CN106134638A - A kind of Fruit-picking mechanical arm - Google Patents

A kind of Fruit-picking mechanical arm Download PDF

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Publication number
CN106134638A
CN106134638A CN201610768229.9A CN201610768229A CN106134638A CN 106134638 A CN106134638 A CN 106134638A CN 201610768229 A CN201610768229 A CN 201610768229A CN 106134638 A CN106134638 A CN 106134638A
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CN
China
Prior art keywords
fruit
blade
mechanical arm
arc
handle
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CN201610768229.9A
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Chinese (zh)
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CN106134638B (en
Inventor
凡超
袁沛元
向旭
匡石滋
段冬洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pomology Research Institute Guangdong Academy of Agricultural Sciences
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Pomology Research Institute Guangdong Academy of Agricultural Sciences
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Priority to CN201610768229.9A priority Critical patent/CN106134638B/en
Publication of CN106134638A publication Critical patent/CN106134638A/en
Application granted granted Critical
Publication of CN106134638B publication Critical patent/CN106134638B/en
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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/24Devices for picking apples or like fruit
    • A01D46/247Manually operated fruit-picking tools

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Scissors And Nippers (AREA)

Abstract

The invention discloses a kind of Fruit-picking mechanical arm, including handle, shaft and bracing frame, shaft two ends connect handle and bracing frame respectively, on bracing frame, the both sides of opposition are all hinged with blade, it is provided with the draw-gear of traction two blade foldings on handle, the inside along its length lateral bend of two blades forms the arc for wrapping up object, and the cross section of two blades is opening direction towards interior arc so that form the otch of arc at merging.Owing to the cross section of blade is arc, i.e. final blade is arc, the blade of arc is equivalent to cut in the left and right sides of branch when cutting simultaneously, can disposably cut off the connection of dragon fruit and branch, both improve picking rate, alleviating again labor strength, this invention is used for manipulator field.

