Novel manipulator device for fruit picking

Abstract

The utility model discloses a novel manipulator device for fruit picking, which comprises a base and a carrier plate fixedly connected to the surface of the base, the surface of the carrier plate is fixedly connected with an electric push rod, and the transmission output end of the electric push rod is in transmission connection with a traction seat. The base is in transmission connection with the driving end of a driving assembly externally connected with picking equipment, when fruits such as apples and oranges are picked, the side, close to the fruits, of the base and the multiple picking plates are located outside the fruits in a horn-shaped radial shape, the electric push rod pulls the traction base, and the picking plates clamp the outside of the fruits under the auxiliary action of the connecting rods and the shaft brackets; fruit stems of the fruits can be pulled apart, and picking operation of the single fruits is completed; the assembly ring of the air suction cover is clamped in the assembly groove of the traction seat, the air pipe connector B is connected with the external negative pressure pump in a conducting mode, negative pressure is generated at the opening position of the air suction cover, the fruits are adsorbed, the fruit falling phenomenon is not prone to being caused, and the picking precision and the fruit integrity are improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical hand device technical field, and specifically relates to a novel mechanical hand device for fruit picking. BACKGROUND

[0002] In the season of fruit ripening, planting personnel need to manually pick and process, and with the progress of science and technology, more and more mechanical hands are put into picking work.

[0003] After searching, the existing patent No. CN209964674U fruit picking device, including support assembly, grabbing assembly, holding assembly, hand clamping body and handle body, and force pressing clamping body around the upper part of handle body is clamped, and then the closing rope is tightened, so that the index finger and the middle finger are swung around their respective hinges, so that the two mechanical hands are clamped, the two mechanical hands can clamp the object, at this time, the first opening rope and the second opening rope are stretched, when not working, the clamping body and the handle body are separated, the closing rope is relaxed, the index finger is pulled by the first opening rope, the middle finger is pulled by the second opening rope, the index finger and the middle finger are turned around the hinge below, so that the two mechanical hands are separated, and the fruit picking is completed, the support pipe expands the height range of picking, and the structure is simple;

[0004] At present, in the prior art, when the mechanical hand is used for picking and processing apples, oranges and other fruits, the mechanical hand is started through an external control device, and the mature fruits are picked and processed by clamping and twisting, but when the mechanical hand accidentally touches the mature fruits, the fruits are prone to falling, resulting in bad fruits, therefore, a novel mechanical hand device for fruit picking is needed to solve the above problems. Utility model content

[0005] The utility model aims at providing a novel mechanical hand device for fruit picking to solve the problems in the background art.

[0006] To achieve the above object, the utility model provides the following technical scheme: a novel mechanical hand device for fruit picking, including base, the load board of fixed connection in the base surface, the surface fixed connection of load board has electric push rod, the transmission output end transmission of electric push rod is connected with the traction seat, the outer wall circumference of traction seat is movably connected with picking plate, the bottom of picking plate is movably connected with the axle support through the connecting rod.

[0007] The surface of the traction seat is provided with an assembly groove, a plurality of air suction holes are arranged at the bottom of the assembly groove, an assembly ring is inserted into the assembly groove, one end of the assembly ring is connected with an air suction cover, and a rubber ring is attached to the opening of the air suction cover.

[0008] Preferably, the connecting rod is arranged obliquely, and the bottom end of the shaft support is fixedly connected with the carrier plate.

[0009] Preferably, a circumferential displacement slot is arranged on the surface of the traction seat, and a shaft rod is fixedly connected in the displacement slot of the traction seat.

[0010] Preferably, an axle hole is arranged on the surface of the picking plate, and the shaft rod penetrates through the axle hole of the picking plate and is movably connected.

[0011] Preferably, a rubber pad is arranged on the outside of the assembly ring, and the rubber pad is pressed on the surface of the traction seat.

[0012] Preferably, an air suction ring pipe is fixedly connected to the bottom of the traction seat, and the air suction ring pipe and the air suction hole are in communication.

[0013] Preferably, an air pipe joint A is in communication with the surface of the air suction ring pipe, the bottom end of the air pipe joint A is in communication with a flexible hose, and the end of the flexible hose is in communication with an air pipe joint B.

