CN107333530A - A kind of apple picking - Google Patents
A kind of apple picking Download PDFInfo
- Publication number
- CN107333530A CN107333530A CN201710745925.2A CN201710745925A CN107333530A CN 107333530 A CN107333530 A CN 107333530A CN 201710745925 A CN201710745925 A CN 201710745925A CN 107333530 A CN107333530 A CN 107333530A
- Authority
- CN
- China
- Prior art keywords
- apple
- clamping bar
- control unit
- motor
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
- A01D46/20—Platforms with lifting and lowering devices
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
Abstract
The present invention provides a kind of apple picking applied to agricultural equipment technical field, extensible member (2) lower end in the collection tank (1) of described apple picking is arranged in collection tank (1), the grabbing claw plate (4) of the apple grabbing claw (3) of extensible member (2) upper end is connected with extensible member (2) upper end, gear I (5) on grabbing claw plate (4) engages with gear II (6), clamping bar I (7) is set on gear I (5), clamping bar II (8) is set on gear II (6), gear I (5) is connected with motor (9), motor (9) is connected with control unit (10), extensible member (2) is connected with control unit (10).Apple picking of the present invention, conveniently and efficiently fruit tree eminence position apple can be plucked, while ensure the fruit that will not damage, problem can not be plucked by effectively solving fruit tree eminence position fruit, improve harvesting operation convenience.
Description
Technical field
The invention belongs to agricultural equipment technical field, is to be related to a kind of apple picking more specifically.
Background technology
With modern agriculture rapid technological growth, science and technology and agricultural are combined closely so that scientific and technological agricultural development gesture is must
.Fruit industry in agricultural is quickly grown, and people also increasingly increase the demand of fruit.And in apple-picking, pluck and divide
Class, which is orchard worker, is actually planting two hang-ups that run into, causes harvesting difficult first, fruit tree is too high, second, fruit classification work is numerous
Weight.Existing picking mechanism can not realize protection fruit and fruit classification.
The content of the invention
The technical problems to be solved by the invention are：In view of the shortcomings of the prior art, offer is a kind of simple in construction, can facilitate
Quickly fruit tree eminence position apple is plucked, while ensures the fruit that will not damage, so as to effectively solve fruit tree eminence position
Problem can not be plucked by putting fruit, improve the apple picking of harvesting operation convenience.
Solves the problems, such as techniques discussed above, the technical scheme that the present invention takes is：
The present invention is a kind of apple picking, and described apple picking includes collection tank, sets and stretch in collection tank
Contracting part, extensible member lower end are vertically mounted in collection tank, extensible member upper end installation apple grabbing claw, apple grabbing claw
Including grabbing claw plate, grabbing claw plate is connected with extensible member upper end, and gear I and gear II, tooth are installed on grabbing claw plate
Wheel I is engaged with gear II, and clamping bar I is set on gear I, sets clamping bar II on gear II, gear I and can be with moving gear I
The motor connection of rotation, motor are connected with control unit, extensible member and the control that extensible member can be controlled to stretch
Part connection processed.
Described extensible member includes the part body of rod and expansion link, and expansion link lower end is connected with the part body of rod, on expansion link
End installation rotary electric machine, grabbing claw plate are connected with rotary electric machine, rotary electric machine and the control that rotary electric machine can be controlled to rotate
Part connects.
Described control unit control motor to a direction rotates when, motor is configured to moving gear
I rotates, and the structure rotated by gear I with moving gear II, control unit control motor to a direction rotate when,
The front end of clamping bar I of clamping bar II is configured to the structure moved closer to, control unit with the front end of clamping bar II of clamping bar II
Part control motor to another direction rotates when, motor is configured to rotate with moving gear I, and passes through gear
I with moving gear II rotate structure, control unit control motor to another direction rotate when, the clamping bar of clamping bar II
I front end and the front end of clamping bar II of clamping bar II are configured to the structure being gradually distance from.