Description

A kind of Fruit-picking mechanical arm
Technical field
The present invention relates to manipulator field, particularly relate to a kind of Fruit-picking mechanical arm.
Background technology
In annual June~December, dragon fruit fruit is grown in tree crown outer layer branch in batches, define bud, flower, Fruitlet, Chinese olive, the situation of haw " five generation same hall ", pluck fruit environment extremely complex.Also there is no large-scale apparatus in link of gathering at present Can gather targetedly mellow fruit, therefore dragon fruit still fully relies on manpower and carries out manual gathering in producing.And And, dragon fruit bough is barbed easily hinders hand;Branch is closeer, and some fruits are between several branches, extremely inconvenient during harvesting.Cause This, workman is only meticulous to pluck, but also reduces operating efficiency.
Pluck at present the operating process of dragon fruit be one hold fruit after, another hand is in the left and right two of fruit branch A cutter is respectively cut on limit, the center vascular bundle that fruit to be cut off is connected with branch, because vascular bundle is harder, sometimes also to mend one again and cut, whole Individual program wastes time and energy and easily meets with an accident.
The final step plucking production process is dragon fruit of classifying by weight, and dragon fruit current situation of classification is: regardless of size system One has plucked post-tensioning to appointed place, and the less fruit field of scale then relies on naked eyes and experience to be classified with artificial, larger Fruit field use plant equipment weigh classification by weight.Owing to there are handling goods and transportation in centre, being classified into of dragon fruit This adds again.
Content of the invention
It is an object of the invention to provide one and can improve the machine for picking fruits tool of picking rate disposably picking fruit Hand.
The technical solution used in the present invention is:
A kind of Fruit-picking mechanical arm, including handle, shaft and bracing frame, shaft two ends connect handle and bracing frame, bracing frame respectively The both sides of upper opposition are all hinged with blade, and handle is provided with the draw-gear of traction two blade foldings, and two blades are along length side Being formed for wrapping up the arc of object to inside lateral bend, the cross section of two blades is opening direction towards interior arc, makes Obtain the place of merging and form the otch of arc.
Being further used as the improvement of technical solution of the present invention, draw-gear includes the slide block being arranged on handle and is arranged on Pull bar in shaft, pull bar two ends connection sliding block and two blades respectively, two blades form balance pivot with the pin joint of bracing frame, Pull bar traction two blades swing around balance pivot and carry out folding.
It is further used as the improvement of technical solution of the present invention, between handle and slide block, be provided with the bullet for making slide block reset Spring.
It is further used as the improvement of technical solution of the present invention, bracing frame is also hinged with the protection pawl for wrapping up object, Two protection pawls are all connected with draw-gear.
Being further used as the improvement of technical solution of the present invention, bracing frame is provided with in the side in the parcel space that blade is formed Weighing device.
Being further used as the improvement of technical solution of the present invention, weighing device is the graduated spring scale of tool.
Being further used as the improvement of technical solution of the present invention, the scale of spring scale separates three weight intervals.
Beneficial effects of the present invention: dragon fruit is snapped in the blade of arc by this Fruit-picking mechanical arm, due to the cross section of blade It for arc, is arc at i.e. final merging, can cut in the left and right sides of branch when the merging of arc is in cutting simultaneously, Disposably cut off the connection of dragon fruit and branch, both improve picking rate, and alleviated again labor strength.
Brief description
The invention will be further described below in conjunction with the accompanying drawings:
Fig. 1 is the stereogram of the embodiment of the present invention;
Fig. 2 is the movable schematic diagram of the blade of the embodiment of the present invention;
Fig. 3 is the sectional drawing of the blade A-A of the embodiment of the present invention;
Fig. 4 is the schematic diagram of dragon fruit growth position.
Detailed description of the invention
With reference to Fig. 1, the present invention is a kind of Fruit-picking mechanical arm, including the shaft 6 of handle the 1st, the tubular of annular and bracing frame 7, shaft 6 two ends connect handle 1 and bracing frame 7 respectively, and on bracing frame 7, the both sides of opposition are all hinged with blade 8, and handle 1 sets It is equipped with the draw-gear that traction two blades 8 open or close.The inside along its length lateral bend of two blades 8 forms and is used for wrapping up The arc of dragon fruit, the cross section of two blades 8 is opening direction towards interior arc so that form cutting of arc at merging Mouthful, referring in particular to Fig. 3.Two blades 8 are only provided with blade 9 at merging, for the parcel space incised wound fire preventing blade 8 from being formed Long Guo.
Fig. 4 is the schematic diagram of dragon fruit growth position, and the branch of fruit tree is strip, can be close to branch during dragon fruit growth Arrangement, the dotted line in Fig. 4 is the camber line that this blade 9 can cut out.
This Fruit-picking mechanical arm can snap in dragon fruit from branch both sides by the blade 8 of arc, by blade 9 energy of arc Enough connections cutting off dragon fruit and branch at a dass, are significantly increased the operating efficiency of workmen, reduce and produce into This.Wherein the another hand of workmen can hold dragon fruit, in case fruit landing after Qie Ge.
With reference to Fig. 2, as the preferred embodiment of the present invention, draw-gear includes the slide block 2 being arranged on handle 1 and sets Putting the pull bar 3 in shaft 6, pull bar 3 two ends connection sliding block 2 and two blades 8 respectively, slide block 2 and pull bar 3 are along shaft 6 length side To slip.Two blades 8 use pin to be connected with the hinged place of bracing frame 7, make two blades 8 form lever, and pull bar 3 prizes blade 8 One end make the other end of blade 8 open or close, i.e. blade 8 one end is blade the 9th, one end cylinder lever connecting rod 3.When pull bar 3 is downward When mobile, two blades 9 close;When pull bar 3 moves up, two blades 8 open.Flexibility is used even between two blades 8 and pull bar 3 Connecing, eliminate blade 8 connects the impact that end is subjected to displacement.
The side that slide block 2 contacts with pull bar 3, when i.e. operating, the side of finger contact slipper 2 is provided with anti-skidding ripple,
It as the preferred embodiment of the present invention, between handle 1 and slide block 2, is provided with the spring for making slide block 2 reset.Behaviour Author's one hand holds handle 1 when operating, and firmly drop-down slide block 2 makes blade 9 closed amputation dragon fruit;After operator looses one's grip, sliding Block 2 is up pushed up by spring so that two blades 8 open.Owing to slide block 2 embeds handle 1 in the left and right sides, correspondingly, spring is arranged The left and right sides in handle 1.
As the preferred embodiment of the present invention, bracing frame 7 being also hinged with the protection pawl 5 for wrapping up object, two prevent Protecting pawl 5 and being all connected with draw-gear, it is identical that its principle and blade 8 connect draw-gear.In the present embodiment, the length of protection pawl 5 is only The effect preventing dragon fruit from coming off can be realized for blade 8 half.
Operator's one hand hold handle 1 operate when, firmly drop-down slide block 2, make blade 9 closed amputation dragon fruit, simultaneously Protection pawl 5 shrinks and prevents dragon fruit from coming off;After operator looses one's grip, slide block 2 is up pushed up by spring so that two blades 8 and protection Pawl 5 opens, and can take out dragon fruit.
As the preferred embodiment of the present invention, bracing frame 7 is provided with in the side in the parcel space that blade 8 is formed and weighs Device 4.Weighing device 4 is arranged on bottom, and operating personnel, after one hand cuts dragon fruit, erect this Fruit-picking mechanical arm, by In dragon fruit by Action of Gravity Field, extrude weighing device 4, and then weighing device 4 can show the weight of dragon fruit, convenient operation Personnel just easily can carry out grade separation to dragon fruit at the scene of winning, and directly transports to correspondence position, improves production efficiency, Reduce cost.
An embodiment of the present embodiment, weighing device 4 is the graduated spring scale of tool, including be welded on bracing frame 7 On the housing of tubular, the cap of embedded housing and the spring being arranged between housing and cap, cap can opening at housing Mouth side moves up.The scale of this spring scale separates three weight intervals.
Spring scale is extruded by the gravity of dragon fruit, and cap in the vertical direction there occurs displacement, now different displacements pair Answer different weight.Specific to the collection assorting process of dragon fruit, operating personnel only need to be divided into dragon fruit by weight third, in It is that the accuracy class of this spring scale is not required to too high.
As the preferred embodiment of the present invention, the present embodiment by the interval of three kinds of gravity grades respectively with three kinds of color marks Note, by visualized management, Direct Classification dragon fruit, it is no longer necessary to operating personnel's reading, increases production efficiency further.
Weighing device 4 can also have multiple choices, such as electronic scale.
The use step of this Fruit-picking mechanical arm is as follows:
1), dragon fruit put into blade 8 and protect the parcel space that pawl 5 is formed;
2), firmly push down slide block 2 and cut off dragon fruit;
3), upwards erect Fruit-picking mechanical arm to weigh, classify;
4), unclamp slide block 2, take out dragon fruit.
Certainly, the design creates and is not limited to above-mentioned embodiment, and those of ordinary skill in the art are without prejudice to this Also can make equivalent variations or replacement on the premise of spirit, these equivalent modification or replacement are all contained in the application right In requiring limited range.