[0014] Compared with the prior art, the utility model has the beneficial effects that:

[0015] 1. The base is in transmission connection with the driving end of the driving assembly of the external picking device, when the apples, oranges and other fruits are picked, the base is close to the fruit side, the plurality of picking plates are in a horn type radial manner and located outside the fruit, the traction seat is pulled by the electric push rod, the picking plate is clamped outside the fruit under the auxiliary action of the connecting rod and the shaft support, the fruit stem of the fruit is broken, and the picking of the single fruit is completed.

[0016] 2. The assembly ring of the air suction cover is clamped in the assembly groove of the traction seat, in the picking process, the air pipe joint B is in communication with the external negative pressure pump, the negative pressure is generated at the opening position of the air suction cover, the fruit is adsorbed, the fruit falling phenomenon is not easy to occur, and the picking precision and the fruit integrity are improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a whole structure schematic view of the utility model;

[0018] Fig. 2 It is a carrier plate and traction seat structure schematic view of the utility model;

[0019] Fig. 3 It is another view structure schematic view of the carrier plate and traction seat of the utility model;

[0020] Fig. 4 It is an air suction cover structure schematic view of the utility model.

[0021] In the figure: 1, base; 2, carrier plate; 201, shaft support; 3, electric push rod; 4, traction seat; 5, connecting rod; 6, picking plate; 7, air suction cover; 8, rubber ring; 9, flexible hose; 10, air pipe joint A; 11, air suction ring pipe; 12, air pipe joint B; 13, assembly groove; 14, air suction hole; 15, shaft rod; 16, assembly ring; 17, rubber pad. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0023] Embodiment one: please refer to Figs. 1 to 4 The utility model provides a kind of novel mechanical hand device technical scheme for fruit picking: including base 1, fixedly connected in the surface of base 1 carrier plate 2, the surface of carrier plate 2 is fixedly connected with electric push rod 3, the transmission output end of electric push rod 3 is transmissionally connected with traction seat 4, traction seat 4 is peripherally equidistantly movably connected with picking plate 6, and the bottom end of picking plate 6 is movably connected with shaft support 201 by connecting rod 5;

[0024] The surface of traction seat 4 is provided with assembly groove 13, and air suction hole 14 is peripherally equidistantly provided in the bottom position of assembly groove 13;Assembly ring 16 is inserted into the inside of assembly groove 13, one end of assembly ring 16 is conductively connected with air suction cover 7, and air suction cover 7 is bonded with rubber ring 8 in the opening position.

[0025] Connecting rod 5 is arranged obliquely, the bottom end of shaft support 201 is fixedly connected with carrier plate 2, the surface of traction seat 4 is peripherally equidistantly provided with a clearance slot, shaft rod 15 is fixedly connected in the clearance slot of traction seat 4, the surface of picking plate 6 is provided with shaft hole, and shaft rod 15 penetrates the shaft hole of picking plate 6 and is movably connected.

[0026] From the above description, the utility model has the following beneficial effects: base 1 is transmissionally connected with the driving end of the driving assembly of external picking equipment, when picking apples, oranges and other fruits, base 1 is close to the side of fruit, a plurality of picking plates 6 are located outside the fruit in a horn type radial manner, electric push rod 3 pulls traction seat 4, picking plate 6 is clamped outside the fruit under the auxiliary action of connecting rod 5 and shaft support 201, i.e. the fruit stem of fruit can be pulled off, and single fruit picking operation is completed.

[0027] Embodiment two: please refer to Figs. 1 to 4As shown, on the basis of the embodiment one, the utility model provides a novel mechanical hand device technical scheme for fruit picking: the external sleeve of assembly ring 16 is provided with rubber pad 17, rubber pad 17 is pressed in the surface of traction seat 4, the bottom of traction seat 4 is fixedly connected with suction ring pipe 11, suction ring pipe 11 and suction hole 14 are in conduction arrangement, the surface of suction ring pipe 11 is in conduction connection with air pipe joint A10, the bottom end of air pipe joint A10 is in conduction connection with flexible hose 9, the end of flexible hose 9 is in conduction connection with air pipe joint B12.

