Multifunctional fruit picking manipulator convenient to disassemble and assemble

Abstract

The utility model relates to the technical field of fruit picking, and discloses a multifunctional fruit picking manipulator convenient to disassemble and assemble, which comprises an electric push rod A. The output end of the electric push rod A is fixedly provided with a push plate, and the outer side body of the electric push rod A is fixedly provided with a fixed plate. Hinged shafts are fixedly installed in reserved grooves in the outer walls of the pushing plate and the fixing plate correspondingly, the outer side of the fixing plate is movably connected with a driving arm assembly through the hinged shafts, and the outer side of the pushing plate is movably connected with a clamping jaw assembly through the hinged shafts. The driving main arm and the convex block sleeve can be separated by disassembling the bolt and the first nut; the arc arm of the short-arm type clamping jaw can be separated from the connecting block by disassembling the bolt and the nut II; in the process, the driving arm assembly and the clamping jaw assembly are disassembled or assembled; and meanwhile, a user can replace the damaged driving main arm or the short arm type clamping jaw arc arm according to the disassembly and assembly characteristics, so that resources are saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to fruit picking technical field, concretely is a multifunctional fruit picking mechanical hand of convenient dismounting. BACKGROUND

[0002] The fruit picking mechanical claw is one of the important tools for orchard mechanized picking, and has various types, compact structure, simple working principle and wide application. With the continuous progress of technology and the continuous improvement of application demand, the design and application of the fruit picking mechanical claw will be continuously improved and developed

[0003] The traditional mechanical hand claw has two claws, three claws, four claws, five claws or six claws, and different hand claw numbers correspond to a mechanical claw; if a mechanical claw is damaged, the whole driving arm needs to be dismounted and replaced, but the other parts of the driving arm are complete, and direct replacement will cause resource waste; at the same time, when the mechanical claw picks fruits, the claw arm will cause wear or the claw arm will pierce the fruits, so a protective shell is sleeved on the claw arm, but with long-time operation of picking, the protective shell is prone to falling under stress, thereby reducing the picking efficiency. UTILITY MODEL CONTENT

[0004] (I) Technical problem solved

[0005] In view of the defects in the prior art, the utility model provides a multifunctional fruit picking mechanical hand convenient to dismount and replace, which has the advantages of convenient dismounting and replacing the claw tooth or the protective shell and is not easy to fall off, and solves the above problems.

[0006] (II) Technical scheme

[0007] In order to achieve the above-mentioned purpose of convenient dismounting and replacing the claw tooth or the protective shell, the utility model provides the following technical scheme: a multifunctional fruit picking mechanical hand convenient to dismount, which comprises an electric push rod A, the output end of the electric push rod A is fixedly installed with a push plate, the outer side of the electric push rod A is fixedly installed with a fixed plate, the outer walls of the push plate and the fixed plate are fixedly installed with a hinge shaft in a reserved groove, the outer side of the fixed plate is movably connected with a driving arm assembly through the hinge shaft, the outer side of the push plate is movably connected with a clamping claw assembly through the hinge shaft, and the driving arm assembly and the clamping claw assembly are movably connected.

[0008] The top of the electric push rod A is fixedly installed with a sliding rod, the outer side of the sliding rod is slidably installed with a sliding plate, the top of the sliding plate is fixedly installed with a fork, the top of the fork is fixedly installed with the output end of an electric push rod B, the two sides of the electric push rod B are fixedly connected with the outer side of the electric push rod A through a supporting rod and a sleeve ring, and the outer side of the sliding plate is hingedly connected with an elongated rod.

[0009] Preferably, the driving arm assembly comprises driving main arms, the number of the driving main arms is four, and the driving main arms are symmetrically arranged in pairs left and right, the top of the driving main arm is movably sleeved with a lug sleeve through a lug, and the lug sleeve and the lug are detachably connected through bolts and nuts.

[0010] Preferably, the claw assembly comprises claw arc arms, the top of the claw arc arm is fixedly installed with a mounting seat, the top end of the claw arc arm is inserted with an insertion block, the side surface of the insertion block is fixedly installed with a connecting block, and the connecting block is movably installed in a reserved groove outside the push plate through a hinge shaft.

[0011] Preferably, the claw arc arm is movably hinged with the bottom end of the driving main arm through the mounting seat and the hinge shaft, and the insertion block and the top end of the claw arc arm are detachably connected through bolts and nuts.