Described control unit is configured to control motor to rotate forward and counter-rotational structure, apple-picking
Machine also includes clamping force sensor, and clamping force sensor is arranged in motor, clamping force sensor respectively with motor
Connected with control unit, motor rotates forward the clamping bar II for driving the front end of clamping bar I of clamping bar II with clamping bar II
Front end is close and when clamping apple, clamping force sensor is configured to the structure to control unit feedback signal, control unit
Part is configured to the structure for controlling motor to stop operating.
Telescopic cylinder is also set up on described rotary electric machine, the cylinder body of telescopic cylinder is fixedly connected with rotary electric machine,
The cylinder rod of telescopic cylinder is connected with grabbing claw plate by articulate, what telescopic cylinder stretched with that can control telescopic cylinder
Control unit connects.
Described collection tank includes the left collecting chamber of casing and the right collecting chamber of casing, sets a left side to open on the left collecting chamber of casing
Mouthful, right opening is set on the right collecting chamber of casing, left slideway is set in the left collecting chamber of casing, right cunning is set in the right collecting chamber of casing
Road, left slideway one end are connected with left opening, and the left slideway other end is connected with the left collecting chamber bottom of casing, the left oblique cloth of slideway
Put, right slideway one end is connected with right opening, and the right slideway other end is connected with the right collecting chamber bottom of casing, the right oblique cloth of slideway
Put.
Described left opening sets gravity sensor I, and gravity sensor I is connected with control unit, and right opening sets gravity
Sensor II, gravity sensor II is connected with control unit, when apple is placed on left aperture position, apple be configured to against
Structure on gravity sensor I, when apple is resisted against on gravity sensor I, gravity sensor I is configured to control unit
The structure of part feedback signal, control unit are configured to the structure for controlling motor to invert according to the feedback signal, apple
When being placed on right aperture position, apple is configured to the structure being resisted against on gravity sensor II, and apple is resisted against gravity biography
When on sensor II, gravity sensor II is configured to the structure to control unit feedback signal, and control unit is configured to
The counter-rotational structure of motor is controlled according to the feedback signal.
Described clamping bar I is in the shape of the letter V structure, and clamping bar II is arranged into V-shaped structure, the left pars intermedia I of clamping bar I
The structure that can be protruded in outward direction, the right pars intermedia II of clamping bar II are configured to the structure protruded in outward direction,
The front end of the clamping bar I suit rubber sleeve I of described clamping bar I, the front end of the clamping bar II suit rubber sleeve II of clamping bar II.
Using technical scheme, following beneficial effect can be obtained：
Apple picking of the present invention, extensible member is controlled to lift by control unit, and apple grabbing claw can be with
The lifting of extensible member and lift, so, can be as needed when needing to pluck the apple of fruit tree different height
The height of apple grabbing claw is controlled, the apple of relevant position is plucked, and apple grabbing claw sets clamping bar I and clamping bar
II, when needing to pluck the apple of relevant position, extensible member control apple grabbing claw is elevated to appropriate location, then passes through control
Component controls motor processed rotates to a direction, and after motor rotates, motor can rotate with moving gear I, and
And rotate, at this moment, the front end of clamping bar I of clamping bar II and the front end of clamping bar II of clamping bar II with moving gear II by gear I
It is configured to move closer to, so as to clamp the apple of relevant position, after clamping bar I and clamping bar II clamp apple, control unit
Part control extensible member shrinks, so as to be moved adjacent to collection tank position, so as to which control unit controls motor to another again
One direction is rotated, and clamping bar I and clamping bar II are located remotely from each other, so as to unclamp apple, thus convenient and swift completion apple
The harvesting of fruit, and iPhone has been arrived in collection tank 1.The structure of the present invention, when plucking eminence position apple, no longer need
The means such as offer sb. a chance to remedy a fault gracefully are taken, reduce labor intensity, improve picking efficiency, and apple will not be damaged.Apple of the present invention
Fruit picking machine, it is simple in construction, conveniently and efficiently fruit tree eminence position apple can be plucked, while ensure the water that will not damage
Fruit, problem can not be plucked so as to effectively solve fruit tree eminence position fruit, improves harvesting operation convenience.