Claims (7)

1. a Fruit-picking mechanical arm, it is characterised in that: include handle (1), shaft (6) and bracing frame (7), described shaft (6) two End connects handle (1) and bracing frame (7) respectively, and the both sides of the upper opposition of support frame as described above (7) are all hinged with blade (8), described hand Being provided with the draw-gear of traction two blades (8) folding on handle (1), the inside along its length lateral bending of blade described in two (8) is curved Becoming the arc for wrapping up object, the cross section of blade described in two (8) is opening direction towards interior arc so that at merging Form the otch of arc.
2. Fruit-picking mechanical arm according to claim 1, it is characterised in that: described draw-gear includes being arranged on described handle (1) slide block (2) on and the pull bar (3) being arranged in described shaft (6), described pull bar (3) two ends connect described slide block respectively (2) and two blades (8), blade described in two (8) forms balance pivot, described pull bar (3) traction two with the pin joint of bracing frame (7) Described blade (8) swings around balance pivot and carries out folding.
3. Fruit-picking mechanical arm according to claim 2, it is characterised in that: set between described handle (1) and described slide block (2) It is equipped with the spring for making described slide block (2) reset.
4. Fruit-picking mechanical arm according to claim 1, it is characterised in that: support frame as described above is also hinged with for wrapping on (7) Wrap up in the protection pawl (5) of object, protect pawl (5) described in two and be all connected with described draw-gear.
5. Fruit-picking mechanical arm according to claim 1, it is characterised in that: the bag that support frame as described above (7) is formed at blade (8) The side wrapping up in space is provided with weighing device (4).
6. Fruit-picking mechanical arm according to claim 5, it is characterised in that: described weighing device (4) is the graduated bullet of tool Spring scale.
7. Fruit-picking mechanical arm according to claim 6, it is characterised in that: the scale of described spring scale separates three weight districts Between.
CN201610768229.9A 2016-08-30 2016-08-30 A kind of Fruit-picking mechanical arm Active CN106134638B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610768229.9A CN106134638B (en) 2016-08-30 2016-08-30 A kind of Fruit-picking mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610768229.9A CN106134638B (en) 2016-08-30 2016-08-30 A kind of Fruit-picking mechanical arm