[0012] Preferably, the number of the claw arc arms is six, four of which are short arms, and the other two are long arms, the two long arms are symmetrically arranged, the outer side of each of the four short arms is sleeved with a protective shell, the top of the protective shell and the short arm are detachably connected through bolts and nuts three, the side surface of the protective shell on the short arm is fixedly installed with a rubber lug, the inside of the rubber lug is provided with a deformation hole, the bottom of the long arm is fixedly installed with a blade, and the top of the long arm is detachably hinged with the bottom of the long rod.

[0013] Preferably, the bottom of each of the four short arms of the claw arc arm is provided with a sliding groove on both sides, and the inside of the sliding groove is slidably installed with a sliding strip.

[0014] Preferably, one end of the inside of the sliding groove is slidably installed with a limiting block, the side surface of the limiting block is fixedly installed with a sealing plate, both ends of the surface of the sealing plate are inserted with screws, and the sealing plate is detachably connected with one end of the U-shaped frame through the screws.

[0015] (Three) beneficial effects

[0016] Compared with the prior art, the multifunctional fruit picking mechanical hand convenient to disassemble and assemble has the following beneficial effects:

[0017] 1. The multifunctional fruit picking mechanical hand convenient to disassemble and assemble can separate the driving main arm and the lug sleeve by disassembling the bolts and nuts one, can separate the short arm type claw arc arm and the connecting block by disassembling the bolts and nuts two, realizes disassembly or installation of the driving arm assembly and the claw assembly in this process, can replace the damaged driving main arm or short arm type claw arc arm according to the disassembly characteristics while in use, reduces and saves resources, and can separate the protective shell and the short arm type claw arc arm by disassembling the bolts and nuts three, the sealing plate and the U-shaped frame, and realizes replacement and installation of the damaged protective shell in this process.

[0018] 2、The convenient disassembly multifunctional fruit picking mechanical hand, the shell is installed on the short arm type claw arc arm through bolts and nuts three, and then reduces the stress of the shell and slides and falls; the U-shaped frame is slidably installed on the bottom of the short arm type claw arc arm, the side of the U-shaped frame is closed by screws, the size of the rectangular frame formed by the U-shaped frame and the sealing plate is consistent with the size of the outer wall of the shell, not only keeping the upper and lower surfaces smooth and neat, but also preventing the shell from sliding and falling under stress again, thereby improving the efficiency of the snatch. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0020] Figure 2 It is a top view structure schematic view of the utility model;

[0021] Figure 3 It is a structure schematic view of the driving arm assembly and the claw assembly of the utility model;

[0022] Figure 4 It is a structure schematic view of the driving arm assembly and the claw assembly of the utility model;

[0023] Figure 5 It is an exploded structure schematic view of the driving arm assembly and the claw assembly of the utility model;

[0024] Figure 6 It is a structure schematic view of the utility model Figure 5 A enlarged structure schematic view in the middle;

[0025] Figure 7 It is a structure schematic view of the utility model Figure 5 A enlarged structure schematic view in the middle;

[0026] Figure 8 It is a structure schematic view of the utility model Figure 5 A enlarged structure schematic view in the middle;

[0027] Figure 9 It is a structure schematic view of the claw arc arm and the blade of the utility model.

[0028] In the drawing: 1, electric push rod A; 2, push plate; 3, fixed plate; 4, driving arm assembly; 5, claw assembly; 41, driving main arm; 42, protruding block; 43, protruding block sleeve; 44, bolt and nut one; 51, claw arc arm; 52, mounting seat; 53, plug block; 54, connecting block; 55, bolt and nut two; 56, shell; 57, rubber protruding block; 58, bolt and nut three; 59, sliding groove; 510, sliding strip; 511, U-shaped frame; 512, limiting block; 513, sealing plate; 514, screw; 515, blade;

[0029] 6, slide rod; 7, slide plate; 8, fork; 9, electric push rod B; 10, support rod; 11, collar; 12, long rod. DETAILED DESCRIPTION

[0030] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0031] Please refer to Figures 1-3 , a multifunctional fruit picking manipulator convenient to disassemble, the mechanical claw of the present application is used in cooperation with a fruit picking vehicle to improve picking efficiency; the multifunctional fruit picking manipulator comprises an electric push rod A1, the output end of the electric push rod A1 is fixedly installed with a push plate 2, the outer side of the electric push rod A1 is fixedly installed with a fixed plate 3, the outer walls of the push plate 2 and the fixed plate 3 are both fixedly installed with a hinge shaft in a reserved groove, the outer side of the fixed plate 3 is movably connected with a driving arm assembly 4 through the hinge shaft, the outer side of the push plate 2 is movably connected with a clamping jaw assembly 5 through the hinge shaft, and the driving arm assembly 4 and the clamping jaw assembly 5 are movably connected.