Brief description of the drawings
Brief description is made to the content expressed by each accompanying drawing of this specification and the mark in figure below：
Fig. 1 is the structural representation of apple picking of the present invention；
Fig. 2 is the structural representation of the apple grabbing claw of apple picking of the present invention；
Accompanying drawing acceptance of the bid note be respectively：1st, collection tank；2nd, extensible member；3rd, apple grabbing claw；4th, grabbing claw plate；5th, tooth
Wheel I；6th, gear II；7th, clamping bar I；8th, clamping bar II；9th, motor；10th, control unit；11st, the part body of rod；12nd, stretch
Bar；13rd, rotary electric machine；15th, telescopic cylinder；16th, cylinder body；17th, cylinder rod；18th, the left collecting chamber of casing；19th, the right receipts of casing
Collect chamber；20th, left opening；21st, right opening；22nd, left slideway；23rd, right slideway；24th, left pars intermedia I；25th, right pars intermedia II；26th, press from both sides
The tight front end of bar I；27th, rubber sleeve I；28th, the front end of clamping bar II；29th, rubber sleeve II；30th, clamping force sensor；31st, gravity sensitive
Device I；32nd, gravity sensor II.
Embodiment
Below against accompanying drawing, by the description to embodiment, each structure for example involved to the embodiment of the present invention
The works such as mutual alignment and annexation, the effect of each several part and operation principle between the shape of part, construction, each several part are further
Detailed description：
As shown in accompanying drawing 1, accompanying drawing 2, the present invention is a kind of apple picking, and described apple picking includes collection tank
1, extensible member 2 is set in collection tank 1, and the lower end of extensible member 2 is vertically mounted in collection tank 1, the upper end of extensible member 2 peace
Apple grabbing claw 3 is filled, apple grabbing claw 3 includes grabbing claw plate 4, and grabbing claw plate 4 is connected with the upper end of extensible member 2, crawl
Gear I 5 is installed on claw-plate part 4 and gear II 6, gear I 5 engage with gear II 6, clamping bar I 7, gear II 6 are set on gear I 5
Upper setting clamping bar II 8, gear I 5 are connected with the motor 9 that can be rotated with moving gear I 5, motor 9 and control unit
10 connections, the control unit 10 flexible with that can control extensible member 2 of extensible member 2 are connected.Said structure, pass through control unit
Extensible member lifting is controlled, and apple grabbing claw 3 can lift with the lifting of extensible member, so, when needing to fruit tree not
When level apple is plucked, the height of apple grabbing claw can be controlled as needed, and the apple of relevant position is carried out
Harvesting, and apple grabbing claw 3 sets clamping bar I 7 and clamping bar II 8, when needing to pluck the apple of relevant position, extensible member
Control apple grabbing claw is elevated to appropriate location, then controls motor to be rotated to a direction by control unit, drives
After motor rotates, motor 9 can rotate with moving gear I 5, and be rotated by the band moving gear II 6 of gear I 5, at this moment, folder
The tight front end 26 of clamping bar I of bar II 8 is configured to move closer to the front end 28 of clamping bar II of clamping bar II 8, so as to clamp
After the apple of relevant position, clamping bar I 7 and clamping bar II 8 clamp apple, control unit control extensible member shrinks, so as to move
Move close to collection tank position, so as to which control unit controls motor to be rotated to another direction again, clamping bar I 7 and folder
Tight bar II 8 is located remotely from each other, so as to unclamp apple, the thus convenient and swift harvesting for completing apple, and by iPhone
Arrive in collection tank 1.The structure of the present invention, when plucking eminence position apple, it is no longer necessary to take the means such as offer sb. a chance to remedy a fault gracefully, reduce
Labor intensity, picking efficiency is improved, and apple will not be damaged.Apple picking of the present invention, simple in construction, Neng Goufang
Just quickly fruit tree eminence position apple is plucked, while ensures the fruit that will not damage, so as to effectively solve fruit tree eminence
Position fruit can not pluck problem, improve harvesting operation convenience.
