CN107455088A - Apple-picking machinery hand - Google Patents

Abstract

The invention provides an apple picking manipulator, which solves the problems of unreasonable and inefficient apple picking methods in the prior art. The manipulator includes an operating rod, the lower part of which is provided with a first slide block located inside, and the first slide block moves linearly reciprocatingly along the operating rod; the upper end of the operating rod is provided with a clamping mechanism, including two symmetrical manipulators, and the manipulators are both aligned with the operating rod. The rods are hingedly connected, and the accommodation chamber is formed between the two manipulators; the upper end of the operating rod is also provided with an internal pull rod, which extends in the same direction as the operating rod, and the upper end of the pull rod is hinged to the two manipulators through two second connecting rods. The first slider and the pull rod are connected by the first pull wire, and the first slider realizes the clamping action of the manipulator through the first pull wire, pull rod, and second connecting rod; After the action of the holding mechanism is completed. The apple picking manipulator of the invention is simple in structure, easy to use, and has good practicability.

Description

Apple Picking Manipulator

technical field

The invention relates to the technical field of apple picking manipulators, in particular to an apple picking manipulator with simple structure, convenient use, reasonable picking method and high picking efficiency.

Background technique

Apple cultivation in my country has a long history and is the world's largest fruit consumer. The rapid development of the fruit planting industry has increased the market demand for orchard mechanization, and China's apple planting area has increased accordingly. In our country, apples are still planted on a family basis. Due to various planning problems during the planting process, the picking process is quite difficult. In terms of apple cultivation, the degree of agricultural mechanization is very low, and all links need to be completed by hand. Traditional picking methods are inefficient and easy to cause certain damage to fruit trees.

Entering the 21st century, with the development of industrialization, China is also facing the problem of population aging. With the development of urbanization, the rural population gradually transfers to the cities, and the agricultural labor force gradually transfers to other industries. As a result, the rural labor force has decreased, and the shortage of labor force has led to an increase in labor costs. Apple picking is the most time-consuming and laborious part of the apple planting process. Apple planting is a labor-intensive industry. Traditional apple picking requires people to use ladders to climb up to pick apples from high places, which is time-consuming, labor-intensive and dangerous. Not only that, but many apples are damaged due to friction and collision during picking. With the development of society and the improvement of people's living standards, people are unwilling to engage in this hard work.

Contents of the invention

The invention provides an apple picking manipulator, which solves the problems of unreasonable and inefficient apple picking methods in the prior art.

The technical solution of the present invention is achieved in the following way: the apple picking manipulator includes an operating rod, the lower part of the operating rod is provided with a first slider located inside it, and the first sliding block moves linearly back and forth along the length direction of the operating rod ;

The upper end of the operating rod is provided with a clamping mechanism, including two symmetrical manipulators, the two manipulators are hingedly connected with the operating rod, and an accommodating chamber for clamping the fruit is formed between the two manipulators;

The upper end of the operating rod is also provided with a pull rod inside it, and the extending direction of the pulling rod is the same as that of the operating rod. The upper end of the pulling rod is respectively hingedly connected with two manipulators through two second connecting rods. The slider and the pull rod are connected through the first pull wire, and the first slider realizes the clamping action of the two manipulators through the first pull wire, the pull rod, and the second connecting rod;

A cutting mechanism is also provided in the manipulator, and the action of the cutting mechanism is located after the action of the clamping mechanism is completed.

As a preferred embodiment, the top end of the operating rod is provided with a hollow cavity, the inner wall of the hollow cavity is provided with a protrusion protruding inwardly, and the upper part of the protrusion is fixed with the pull rod. The baffle plate, the bump plays a limiting role on the baffle plate;

A first compression spring is connected to the lower surface of the baffle plate, a tension spring is arranged on the first pull wire, and the elastic coefficient of the tension spring is greater than that of the first compression spring;

A second slider for controlling the action of the cutting mechanism is provided below the first slider, and the contact between the baffle and the protrusion is located before the contact between the first slider and the second slider.

As another preferred embodiment, the cutting mechanism includes a blade embedded in the manipulator, and external gears are arranged in the two manipulators, and the second pull wire is passed between the external gear and the second slider. connected, the second slider drives the external gear to rotate through the second pull wire;

The manipulator is also provided with a section of internal gear that meshes with the external gear, the blade is fixed on the internal gear, and the external gear drives the internal gear to move to realize the extension of the two blades for cutting off the fruit. fruit stem.

As another preferred implementation manner, when the two blades are stretched out, they are arranged in a dislocation up and down.

