiment of the utility model, and the embodiment provides a five-finger picking mechanical claw, including a rear fixed plate 1, the rear fixed plate 1 is fixedly sleeved with a sliding sleeve inner rail outer sliding sleeve 17, the sliding sleeve inner rail outer sliding sleeve 17 is slidably sleeved with a sliding sleeve inner rail 6, one end of the sliding sleeve inner rail 6 is mortised to the front moving plate 2, one side of the front moving plate 2 is fixedly connected to a shearing portion base 13, the two sides of the shearing portion base 13 away from the front moving plate 2 are respectively hinged to one end of a plurality of shearing positioning links 15, the other end of the shearing positioning links 15 are all hinged to the shearing blade 3, one end of the shearing blade 3 is respectively hinged to one end of a shearing control link 12, the other end of the shearing control link 12 is hinged to one end of a shearing rear link 14, the other end of the shearing rear link 14 is hinged to the rear fixed plate 1, and the middle part of the shearing control link 12 is hinged to the shearing portion base 13;
[0019] The three sides of the rear fixed plate 1 are respectively fixedly connected to the collection drive rod fixing plate 5, which is respectively hinged to one end of the collection drive rod 4. The other end of the collection drive rod 4 is hinged to one end of the second collection section control link 7 through a cylindrical pin. The other end of the second collection section control link 7 is hinged to one side of the second collection finger section 10. The other side of the second collection finger section 10 is hinged to one end of the collection fixing plate 8. The other end of the collection fixing plate 8 is fixedly connected to the rear fixed plate 1 through a snap. A sliding groove is provided on one side of the collection fixing plate 8 and a cylindrical pin is slidably engaged in the sliding groove. The end of the cylindrical pin away from the collection drive rod 4 is hinged to one end of the second collection section control link 9. The other end of the second collection section control link 9 is hinged to one side of the first collection finger section 11. The other side of the first collection finger section 11 is hinged to the second collection finger section 10.
[0020] During the movement, the collection driving rod 4 moves forward along the sliding groove of the collection fixing plate 8, pushing the collection second section control link 1 7 and the collection second section control link 2 9 to move forward. The hole at the right angle of the rear part of the collection finger second section 10 is a fixed point and is hinged with the collection fixing plate 8. The collection second section control link 1 7 pushes the other movable hole of the collection finger second section 10 forward, which will make the collection finger second section 10 do a circular motion around the fixed point, and at the same time drive the collection finger first section 11 to move. The rear part of the collection finger first section 11 is also provided with double holes. The hole at the right angle is connected with the collection finger second section 10, and the other hole at the rear is hinged with the collection second section control link 2 9. Since the collection second section control link 1 7 is different in length from the collection second section control link 2 9, and the collection finger second section 10 moves inward, by pushing the collection finger first section 11 to move forward, the collection finger first section 11 will perform a circular motion around the front part of the collection finger second section 10, so that the tip moves inward, and the three collection fingers are ( Figure 1 ) is arranged in a ring shape and embraces inward at the same time to achieve the effect of clamping the fruit. The shear rear connecting rod 14 is hinged with the collection drive rod fixing plate 5. A mounting slot is reserved in the middle of the shear base 13, which is snap-fitted with the upper part of the front moving plate 2. The shear control connecting rod 12 transmits the thrust of the shear rear connecting rod 14. The middle and both ends of the shear control connecting rod 12 are perforated. The middle perforation of the shear control connecting rod 12 is hinged with the shear base 13 so that it can make a circular motion around the connection point. Bolt perforations are reserved at both ends of the shear positioning connecting rods 15 on both sides, which are responsible for lifting and fixing the shear blade 3 and are used as limit rods. The shear positioning connecting rods 15 are symmetrically arranged in pairs, and the shear positioning connecting rods 15 on the same side are arranged parallel to each other. The shear blade 3 contracts toward the center under the drive of the shear control link 12, and the shear blade 3 shears the fruit stem. During the movement, the rear shear link 14 pushes forward to move the tail of the shear control link 12 forward, and the shear control link 12 makes a circular motion along the central fixed point. The head end of the shear control link 12 will move in the opposite direction to the tail end of the shear control link 12. The head end of the shear control link 12 is hinged to the tail of the shear blade 3, dragging the shear blade 3 to move backward and toward the center. The symmetrical movement toward the center on both sides cuts off the fruit stem, and the mechanical claw then contracts to complete the clamping action of the fruit and the shearing action at the same time. The two structures work simultaneously to pick the fruit, which effectively protects the fruit while also improving the picking efficiency.
[0021] Example 2
[0022] Reference Figure 1-4 , which is the second embodiment of the utility model, and this embodiment is based on the previous embodiment. Specifically, the outer wall of one side of the sliding sleeve inner rail outer sliding sleeve 17 is fixedly connected with the sliding sleeve inner rail control ear shaft 16, and the worm motor is fixedly installed on the sliding sleeve inner rail control ear shaft 16, and the worm motor is used for driving the acquisition drive rod 4.
[0023] Specifically, the rear fixed plate 1 and the inner rail and outer sleeve 17 of the sliding sleeve are made of aluminum alloy, and the entire mechanical claw can also be made of aluminum alloy, which has a light overall texture and a stable structure.
[0024] Specifically, the shearing blade 3 is made of T10 steel, and the steel shearing blade 3 ensures sharpness during shearing work.