[0032] Please refer to Figures 1-3 , the top of the electric push rod A1 is fixedly installed with a slide rod 6, the outer side of the slide rod 6 is slidably installed with a slide plate 7, the top of the slide plate 7 is fixedly installed with a fork 8, the top of the fork 8 is fixedly installed with the output end of an electric push rod B 9, the two sides of the electric push rod B 9 are fixedly connected with the outer side of the electric push rod A1 through support rods 10 and collars 11, and the outer side of the slide plate 7 is hingedly connected with a long rod 12.

[0033] Please refer to Figures 3-6 , the driving arm assembly 4 comprises four driving main arms 41, which are symmetrically arranged in pairs left and right, the long rod 12 is located in the gap between the two groups of driving main arms 41, the top of the driving main arm 41 is movably sleeved with a lug sleeve 43 through a lug 42, the lug sleeve 43 and the lug 42 are detachably connected through bolts and nuts one 44, and the top of the lug sleeve 43 is movably installed in the reserved groove on the outer side of the fixed plate 3 through a hinge shaft.

[0034] Please refer to Figures 3-7 , the clamping jaw assembly 5 comprises a clamping jaw arc arm 51, the top of the clamping jaw arc arm 51 is fixedly installed with a mounting seat 52, the top end of the clamping jaw arc arm 51 is inserted with an insertion block 53, the side surface of the insertion block 53 is fixedly installed with a connecting block 54, and the connecting block 54 is movably installed in the reserved groove on the outer side of the push plate 2 through a hinge shaft.

[0035] Please refer toFigures 3-7 The clamping jaw arc arm 51 is movably connected with the bottom end of the driving main arm 41 through the mounting seat 52 and the hinge shaft, and the plug block 53 is detachably connected with the top end of the clamping jaw arc arm 51 through the bolt and the nut two 55.

[0036] Please refer to Figures 3-8 The four short arms of the clamping jaw arc arm 51 are provided with the sliding groove 59 on both sides of the bottom, and the sliding strip 510 is slidably installed in the sliding groove 59.

[0037] Please refer to Figures 3-8 One end of the sliding groove 59 is slidably installed with the limiting block 512, the side surface of the limiting block 512 is fixedly installed with the sealing plate 513, and the two ends of the surface of the sealing plate 513 are inserted with the screw 514.

[0038] Please refer to Figure 9 The clamping jaw arc arm 51 is provided with six, four of which are short arms, and the other two are long arms, the two long arms are symmetrically arranged, the top of the long arm is detachably connected with the bottom of the long rod 12, and the bottom of the long arm is fixedly installed with the blade 515; the outer side of the four short arms is sleeved with the protective shell 56, the top of the protective shell 56 is detachably connected with the short arm through the bolt and the nut three 58, the side surface of the protective shell 56 on the short arm is fixedly installed with the rubber bump 57, and the inside of the rubber bump 57 is provided with the deformation hole.

[0039] Working principle: in use, the output end of the electric push rod A1 is expanded to drive the push plate 2 to move downward, the short arm type clamping jaw arc arm 51 is limited in length from the driving main arm 41, the four short arm type clamping jaw arc arms 51 are pulled open by the driving main arm 41, and then the multiple protective shells 56 and the rubber bumps 57 are loosened to clamp the fruits; conversely, the output end of the electric push rod A1 is retracted to drive the push plate 2 to move upward, the four short arm type clamping jaw arc arms 51 are pushed closed by the driving main arm 41; then the multiple protective shells 56 and the rubber bumps 57 are closed to clamp the fruits.

[0040] Then the fork frame 8 is driven to move through the electric push rod B9, the sliding plate 7 slides up and down on the sliding rod 6, the sliding plate 7 drives the long rods 12 on both sides to move downward, and then the two long arm type clamping jaw arc arms 51 are folded, and then the two blades 515 can cut off the fruit branches. Conversely, the electric push rod B9 can be used to separate the two long arm type clamping jaw arc arms 51.

[0041] The driving main arm 41 and the protrusion sleeve 43 are separated by disassembling the bolt and nut 44, the short arm type clamping jaw arc arm 51 and the connecting block 54 are separated by disassembling the bolt and nut 55, the process realizes the disassembly or installation of the driving arm assembly 4 and the clamping jaw assembly 5, meanwhile, the damaged driving main arm or the short arm type clamping jaw arc arm can be replaced according to the disassembly characteristics, resources are reduced and saved;

[0042] The protective shell 56 and the short arm type clamping jaw arc arm 51 are separated by disassembling the bolt and nut 58, the sealing plate 513 and the U-shaped frame 511, the process realizes the replacement and installation of the damaged protective shell 56.