As another preferred implementation manner, the external gear is provided with a torsion spring for reset, and a second compression spring is connected to the lower surface of the second slider.

As another preferred implementation manner, a handle is hinged on the outer surface of the lower end of the operating rod, and the handle is hingedly connected to the first slider through a first connecting rod.

As another preferred embodiment, the operating rod is composed of an upper operating rod and a lower operating rod connected by a hinge, and the operating rod can be bent centered on the hinge;

A collection bag reciprocatingly sliding along the lower operating rod is also provided below the hinge.

As another preferred embodiment, a guide rail is provided on the lower operating rod, and a third slide block reciprocatingly slides on the guide rail, the collection bag is fixed on the third slide block, and the third slide block A third compression spring is connected to the lower surface.

As another preferred implementation manner, eight rollers are evenly distributed on the third slider, and all the rollers are in contact with the guide rail.

As another preferred embodiment, elastic pads are provided on the inner surfaces of the manipulator and the collection bag.

After adopting the above technical solution, the beneficial effect of the present invention is that the apple picking manipulator uses the first slider to pull the first pull wire, then uses the first pull wire to pull the pull rod to move, and finally uses the pull rod to control the movement of the two second connecting rods, realizing The clamping action of the two manipulators, after the clamping mechanism has completed the action, the cutting mechanism will move again, avoiding damage to the fruit.

Since the pull rod and the baffle are fixed as a whole, and the baffle is limited by the bump, the limit position of the baffle is the limit position of the clamping mechanism (two manipulators). When the baffle moves down to When in contact with the protrusion, the clamping mechanism completes the clamping action. At this time, the first compression spring is compressed to the shortest, and there is no contact between the first slider and the second slider. Because of the existence of the spring, the first slider can continue to move downwards. When the first slider moves down until it touches the second slider, the second slider controls the action of the cutting mechanism to cut the stem of the fruit. Cutting off ensures that the cutting action is performed after the clamping action is completed.

When the second slide block moved down, the rotation of the external gear was realized by the second backguy, and then the external gear drove the internal gear meshed with it to rotate, and the internal gear drove the respective blades to stretch out from the manipulator to realize the cutting of the fruit stem.

When the two blades are stretched out, the structural form in which the upper and lower sides are misplaced can ensure that the fruit stems of the fruit are completely cut off.

A torsion spring is arranged on the external gear, and a second compression spring is connected on the lower surface of the second slide block, so that the timely reset of the blade can be ensured after the cutting is completed.

Setting the operating rod in the form of upper and lower hinges can bend the operating rod centered on the hinge under the action of the fruit's own gravity when cutting the fruit stem, and the fruit in the manipulator can fall freely into the collection bag below Inside, the collection bag slides along the lower operating rod under the action of gravity, which is convenient for workers to take out the fruit and continue to the next step of operation.

The third stage clip is connected on the lower surface of the third slide block, after fruit can be taken out from the collection bag, the third stage clip resets the third slide block and the collection bag to facilitate the collection of the next fruit.

Arranging elastic pads on the inner surface of the manipulator and the collection bag can effectively ensure that no damage is caused to the surface of the fruit.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a structural representation of an embodiment of the present invention;

Fig. 2 is the structural representation of manipulator part in this embodiment;

Fig. 3 is the structural representation of handle part;

Fig. 4 is a structural schematic diagram at the third slider;

Fig. 5 is a structural schematic diagram of the operating rod in a bent state;

In the figure: 1-operating rod; 2-manipulator; 3-accommodating cavity; 4-blade; 5-handle; 6-first slider; The second connecting rod; 11-the first stay wire; 12-tension spring; 13-external gear; 14-internal gear; 15-the second slide block; 16-the second stay wire; -first compression spring; 20-second compression spring; 21-upper operating rod; 22-lower operating rod; 23-hinge; 24-collection bag; 25-guide rail; 26-third slider; 27-third pressure Spring; 28-elastic pad; 29-roller.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Example:

As shown in Figure 1, it is a kind of embodiment of the apple picking manipulator of the present invention, this embodiment at first comprises an operating rod 1, is provided with several main mechanisms on the operating rod 1: control mechanism, clamping mechanism, cutting mechanism and collection institutions, the following will describe these main institutions in detail.