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CN106134638B CN106134638B (en) 2019-01-11

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108522007A (en) * 2018-03-28 2018-09-14 广西大学 A kind of dragon fruit picker
CN108811731A (en) * 2018-06-15 2018-11-16 苏州艾捷尔斯生物科技有限公司 A kind of agricultural vegetables and fruits are with facilitating picking clamping device
CN109076786A (en) * 2018-10-26 2018-12-25 西安航空学院 Simple semi-automatic fruit picking apparatus
CN110476741A (en) * 2019-09-25 2019-11-22 贵州钏泰农业科技发展有限公司贞丰分公司 A kind of implantation methods of organic dragon fruit
JP2021122179A (en) * 2020-01-31 2021-08-30 井関農機株式会社 Crop harvesting vehicle

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2139683A (en) * 1983-08-18 1985-02-21 Sami Elkharaldy Domestic fruit harvester
WO1999034660A1 (en) * 1998-01-12 1999-07-15 Leonardo Ara Cajal Fruit harvesting device
CN2514634Y (en) * 2001-12-20 2002-10-09 彭玉良 Adjustable single hand-operated fruit picker
CN201422265Y (en) * 2009-06-17 2010-03-17 沈艳 Picker
CN104686077A (en) * 2015-03-26 2015-06-10 绍兴文理学院 Handheld torreya grandis fruit picker
CN205266283U (en) * 2016-01-12 2016-06-01 四川农业大学 Spherical fruit pick up clamp with function of weighing
CN206042848U (en) * 2016-08-30 2017-03-29 广东省农业科学院果树研究所 A kind of Fruit-picking mechanical arm

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2139683A (en) * 1983-08-18 1985-02-21 Sami Elkharaldy Domestic fruit harvester
WO1999034660A1 (en) * 1998-01-12 1999-07-15 Leonardo Ara Cajal Fruit harvesting device
CN2514634Y (en) * 2001-12-20 2002-10-09 彭玉良 Adjustable single hand-operated fruit picker
CN201422265Y (en) * 2009-06-17 2010-03-17 沈艳 Picker
CN104686077A (en) * 2015-03-26 2015-06-10 绍兴文理学院 Handheld torreya grandis fruit picker
CN205266283U (en) * 2016-01-12 2016-06-01 四川农业大学 Spherical fruit pick up clamp with function of weighing
CN206042848U (en) * 2016-08-30 2017-03-29 广东省农业科学院果树研究所 A kind of Fruit-picking mechanical arm

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108522007A (en) * 2018-03-28 2018-09-14 广西大学 A kind of dragon fruit picker
CN108811731A (en) * 2018-06-15 2018-11-16 苏州艾捷尔斯生物科技有限公司 A kind of agricultural vegetables and fruits are with facilitating picking clamping device
CN108811731B (en) * 2018-06-15 2021-02-09 海安爵珈机械科技有限公司 Agricultural vegetables and fruits are with conveniently picking clamping device
CN109076786A (en) * 2018-10-26 2018-12-25 西安航空学院 Simple semi-automatic fruit picking apparatus
CN109076786B (en) * 2018-10-26 2023-08-18 西安航空学院 Simple semi-automatic fruit picking device
CN110476741A (en) * 2019-09-25 2019-11-22 贵州钏泰农业科技发展有限公司贞丰分公司 A kind of implantation methods of organic dragon fruit
JP2021122179A (en) * 2020-01-31 2021-08-30 井関農機株式会社 Crop harvesting vehicle

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