CN106134638B - A kind of Fruit-picking mechanical arm - Google Patents
A kind of Fruit-picking mechanical arm Download PDFInfo
- Publication number
- CN106134638B CN106134638B CN201610768229.9A CN201610768229A CN106134638B CN 106134638 B CN106134638 B CN 106134638B CN 201610768229 A CN201610768229 A CN 201610768229A CN 106134638 B CN106134638 B CN 106134638B
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- Prior art keywords
- fruit
- blades
- support frame
- arc
- blade
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Scissors And Nippers (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of Fruit-picking mechanical arms, including handle, shaft and support frame, shaft both ends are separately connected handle and support frame, the two sides to oppose on support frame are hinged with blade, the traction device of traction two blades folding is provided on handle, two blades are curved to the inside the arc to be formed for wrapping up object along its length, and the cross section of two blades is arc of the opening direction in, so that forming the notch of arc at merging.Since the cross section of blade is arc, i.e. final blade is arc, the blade of arc is equivalent to the left and right sides in branch in cutting while cutting, the connection of dragon fruit and branch can disposably be cut off, both picking rate is improved, labor intensity of workers is alleviated again, and the invention is used for manipulator field.
Description
Technical field
The present invention relates to manipulator fields, more particularly to a kind of Fruit-picking mechanical arm.
Background technique
Annual June~December, flue fruits are grown in batches in tree crown outer layer branch, form bud, flower,
The case where fruitlet, Chinese olive, red fruit " five generations same hall ", it is extremely complex to pluck fruit environment.In harvesting link, there are no large-scale instruments at present
Mellow fruit can be targetedly harvested, therefore still fully relies on manpower in dragon fruit production and carries out manual harvesting.And
And dragon fruit bough is barbed is easy to hurt hand；Branch is closeer, and for some fruits between several branches, when picking is extremely inconvenient.Cause
This, the only meticulous picking of worker, but also reduce working efficiency.
The operating process of picking dragon fruit is after a hand holds fruit at present, and another hand is in the left and right of fruit branch two
A knife is respectively cut on side, to cut the center vascular bundle that fruit is connect with branch, because vascular bundle is harder, also to be mended one again sometimes and be cut, whole
A program is time-consuming and laborious and easy accidents happened to.
The final step of picking production process is dragon fruit of classifying by weight, and dragon fruit current situation of classification is: being united regardless of size
One has picked post-tensioning to designated place, and the lesser fruit field of scale is then manually classified by naked eyes and experience, larger
Fruit classification is weighed using mechanical equipment by weight.Since there are handling goods and transportational process in centre, dragon fruit is classified into
This is increased again.
Summary of the invention
The purpose of the present invention is to provide one kind to 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 support frame, shaft both ends are separately connected handle and support frame, branch
The two sides to oppose on support are hinged with blade, the traction device of traction two blades folding are provided on handle, two blades are along long
Degree direction is curved to the inside the arc to be formed for wrapping up object, and the cross section of two blades is arc of the opening direction in
Shape, so that forming the notch of arc at merging.
It is further used as the improvement of technical solution of the present invention, and traction device includes that the sliding block being arranged on handle and setting exist
Pull rod in shaft, pull rod both ends are separately connected sliding block and two blades, and the hinge joint of two blades and support frame forms balance pivot,
Pull rod draws two blades and is opened and closed around balance pivot swing.
It is further used as the improvement of technical solution of the present invention, and the bullet for resetting sliding block is provided between handle and sliding block
Spring.
It is further used as the improvement of technical solution of the present invention, and the protection pawl for wrapping up object is also hinged on support frame,
Two protection pawls are all connected with traction device.
It is further used as the improvement of technical solution of the present invention, and support frame is provided in the side in the package space that blade is formed
Weighing device.
It is further used as the improvement of technical solution of the present invention, and weighing device is to have graduated spring scale.
It is further used as the improvement of technical solution of the present invention, and the scale of spring scale separates three weight sections.