Described extensible member 2 includes the part body of rod 11 and expansion link 12, and the lower end of expansion link 12 is connected with the part body of rod 11,
Rotary electric machine 13 is installed in the upper end of expansion link 12, and grabbing claw plate 4 is connected with rotary electric machine 13, and rotary electric machine 13 turns with that can control
The control unit 10 that dynamic motor 13 rotates connects.Said structure, by the setting of rotary electric machine, apple grabbing claw phase can be driven
Rotated for extensible member, so, when plucking the fruit of sustained height diverse location, it is not necessary to extensible member height is adjusted,
Clamping bar I 7 can just be adjusted and clamping bar II 8 is moved to the different apple positions of sustained height, so as to facilitate apple-picking, carried
High picking efficiency.
Described control unit 10 control motor 9 to a direction rotate when, motor 9 is configured to drive
Gear I 5 rotates, and the structure rotated by gear I 5 with moving gear II 6, and control unit 10 controls motor 9 to one
When direction rotates, the front end 26 of clamping bar I and the front end 28 of clamping bar II of clamping bar II 8 of clamping bar II 8 are configured to gradually
Close structure, control unit 10 control motor 9 to another direction rotate when, motor 9 is configured to drive
Gear I 5 rotates, and the structure rotated by gear I 5 with moving gear II 6, and the control motor 9 of control unit 10 is to another
When individual direction rotates, the front end 26 of clamping bar I of clamping bar II 8 and the front end 28 of clamping bar II of clamping bar II 8 be configured to by
Gradually remote structure.Said structure, motor is driven by control unit, clamping bar I 7 and the phase of clamping bar II 8 can be driven
To change in location, so as to effective reliable grip apple, it is possibility to have effect unclamps apple.
Described control unit 10 is configured to control motor 9 to rotate forward and counter-rotational structure, apple
Picking machine also includes clamping force sensor 30, and clamping force sensor 30 is arranged in motor 9, and clamping force sensor 30 is distinguished
It is connected with motor 9 and control unit 10, motor 9 rotates forward the front end 26 of clamping bar I for driving clamping bar II 8 and folder
The front end 28 of clamping bar II of tight bar II 8 is close and when clamping apple, clamping force sensor 30 is configured to control unit
The structure of feedback signal, control unit 10 are configured to the structure for controlling motor 9 to stop operating.Said structure, pass through
The setting of clamping force sensor, after motor controls clamping bar I 7 and clamping bar II 8 clamps apple, apple can act on counter-force
On clamping bar I 7 and clamping bar II 8, the counter-force is passed to motor, motor meeting by clamping bar I 7 and clamping bar II 8
A signal is transmitted to clamping force sensor, and clamping force sensor feeds back signal to control unit again, control unit is now stood
That is control motor stops operating, so that it is guaranteed that clamping bar I 7 and clamping bar II 8 now reliable grip apple, without excessive
Force will not cause apple surface to be damaged on apple.
Telescopic cylinder 15, cylinder body 16 and the rotary electric machine 13 of telescopic cylinder 15 are also set up on described rotary electric machine 13
It is fixedly connected, the cylinder rod 17 of telescopic cylinder 15 is connected with grabbing claw plate 4 by articulate, and telescopic cylinder 15 is with that can control
The flexible control unit 10 of telescopic cylinder 15 processed connects.Said structure, telescopic cylinder is controlled to stretch by control unit, Neng Gou electricity
Dynamic grabbing claw plate 4, when needing to pluck apple, can control telescopic cylinder to stretch out, band relative to extensible member change in location
Dynamic grabbing claw plate 4 is lifted up, so as to without adjusting extensible member height, it becomes possible to control grabbing claw plate 4 one
Determine scope movement, improve apple-picking efficiency.And when needing to place apple to collection tank, control unit control telescopic cylinder
Shrink, drive grabbing claw plate 4 to be turned under down, so that grabbing claw plate 4 is close to collection tank, after collection tank,
Control unit controls clamping bar I 7 and clamping bar II 8 to unclamp, and apple can be placed into collection tank, so in picking process
Manual operation is not all needed, harvesting, collects disposable complete.