[0043] The protective shell 56 is detachably installed on the short arm type clamping jaw arc arm 51 through the bolt and nut 58, thereby reducing the force of the protective shell 56 and preventing the protective shell 56 from sliding and falling down.

[0044] The U-shaped frame 511 is slidably installed at the bottom of the short arm type clamping jaw arc arm 51, the sealing plate 513 closes the side of the U-shaped frame 511 through the screw 514, the rectangular frame formed by the U-shaped frame 511 and the sealing plate 513 is consistent with the outer wall size of the protective shell 56, not only keeping the upper and lower surfaces smooth and neat, but also preventing the protective shell 56 from sliding and falling down under force, thereby improving the efficiency of the snatch.

[0045] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A multifunctional fruit-picking robot that is easy to assemble and disassemble, comprising an electric push rod A(1), characterized in that: The output end of the electric push rod A (1) is fixedly installed with a push plate (2), and a fixing plate (3) is fixedly installed on the outer side of the electric push rod A (1). A hinge shaft is fixedly installed in the reserved groove on the outer wall of both the push plate (2) and the fixing plate (3). The outer side of the fixing plate (3) is movably connected to a drive arm assembly (4) through the hinge shaft. The outer side of the push plate (2) is movably connected to a gripper assembly (5) through the hinge shaft. The drive arm assembly (4) and the gripper assembly (5) are movably connected. A slide bar (6) is fixedly installed on the top of the electric push rod A (1), and a slide plate (7) is slidably installed on the outside of the slide bar (6). A fork (8) is fixedly installed on the top of the slide plate (7). The top of the fork (8) is fixedly installed with the output end of the electric push rod B (9). The two sides of the electric push rod B (9) are fixedly connected to the outside of the electric push rod A (1) through a support rod (10) and a collar (11). A long rod (12) is hinged to the outside of the slide plate (7).

2. The multifunctional fruit-picking robot that is easy to assemble and disassemble according to claim 1, characterized in that: The drive arm assembly (4) includes a drive main arm (41), and there are four drive main arms (41) arranged symmetrically in pairs on the left and right. The top of the drive main arm (41) is fitted with a protrusion sleeve (43) through a protrusion (42). The protrusion sleeve (43) and the protrusion (42) are detachably connected by bolts and nuts (44). The top of the protrusion sleeve (43) is movably installed in a reserved groove on the outside of the fixing plate (3) through a hinge.

3. The multifunctional fruit-picking robot that is easy to assemble and disassemble according to claim 2, characterized in that: The gripper assembly (5) includes a gripper arc arm (51), a mounting base (52) is fixedly installed on the top of the gripper arc arm (51), an insert block (53) is inserted through the top of the gripper arc arm (51), a connecting block (54) is fixedly installed on the side of the insert block (53), and the connecting block (54) is movably installed in the reserved groove on the outside of the push plate (2) through a hinge.

4. The multifunctional fruit-picking robot that is easy to assemble and disassemble according to claim 3, characterized in that: The gripper arc arm (51) is movably hinged to the bottom end of the drive main arm (41) via the mounting base (52) and the hinge shaft. The insert block (53) is detachably connected to the top end of the gripper arc arm (51) by bolts and nuts (55).

5. A multifunctional fruit-picking robot that is easy to assemble and disassemble according to claim 3, characterized in that: There are six gripper arms (51), four of which are short arms and two are long arms. The two long arms are arranged symmetrically. The outer sides of the four short arms are fitted with protective shells (56). The top of the protective shells (56) is detachably connected to the short arms by bolts and nuts (58). Rubber protrusions (57) are fixedly installed on the side of the protective shells (56) on the short arms. Deformation holes are opened inside the rubber protrusions (57). The bottom of the long arms is fixedly installed with blades (515). The top of the long arms is detachably hinged to the bottom of the long rod (12).

6. The multifunctional fruit-picking robot that is easy to assemble and disassemble according to claim 5, characterized in that: The four short arms of the gripper arc arm (51) are provided with sliding grooves (59) on both sides of the bottom. Sliding strips (510) are slidably installed inside the sliding grooves (59) and the sliding strips (510) are installed on the inner wall of the U-shaped frame (511).

7. A multifunctional fruit-picking robot that is easy to assemble and disassemble according to claim 6, characterized in that: A limiting block (512) is slidably installed at one end of the inside of the slide (59). A sealing plate (513) is fixedly installed on the side of the limiting block (512). Screws (514) are inserted at both ends of the surface of the sealing plate (513). The sealing plate (513) is detachably connected to one end of the U-shaped frame (511) by the screws (514).

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