[0028] Adopt the technical scheme, the assembly ring 16 of suction hood 7 is connected in the assembly groove 13 of traction seat 4, in the process of picking operation, air pipe joint B12 is in conduction connection with external negative pressure pump, the opening position of suction hood 7 generates negative pressure, and fruit is adsorbed, and it is not easy to cause the phenomenon of dropping fruit, improves the precision of picking and the integrity of fruit.

[0029] The working principle and use flow of the utility model: the driving end transmission connection of the driving assembly of the base 1 and the external picking equipment, when picking apples, oranges and other fruits, the base 1 is close to the side of fruit, a plurality of picking plates 6 are located outside the fruit in a horn type radial, the electric push rod 3 pulls the traction seat 4, the picking plate 6 is clamped outside the fruit under the auxiliary action of connecting rod 5 and shaft support 201, that is, the fruit stem of the fruit can be pulled off, and the picking operation of single fruit is completed, the assembly ring 16 of suction hood 7 is connected in the assembly groove 13 of traction seat 4, in the process of picking operation, air pipe joint B12 is in conduction connection with external negative pressure pump, the opening position of suction hood 7 generates negative pressure, and fruit is adsorbed, and it is not easy to cause the phenomenon of dropping fruit, improves the precision of picking and the integrity of fruit.

[0030] It should be noted that, in this text, such as first and second relationship terms such as only use to distinguish one entity or operation from another entity or operation, and does not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent in such process, method, article or equipment. Without more limitation, the element defined by the statement "including a" does not exclude the existence of another identical element in the process, method, article or equipment including the element.

[0031] The above merely aims to explain the technical scheme of the present application and is not intended to limit the present application. Other modifications or equivalent replacements made by those skilled in the art to the technical scheme of the present application, as long as they do not depart from the spirit and scope of the present application, should be included in the scope of the claims of the present application.

Claims

1. A novel mechanical hand device for fruit picking, comprising a base (1), a carrier plate (2) fixedly connected to the surface of the base (1), characterized in that: The surface of the carrier plate (2) is fixedly connected with an electric push rod (3), the transmission output end of the electric push rod (3) is transmissionally connected with a traction seat (4), the outer wall of the traction seat (4) is circumferentially and equidistantly movably connected with a picking plate (6), the bottom end of the picking plate (6) is movably connected with an axle bracket (201) through a connecting rod (5); The surface of the traction seat (4) is provided with an assembly groove (13), the bottom of the assembly groove (13) is circumferentially and equidistantly provided with an air suction hole (14), the assembly groove (13) is inserted with an assembly ring (16), one end of the assembly ring (16) is conductively connected with an air suction cover (7), the opening position of the air suction cover (7) is bonded with a rubber ring (8).

2. A novel robotic hand device for fruit picking as claimed in claim 1, wherein: The connecting rod (5) is obliquely arranged, and the bottom end of the axle bracket (201) is fixedly connected with the carrier plate (2).

3. A novel robotic hand device for fruit picking as claimed in claim 1, wherein: The surface of the traction seat (4) is circumferentially and equidistantly provided with a clearance groove, and the clearance groove of the traction seat (4) is fixedly connected with a shaft rod (15).

4. A novel robotic hand device for fruit picking as claimed in claim 3, wherein: The surface of the picking plate (6) is provided with a shaft hole, and the shaft rod (15) penetrates the shaft hole of the picking plate (6) and is movably connected.

5. A novel robotic hand device for fruit picking as claimed in claim 1, wherein: The outer part of the assembly ring (16) is sleeved with a rubber pad (17), and the rubber pad (17) is pressed on the surface of the traction seat (4).

6. A novel robotic hand device for fruit picking as claimed in claim 1, wherein: The bottom of the traction seat (4) is fixedly connected with an air suction ring pipe (11), and the air suction ring pipe (11) and the air suction hole (14) are conductively arranged.

7. A novel robotic hand device for fruit picking as claimed in claim 6, wherein: The surface of the air suction ring pipe (11) is conductively connected with an air pipe joint A (10), the bottom end of the air pipe joint A (10) is conductively connected with a flexible hose (9), and the end of the flexible hose (9) is conductively connected with an air pipe joint B (12).

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