Beneficial effects of the present invention: dragon fruit is caught in the blade of arc by this Fruit-picking mechanical arm, due to the cross section of blade
For arc, i.e., be arc at final merging, when the merging of arc is in cutting can branch the left and right sides and meanwhile cut,
The connection for disposably cutting off dragon fruit and branch, not only improves picking rate, but also alleviate labor intensity of workers.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is the perspective view 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 cross-section diagram of the blade A-A of the embodiment of the present invention；
Fig. 4 is the schematic diagram of dragon fruit growth position.
Specific embodiment
Referring to Fig.1, the present invention is a kind of Fruit-picking mechanical arm, the shaft 6 and support frame of handle 1, tubular including annular
7,6 both ends of shaft are separately connected handle 1 and support frame 7, and the two sides to oppose on support frame 7 are hinged with blade 8, set on handle 1
It is equipped with the traction device that two blades 8 of traction are opened or are closed.Two blades 8 are curved to the inside to be formed for wrapping up along its length
The arc of dragon fruit, the cross section of two blades 8 is arc of the opening direction in, so that forming cutting for arc at merging
Mouthful, referring in particular to Fig. 3.Two blades 8 are only provided with blade 9 at merging, the package space incised wound fire for 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, and dragon fruit can be close to branch when growing
It arranges, the dotted line in Fig. 4 is the camber line that the blade 9 can be cut into.
The Fruit-picking mechanical arm can be caught in dragon fruit from branch two sides by the blade 8 of arc, pass through 9 energy of blade of arc
Enough connections for cutting off dragon fruit and branch at a dass, are significantly increased the working efficiency of construction personnel, reduction is produced into
This.Wherein the another hand of construction personnel can hold dragon fruit, slide to prevent fruit after cutting.
Referring to Fig. 2, as a preferred embodiment of the present invention, traction device includes the sliding block 2 being arranged on handle 1 and sets
The pull rod 3 in shaft 6 is set, 3 both ends of pull rod are separately connected sliding block 2 and two blades 8, and sliding block 2 and pull rod 3 are along 6 length side of shaft
To sliding.Two blades 8 are connect with the hinged place of support frame 7 using pin, and two blades 8 is made to form lever, and pull rod 3 agitates blade 8
One end make blade 8 the other end open or closure, i.e., 8 one end of blade be blade 9, one end connecting rod 3.When pull rod 3 is downward
When mobile, two blades 9 closure；When pull rod 3 moves up, two blades 8 open.Connected between two blades 8 and pull rod 3 using flexible
It connects, eliminates the influence that the connecting pin of blade 8 is subjected to displacement.
The side that sliding block 2 is contacted with pull rod 3, that is, the side of finger contact slipper 2 is provided with anti-skidding ripple when operating,
As a preferred embodiment of the present invention, the spring for resetting sliding block 2 is provided between handle 1 and sliding block 2.
When operator's one hand is held handle 1 and operated, sliding block 2 is firmly pulled down, 9 closed amputation dragon fruit of blade is made；Operator looses one's grip it
Afterwards, sliding block 2 is up pushed up by spring, so that two blades 8 open.Since sliding block 2 is embedded in handle 1, correspondingly, spring in the left and right sides
The left and right sides in handle 1 is set.
As a preferred embodiment of the present invention, the protection pawl 5 for wrapping up object is also hinged on support frame 7, two is anti-
Shield pawl 5 is all connected with traction device, and principle is identical as the connection traction device of blade 8.In the present embodiment, the length of pawl 5 is protected only
The effect for preventing dragon fruit from falling off can be realized for 8 half of blade.
When operator's one hand is held handle 1 and operated, sliding block 2 is firmly pulled down, makes 9 closed amputation dragon fruit of blade, simultaneously
The protection contraction of pawl 5 prevents dragon fruit from falling off；After operator looses one's grip, sliding 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 a preferred embodiment of the present invention, support frame 7 is provided with weighing in the side in the package space that blade 8 is formed
Device 4.Weighing device 4 is arranged in bottom, operator erects the Fruit-picking mechanical arm after one hand cuts dragon fruit, by
In dragon fruit by gravity, weighing device 4 is squeezed, and then weighing device 4 can show the weight of dragon fruit, facilitate operation
Personnel easily can carry out grade separation to dragon fruit at the scene of winning, and directly transport to corresponding position, improve production efficiency,
Reduce cost.