Described collection tank 1 includes the left collecting chamber 18 of casing and the right collecting chamber 19 of casing, is set on the left collecting chamber 18 of casing
Left opening 20 is put, right opening 21 is set on the right collecting chamber 19 of casing, left slideway 22, the right receipts of casing are set in the left collecting chamber 18 of casing
Collect and right slideway 23 is set in chamber 19, left one end of slideway 22 is connected with left opening 20, the left other end of slideway 22 and the left collecting chamber of casing
18 bottoms are connected, and left slideway 22 is obliquely arranged, right one end of slideway 23 is connected with right opening 21, the right other end of slideway 23 and case
The right bottom of collecting chamber 19 connection of body, right slideway 23 are obliquely arranged.Pass through the left collecting chamber 18 of casing and the right collecting chamber 19 of casing
Setting, Big Apple can be collected with collecting chamber, a collecting chamber collects griggles, be easy to apple classification to collect.
Described left opening 20 sets gravity sensor I 31, and gravity sensor I 31 is connected with control unit 10, right opening
21 set gravity sensor II 32, and gravity sensor II 32 is connected with control unit 10, when apple is placed on 20 position of left opening,
Apple is configured to the structure being resisted against on gravity sensor I 31, and when apple is resisted against on gravity sensor I 31, gravity passes
Sensor I 31 is configured to the structure to the feedback signal of control unit 10, and control unit 10 is configured to according to the feedback letter
The structure that number control motor 9 inverts, when apple is placed on 21 position of right opening, apple is configured to be resisted against gravity biography
Structure on sensor II 32, when apple is resisted against on gravity sensor II 32, gravity sensor II 32 is configured to control
The structure of the feedback signal of part 10, control unit 10 are configured to control motor 9 to rotate backward according to the feedback signal
Structure.Said structure, after clamping bar I 7 and clamping bar II 8 clamp harvesting to apple, when grabbing claw plate 4 is turned under down leaning on
During nearly collection tank, when apple is placed on into 20 position of left opening, apple is resisted against the structure on gravity sensor I 31, gravity
Sensor I 31 senses the weight of apple, so as to which to the feedback signal of control unit 10, control unit 10 is according to the feedback signal control
Motor 9 processed is inverted, and apple unclamps, and apple is dropped into the left collecting chamber 18 of casing from left opening.And when apple is placed on the right side
Be open 21 position when, apple is resisted against on gravity sensor II 32, and gravity sensor II 32 can be to the feedback letter of control unit 10
Number, control unit 10 can according to the feedback signal control motor 9 rotate backward, unclamp apple, apple unclamp, apple from
Right opening is dropped into the right collecting chamber 19 of casing, is completed apple and is collected.
Described clamping bar I 7 is in the shape of the letter V structure, the 8 one-tenth V-shaped structures of clamping bar II, the left pars intermedia I 24 of clamping bar I 7
It is configured to the structure protruded in outward direction, the right pars intermedia II 25 of clamping bar II 8 is configured to convex in outward direction
The structure gone out, the front end 26 of the clamping bar I suit rubber sleeve I 27 of described clamping bar I 7, the front end 28 of clamping bar II of clamping bar II 8
It is set with rubber sleeve II 29.Can be with convenient and reliable clamping apple by the front end 26 of clamping bar I and the front end 28 of clamping bar II, and rubber sleeve
I 27 and the setting of rubber sleeve II 29, when clamping apple, reliable clamping protects apple without causing to damage to apple surface
Fruit.