[0025] Example 3
[0026] Reference Figure 1-4 , which is the third embodiment of the utility model. This embodiment is based on the above two embodiments. When in use, a worm motor is fixedly installed on the ear shaft 16 through the inner rail of the sliding sleeve to control the worm motor. The worm motor is used to drive the collection drive rod 4. When moving, the collection drive rod 4 moves forward along the slide groove of the collection fixing plate 8, pushing the collection second section control link 1 7 and the collection second section control link 2 9 to move forward. The hole at the right angle at the rear of the collection finger second section 10 is a fixed point and is hinged to the collection fixing plate 8. The collection second section control link 1 7 pushes the other movable hole of the collection finger second section 10 forward, which will make The second section 10 of the collecting finger performs a circular motion around the fixed point, and at the same time drives the first section 11 of the collecting finger to move. The rear part of the first section 11 of the collecting finger is also provided with double holes. The hole at the right angle is connected to the second section 10 of the collecting finger, and the other hole at the rear is hinged with the second section control link 29 of the collecting finger. Since the length of the second section control link 17 and the second section control link 29 of the collecting finger are different, and the second section 10 of the collecting finger moves inward, by pushing the other hole at the rear of the first section 11 of the collecting finger to move forward, the first section 11 of the collecting finger will perform a circular motion around the front part of the second section 10 of the collecting finger, so that the tip moves inward, and the three collecting fingers are ( Figure 1) is arranged in a ring shape and embraces inward at the same time to achieve the effect of clamping the fruit. The shear rear connecting rod 14 is hinged with the collection drive rod fixing plate 5. A mounting slot is reserved in the middle of the shear base 13, which is snap-fitted with the upper part of the front moving plate 2. The shear control connecting rod 12 transmits the thrust of the shear rear connecting rod 14. The middle and both ends of the shear control connecting rod 12 are perforated. The middle perforation of the shear control connecting rod 12 is hinged with the shear base 13 so that it can make a circular motion around the connection point. Bolt perforations are reserved at both ends of the shear positioning connecting rods 15 on both sides, which are responsible for lifting and fixing the shear blade 3 and are used as limit rods. The shear positioning connecting rods 15 are symmetrically arranged in pairs, and the shear positioning connecting rods 15 on the same side are arranged parallel to each other. The shear blade 3 contracts toward the center under the drive of the shear control link 12, and the shear blade 3 shears the fruit stem. During the movement, the rear shear link 14 pushes forward to move the tail of the shear control link 12 forward, and the shear control link 12 makes a circular motion along the central fixed point. The head end of the shear control link 12 will move in the opposite direction to the tail end of the shear control link 12. The head end of the shear control link 12 is hinged to the tail of the shear blade 3, dragging the shear blade 3 to move backward and toward the center. The symmetrical movement toward the center on both sides cuts off the fruit stem, and the mechanical claw then contracts to complete the clamping action of the fruit and the shearing action at the same time. The two structures work simultaneously to pick the fruit, which effectively protects the fruit while also improving the picking efficiency.
[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A five-finger picking mechanical claw, comprising a rear fixing plate (1), characterized in that: The rear fixed plate (1) is fixedly sleeved with the outer sleeve (17) of the inner rail of the sliding sleeve, the outer sleeve (17) of the inner rail of the sliding sleeve is slidably sleeved with the inner rail (6), one end of the inner rail (6) of the sliding sleeve is mortised to the front movable plate (2), one side of the front movable plate (2) is fixedly connected to the shearing portion base (13), two sides of the shearing portion base (13) away from the front movable plate (2) are respectively hinged to one end of a plurality of shearing positioning links (15), the other end of the shearing positioning links (15) are each hinged to the shearing blade (3), one end of the shearing blade (3) is respectively hinged to one end of the shearing control link (12), the other end of the shearing control link (12) is hinged to one end of the shearing rear link (14), the other end of the shearing rear link (14) is hinged to the rear fixed plate (1), and the middle part of the shearing control link (12) is hinged to the shearing portion base (13); The three sides of the rear fixed plate (1) are respectively fixedly connected to the collection drive rod fixing plate (5), the collection drive rod fixing plate (5) is respectively hinged to one end of the collection drive rod (4), the other end of the collection drive rod (4) is hinged to one end of the collection second section control link rod (7) through a cylindrical pin, the other end of the collection second section control link rod (7) is hinged to one side of the collection finger second section (10), the other side of the collection finger second section (10) is hinged to one end of the collection fixed plate (8), the other end of the collection fixed plate (8) is fixedly connected to the rear fixed plate (1) through a snap, one side of the collection fixed plate (8) is provided with a sliding groove and a cylindrical pin is slidably engaged in the sliding groove, the end of the cylindrical pin away from the collection drive rod (4) is hinged to one end of the collection second section control link rod (9), the other end of the collection second section control link rod (9) is hinged to one side of the collection finger first section (11), and the other side of the collection finger first section (11) is hinged to the collection finger second section (10).
2. A five-finger picking mechanical claw according to claim 1, characterized in that: One side outer wall of the sliding sleeve inner rail outer sliding sleeve (17) is fixedly connected with a sliding sleeve inner rail control ear shaft (16).
3. The five-finger picking mechanical claw according to claim 1, characterized in that: The rear fixing plate (1) and the inner rail and outer sliding sleeve (17) of the sliding sleeve are all made of aluminum alloy.
4. The five-finger picking mechanical claw according to claim 1, characterized in that: The shearing blade (3) is made of T10 steel.