As shown in Figure 2, it is a schematic structural view of the top of the operating rod 1, which mainly includes a clamping mechanism and a cutting mechanism, and the clamping mechanism includes two symmetrical manipulators 2 arranged at the top of the operating rod 1. The manipulators 2 are connected to the operating rod 1 in a hinged manner, and an accommodation chamber 3 for clamping fruit is formed between the two manipulators 2. In the initial state, the two manipulators 2 are fully opened, which can ensure a large volume The fruit enters the accommodation cavity 3, and after the fruit enters, the worker can realize the two manipulators 2 to rotate at their respective hinge points through the control of the control mechanism, and the two manipulators 2 are combined to realize the clamping of the fruit.

A hollow cavity 8 is formed on the upper end of the operating rod 1, and a pull rod 9 extending in the same direction as the operating rod 1 is arranged in the hollow cavity 8. The upper ends of the pull rod 9 are respectively hinged on the two manipulators 2 through two second connecting rods 10, Therefore, when the pull rod 9 moves downward, the angle between the two second connecting rods 10 will become smaller, and the two manipulators 2 will be closed to realize the clamping action. When the pull rod 9 moves upward, the two The angle between the second connecting rod 10 will become larger, and the two manipulators 2 will separate to prepare for the next clamping action.

In addition, a protruding bump 17 protruding inward is also provided in the hollow cavity 8, and a baffle 18 is provided above the bump 17, and the bump 17 can limit the moving position of the baffle 18, that is, the baffle 18 It can only move between the bump 17 and the top surface of the hollow cavity 8 . The baffle plate 18 is fixed as a whole with the pull rod 9, and the two move synchronously. That is to say, when the pull bar 9 moved downward, the baffle plate 18 also moved downward simultaneously, and the two manipulators 2 began to close together. Move down, at this time, the two manipulators 2 move to the limit position, close up completely, and complete the clamping action. When pull bar 9 and baffle plate 18 move upwards, two manipulators 2 begin to open, and when baffle plate 18 touches the top surface of hollow cavity 8, baffle plate 18 and pull bar 9 can no longer continue to move upwards, and at this moment, two Manipulator 2 moves to another extreme position, fully open. In addition, a first compression spring 19 is also connected to the lower surface of the baffle plate 18. When the baffle plate 18 moves downward, the first compression spring 19 will be compressed. Next, the first compression spring 19 will lift up the baffle plate 18 and the pull rod 9, so that the two manipulators 2 will be opened again, so as to facilitate the removal of the fruit inside it, and prepare for the next clamping. As shown in Figure 2 and Figure 3, in order to realize a series of actions of the clamping mechanism, this embodiment is provided with a handle 5 hinged on the lower part of the operating rod 1 and its outer surface, and at the same time a movable The first slider 6 that reciprocates linearly up and down, the handle 5 and the first slider 6 are hingedly connected by the first connecting rod 7, and at the same time, the first slider 6 and the pull rod 9 are connected by the first pull wire 11, When the worker presses the handle 5, the handle 5 realizes the downward movement of the pull rod 9 through the first connecting rod 7, the first slider 6, and the first pull wire 11, thereby realizing the clamping of the two manipulators 2.

After the clamping action of the fruit is completed, the fruit stem needs to be cut off next. For this reason, this embodiment is provided with a cutting mechanism in the manipulator 2, and in order to ensure that the fruit is not damaged, the action of the cutting mechanism must It can only be carried out after the holding action is completed. In order to facilitate the control of the workers, the action of the cutting mechanism is also controlled by the handle 5. For this reason, this embodiment is provided with a tension spring 12 on the first stay wire 11, so that after the two manipulators 2 complete the clamping action (that is, the baffle plate 18 touches the bump 17), the handle 5 can also press the first slide block 6 to move downwards, at this time, the extension spring 12 is elongated, of course, the elastic coefficient of the extension spring 12 will be greater than the elasticity of the first compression spring 19 coefficient, to ensure that after the first compression spring 19 is compressed to the shortest, the extension spring 12 is stretched again. Also be provided with the second slide block 15 below the first slide block 6, the second slide block 15 directly controls the action of the cutting mechanism, therefore, after the baffle plate 18 contacts with the protruding block 17, the first slide block 6 can In contact with the second slide block 15, it is possible to ensure that the action of the cutting mechanism is carried out after the clamping action is completed, effectively protecting the fruit from damage.