Apple picking of the present invention, extensible member is controlled to lift by control unit, and apple grabbing claw can be with
The lifting of extensible member and lift, so, can be as needed when needing to pluck the apple of fruit tree different height
The height of apple grabbing claw is controlled, the apple of relevant position is plucked, and apple grabbing claw sets clamping bar I and clamping bar
II, when needing to pluck the apple of relevant position, extensible member control apple grabbing claw is elevated to appropriate location, then passes through control
Component controls motor processed rotates to a direction, and after motor rotates, motor can rotate with moving gear I, and
And rotate, at this moment, the front end of clamping bar I of clamping bar II and the front end of clamping bar II of clamping bar II with moving gear II by gear I
It is configured to move closer to, so as to clamp the apple of relevant position, after clamping bar I and clamping bar II clamp apple, control unit
Part control extensible member shrinks, so as to be moved adjacent to collection tank position, so as to which control unit controls motor to another again
One direction is rotated, and clamping bar I and clamping bar II are located remotely from each other, so as to unclamp apple, thus convenient and swift completion apple
The harvesting of fruit, and iPhone has been arrived in collection tank 1.The structure of the present invention, when plucking eminence position apple, no longer need
The means such as offer sb. a chance to remedy a fault gracefully are taken, reduce labor intensity, improve picking efficiency, and apple will not be damaged.Apple of the present invention
Fruit picking machine, it is simple in construction, conveniently and efficiently fruit tree eminence position apple can be plucked, while ensure the water that will not damage
Fruit, problem can not be plucked so as to effectively solve fruit tree eminence position fruit, improves harvesting operation convenience.
Exemplary description is carried out to the present invention above in conjunction with accompanying drawing, it is clear that concrete implementation of the present invention is not by above-mentioned
The limitation of mode, if the various improvement of inventive concept and technical scheme of the present invention progress are employed, or it is not improved by this
The design of invention and technical scheme directly apply to other occasions, within the scope of the present invention.
Claims (8)
- A kind of 1. apple picking, it is characterised in that：Described apple picking includes collection tank (1), in collection tank (1) Extensible member (2) is set, and extensible member (2) lower end is vertically mounted in collection tank (1), extensible member (2) upper end installation apple Fruit grabbing claw (3), apple grabbing claw (3) include grabbing claw plate (4), and grabbing claw plate (4) connects with extensible member (2) upper end Connect, gear I (5) is installed on grabbing claw plate (4) and gear II (6), gear I (5) engage with gear II (6), on gear I (5) Clamping bar I (7) is set, clamping bar II (8), gear I (5) and the drive that can be rotated with moving gear I (5) are set on gear II (6) Dynamic motor (9) connection, motor (9) are connected with control unit (10), and extensible member (2) is with that can control extensible member (2) Flexible control unit (10) connection.
- 2. apple picking according to claim 1, it is characterised in that：Described extensible member (2) includes the part body of rod (11) it is connected with expansion link (12), expansion link (12) lower end with the part body of rod (11), expansion link (12) upper end installation rotary electric machine (13), grabbing claw plate (4) is connected with rotary electric machine (13), what rotary electric machine (13) rotated with that can control rotary electric machine (13) Control unit (10) connects.
- 3. apple picking according to claim 1 or 2, it is characterised in that：Control unit (10) control motor (9) When being rotated to a direction, motor (9) is configured to band moving gear I (5) and rotated, and passes through gear I (5) band moving teeth Take turns II (6) rotate structure, control unit (10) control motor (9) to a direction rotate when, the folder of clamping bar II (8) The tight front end of bar I (26) and the front end of clamping bar II (28) of clamping bar II (8) are configured to the structure moved closer to, control unit (10) control motor (9) to another direction rotates when, motor (9) be configured to band moving gear I (5) rotation, And the structure rotated by gear I (5) with moving gear II (6), control unit (10) control motor (9) to another side To when rotating, the front end of clamping bar I (26) of clamping bar II (8) is arranged to the front end of clamping bar II (28) of clamping bar II (8) The structure being enough gradually distance from.