An embodiment of the present embodiment, weighing device 4 are to have graduated spring scale, including be welded on support frame 7
On tubular shell, be embedded in shell cap and the spring that is arranged between shell and cap, cap being capable of opening in shell
Mouth moves on direction.The scale of the spring scale separates three weight sections.
Spring scale is squeezed by the gravity of dragon fruit, and cap is displaced in the vertical direction, displacements pair different at this time
Answer different weight.Specific to the acquisition assorting process of dragon fruit, operator is only needed dragon fruit parts by weights at third, in
Be the spring scale accuracy class be not required to it is too high.
As a preferred embodiment of the present invention, three kinds of color marks are used in the section of three kinds of gravity grades by the present embodiment respectively
Note, passes through visualized management, Direct Classification dragon fruit, it is no longer necessary to which operator's reading further increases production efficiency.
Weighing device 4 can also there are many selections, such as electronic scale.
Steps are as follows for the use of this Fruit-picking mechanical arm:
1), the package space that dragon fruit is put into blade 8 and pawl 5 is protected to be formed；
2) it, firmly pushes down sliding block 2 and cuts off dragon fruit；
3) Fruit-picking mechanical arm weighing, classification, are erect upwards；
4) sliding block 2, is unclamped, dragon fruit is taken out.
Certainly, the design creation is not limited to above embodiment, and those skilled in the art are without prejudice to originally
Equivalent deformation or replacement can be also made under the premise of spirit, these equivalent variation or replacement are all contained in the application right
It is required that in limited range.
Claims (5)
1. a kind of Fruit-picking mechanical arm, it is characterised in that: including handle (1), shaft (6) and support frame (7), the shaft (6) two
End is separately connected handle (1) and support frame (7), and the two sides to oppose on support frame as described above (7) are hinged with blade (8), the hand
The traction device of traction two blades (8) folding is provided on handle (1), two blades (8) are curved to the inside shape along its length
At the arc for wrapping up object, the cross section of two blades (8) is arc of the opening direction in, so that at merging
The notch of arc is formed, the traction device includes the sliding block (2) being arranged on the handle (1) and is arranged in the shaft
(6) pull rod (3) in, pull rod (3) both ends are separately connected the sliding block (2) and two blades (8), two blades (8) with
The hinge joint of support frame (7) forms balance pivot, and the pull rod (3) draws two blades (8) and swings progress around balance pivot
Folding, support frame as described above (7) are provided with weighing device (4) in the side in the package space that blade (8) is formed.
2. Fruit-picking mechanical arm according to claim 1, it is characterised in that: set between the handle (1) and the sliding block (2)
It is equipped with the spring for resetting the sliding block (2).
3. Fruit-picking mechanical arm according to claim 1, it is characterised in that: support frame as described above is also hinged on (7) for wrapping
The protection pawl (5) of object is wrapped up in, the two protection pawls (5) are all connected with the traction device.
4. Fruit-picking mechanical arm according to claim 1, it is characterised in that: the weighing device (4) is to have graduated bullet
Spring scale.
5. Fruit-picking mechanical arm according to claim 4, it is characterised in that: the scale of the spring scale separates three weight areas
Between.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106134638A CN106134638A (en) | 2016-11-23 |
| CN106134638B true CN106134638B (en) | 2019-01-11 |
Family
ID=57345038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610768229.9A Active CN106134638B (en) | 2016-08-30 | 2016-08-30 | A kind of Fruit-picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106134638B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522007B (en) * | 2018-03-28 | 2022-02-22 | 广西大学 | Dragon fruit picking 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 |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2139683A (en) * | 1983-08-18 | 1985-02-21 | Sami Elkharaldy | Domestic fruit harvester |
| ES1039138Y (en) * | 1998-01-12 | 1999-03-16 | Ara Cajal Leonardo | DEVICE FOR THE COLLECTION OF FRUIT. |
| 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 |
| CN205266283U8 (en) * | 2016-01-12 | 2017-05-24 | 四川农业大学 | A kind of pickup grippers of the spherical fruit 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 |
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2016
- 2016-08-30 CN CN201610768229.9A patent/CN106134638B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106134638A (en) | 2016-11-23 |
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