- 4. apple picking according to claim 1 or 2, it is characterised in that：Described control unit (10) is arranged to Enough control motor (9) to rotate forward also includes clamping force sensor (30) with counter-rotational structure, apple picking, presss from both sides Clamp force sensor (30) be arranged on motor (9) in, clamping force sensor (30) respectively with motor (9) and control unit (10) connect, motor (9) rotates forward the folder for driving the front end of clamping bar I (26) of clamping bar II (8) with clamping bar II (8) The tight front end of bar II (28) is close and when clamping apple, clamping force sensor (30) is configured to control unit feedback signal Structure, control unit (10) is configured to control motor (9) structure for stopping operating.
- 5. apple picking according to claim 2, it is characterised in that：Also set up on described rotary electric machine (13) flexible Cylinder (15), the cylinder body (16) of telescopic cylinder (15) are fixedly connected with rotary electric machine (13), the cylinder of telescopic cylinder (15) Bar (17) is connected with grabbing claw plate (4) by articulate, and telescopic cylinder (15) is with that can control telescopic cylinder (15) flexible Control unit (10) connection.
- 6. apple picking according to claim 2, it is characterised in that：Described collection tank (1) includes the left receipts of casing Collect chamber (18) and the right collecting chamber of casing (19), left opening (20), the right collecting chamber of casing (19) are set on the left collecting chamber of casing (18) It is upper that right opening (21) is set, left slideway (22) is set in the left collecting chamber of casing (18), right cunning is set in the right collecting chamber of casing (19) Road (23), left slideway (22) one end are connected with left opening (20), left slideway (22) other end and the left collecting chamber of casing (18) bottom Connection, left slideway (22) obliquely arrange, right slideway (23) one end with it is right opening (21) be connected, right slideway (23) other end and The right collecting chamber of casing (19) bottom is connected, and right slideway (23) is obliquely arranged.
- 7. apple picking according to claim 6, it is characterised in that：Described left opening (20) sets gravity sensor I (31), gravity sensor I (31) are connected with control unit (10), and right opening (21) sets gravity sensor II (32), and gravity passes Sensor II (32) is connected with control unit (10), and when apple is placed on left opening (20) position, apple is configured to be resisted against Structure on gravity sensor I (31), when apple is resisted against on gravity sensor I (31), gravity sensor I (31) is arranged to Enough structures to control unit (10) feedback signal, control unit (10) are configured to control driving electricity according to the feedback signal The structure of machine (9) reversion, when apple is placed on right opening (21) position, apple is configured to be resisted against gravity sensor II (32) structure on, when apple is resisted against on gravity sensor II (32), gravity sensor II (32) is configured to control The structure of part (10) feedback signal, control unit (10) are configured to control motor (9) anti-according to the feedback signal To the structure of rotation.
- 8. the apple picking according to Claims 2 or 3, it is characterised in that：Described clamping bar I (7) is in the shape of the letter V knot Structure, clamping bar II (8) are configured to what is protruded in outward direction into V-shaped structure, the left pars intermedia I (24) of clamping bar I (7) Structure, the right pars intermedia II (25) of clamping bar II (8) are configured to the structure protruded in outward direction, described clamping bar I (7) the front end of clamping bar I (26) suit rubber sleeve I (27), the front end of clamping bar II (28) the suit rubber sleeve II of clamping bar II (8) (29)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710745925.2A CN107333530A (en) | 2017-08-26 | 2017-08-26 | A kind of apple picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710745925.2A CN107333530A (en) | 2017-08-26 | 2017-08-26 | A kind of apple picking |
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| Publication Number | Publication Date |
|---|---|
| CN107333530A true CN107333530A (en) | 2017-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710745925.2A Pending CN107333530A (en) | 2017-08-26 | 2017-08-26 | A kind of apple picking |
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| CN107852956A (en) * | 2017-11-30 | 2018-03-30 | 广州大学 | A kind of equipment for winning and storing pineapple |
| CN108370723A (en) * | 2018-04-26 | 2018-08-07 | 梧州学院 | A kind of apple picking |
| CN108450245A (en) * | 2018-02-09 | 2018-08-28 | 烟台拓伟智能科技股份有限公司 | A kind of mushroom automatic processing system |
| CN108522012A (en) * | 2018-05-25 | 2018-09-14 | 梧州学院 | The auxiliary device of apple-picking |
| CN108633476A (en) * | 2018-06-29 | 2018-10-12 | 吉林农业科技学院 | Electric expansion self-induction type tree fructufy device for picking |
| CN108713391A (en) * | 2018-05-29 | 2018-10-30 | 苏州市职业大学 | A kind of fruit picker |
| CN108770486A (en) * | 2018-08-03 | 2018-11-09 | 浙江机电职业技术学院 | Pineapple picking machine and its picking method |
| CN108811753A (en) * | 2018-07-10 | 2018-11-16 | 陕西智多搭智能科技有限公司 | A kind of apple-picking is with holding scalable apple picking device |
| CN108848911A (en) * | 2018-08-17 | 2018-11-23 | 长沙理工大学 | A kind of Portable electric fruit picker |
| CN109048975A (en) * | 2018-10-21 | 2018-12-21 | 西北农林科技大学 | A kind of force feedback system and its working method grabbing fruits and vegetables vacuum chuck |
| CN112840862A (en) * | 2021-01-07 | 2021-05-28 | 杭州乔戈里科技有限公司 | Picking robot suitable for picking various fruits and picking method thereof |
| CN113116669A (en) * | 2019-12-31 | 2021-07-16 | 孙祖真 | Novel department of neurology inspection is with lifting apparatus |
| CN113678641A (en) * | 2021-08-24 | 2021-11-23 | 北京市农业局信息中心 | 5G artificial intelligence picking robot capable of accurately clamping mother branches of crops |
| CN114747368A (en) * | 2022-03-23 | 2022-07-15 | 农业农村部南京农业机械化研究所 | Fruit picking robot |
| CN116941422A (en) * | 2023-08-03 | 2023-10-27 | 淮安市福美好农业机械有限公司 | Stable full-automatic apple picking machine with supporting structure |
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| CN108370723A (en) * | 2018-04-26 | 2018-08-07 | 梧州学院 | A kind of apple picking |
| CN108522012A (en) * | 2018-05-25 | 2018-09-14 | 梧州学院 | The auxiliary device of apple-picking |
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| CN108770486B (en) * | 2018-08-03 | 2023-10-27 | 浙江机电职业技术学院 | Pineapple picking machine and picking method thereof |
| CN108848911A (en) * | 2018-08-17 | 2018-11-23 | 长沙理工大学 | A kind of Portable electric fruit picker |
| CN109048975B (en) * | 2018-10-21 | 2023-09-01 | 西北农林科技大学 | Force feedback system of vacuum chuck for grabbing fruits and vegetables and working method thereof |
| CN109048975A (en) * | 2018-10-21 | 2018-12-21 | 西北农林科技大学 | A kind of force feedback system and its working method grabbing fruits and vegetables vacuum chuck |
| CN113116669A (en) * | 2019-12-31 | 2021-07-16 | 孙祖真 | Novel department of neurology inspection is with lifting apparatus |
| CN112840862B (en) * | 2021-01-07 | 2022-07-15 | 杭州乔戈里科技有限公司 | Picking robot suitable for picking various fruits and picking method thereof |
| CN112840862A (en) * | 2021-01-07 | 2021-05-28 | 杭州乔戈里科技有限公司 | Picking robot suitable for picking various fruits and picking method thereof |
| CN113678641A (en) * | 2021-08-24 | 2021-11-23 | 北京市农业局信息中心 | 5G artificial intelligence picking robot capable of accurately clamping mother branches of crops |
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| CN116941422A (en) * | 2023-08-03 | 2023-10-27 | 淮安市福美好农业机械有限公司 | Stable full-automatic apple picking machine with supporting structure |
| CN116941422B (en) * | 2023-08-03 | 2024-03-19 | 淮安市福美好农业机械有限公司 | Stable full-automatic apple picking machine with supporting structure |
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Application publication date: 20171110 |