The cutting mechanism in this embodiment will be described in detail below. The cutting mechanism includes a blade 4 embedded in the manipulator 2, and the structures of the two manipulators 2 are completely symmetrical. In the initial state, the blade 4 is completely embedded in the manipulator 2. Avoid damage to the fruit. An external gear 13 is also arranged in the manipulator 2, and the external gear 13 can only rotate on its own central axis. A section of internal gear 14 is meshed on the external gear 13, and the blade 4 is fixed on the corresponding internal gear 14. When the external gear 13 When rotating, the inner gear 14 is promptly displaced in the manipulator 2. Certainly, a passage for the inner gear 14 to move needs to be opened in the manipulator 2. The two inner gears 14 move relative to each other. Stretch out in, when two blades 4 dock, realize the cutting of fruit stem. The rotation of external gear 13 is realized by connecting it with second slide block 15 by second stay wire 16, certainly, second stay wire 16 extends upwards by second slide block 15 place, passes first slide block 6, extension spring always. 12. The pull rod 9, the first compression spring 19, and the baffle 18 are connected to the external gear 13 through a plurality of rollers arranged inside the manipulator 2. The second pull wire 16 is parallel to the first pull wire 11 and does not interfere with each other. Moreover, the second pull wire 16 and the first pull wire 11 are always in a straight state.

In order to ensure the effect of cutting, the two blades 4 can be set in the form of dislocation up and down when they are stretched out, even when the two blades 4 are fully stretched out, they can overlap each other, so as to ensure that the fruit stems are completely cut off. After the cutting is completed, in order to realize the reset of the blade 4 and facilitate the taking out of the fruit, a torsion spring is also arranged on the external gear 13, and a second stage clip 20 is also arranged on the lower surface of the second slide block 15 simultaneously. When it disappears, under the action of the torsion spring and the second compression spring 20, the blade 4 can be quickly retracted into the manipulator 2 to complete the reset.

After the cutting action is completed, the fruit needs to be taken out from the accommodating cavity 3, as shown in Figures 1 and 5, for this reason, this embodiment sets the operating rod 1 as being composed of an upper operating rod 21 and a lower operating rod 22 through a hinge 23 In the structural form of connection, the operating rod 1 can be bent around the hinge 23. When the cutting action is completed, the fruit will completely fall into the accommodation chamber 3. At this time, under the action of the fruit's own gravity, the upward operation The rod 21 will be bent at a certain angle (as shown in Figure 5). At this time, the force applied by the worker to the handle 5 disappears, the cutting mechanism and the clamping mechanism have been reset, the manipulator 2 has been fully opened, and the fruit is under the action of its own gravity. It will fall naturally. For this reason, the below of hinge 23 is also provided with collecting bag 24, and fruit thing free fall falls in collecting bag 24. In addition, as shown in Figure 4, a guide rail 25 is also provided on the lower operating rod 22, and a third slide block 26 is reciprocally slid on the guide rail 25, and the collection bag 24 is fixed on the third slide block 26. A third compression spring 27 is connected to the lower surface of the slider 26 . After the fruit fell into the collection bag 24, the gravity of the collection bag 24 increased, and the collection bag 24 and the third slide block 26 moved downwards simultaneously, compressing the third stage clip 27. When the collection bag 24 moved to the lowest position, the workman took out the fruit from the collection bag 24, and the gravity of the collection bag 24 reduced again. Under the effect of the third stage clip 27, the collection bag 24 and the third slide block 26 rose to The initial position is ready for the next fruit drop.

In order to ensure the stability when the third slider 26 moves, eight evenly distributed rollers 29 are arranged on the third slider 26 in this embodiment, and these rollers 29 are in contact with the guide rails 25, ensuring that the third slider 26 is capable of a steady descent and ascent.

Finally, in order to further ensure that the skin of the fruit is not damaged, elastic pads 28 are provided on the inner surfaces of the manipulator 2 and the collection bag 24 in this embodiment.

The following is a detailed description of the action process of the apple picking manipulator:

First, each component is in the initial state, including, the baffle plate 18 and the pull rod 9 are in the highest position, the two manipulators 2 are in a fully opened state, the two blades 4 are completely hidden inside the manipulator 2, and the collection bag 24 is in the highest position. The stage clip 19 is in the longest state, the second stage clip 20 is in the longest state, the third stage clip 27 is in the longest state, and the upper operating rod 21 and the lower operating rod 22 are in a parallel state;

The worker moves the operating rod so that the fruit to be picked is located between the two manipulators 2, presses the handle 5, the handle 5 drives the first slider 6 to move downward through the first connecting rod 7, and the first slider 6 passes through the first pull wire 11 drives the baffle plate 18 and the pull rod 9 to move downward. Since the elastic coefficient of the extension spring 12 is greater than that of the first compression spring 19, the extension spring 12 will not be deformed at this time, and the first compression spring 19 will be Compression, the two manipulators 2 start to close together until the baffle 18 touches the bump 17, and the two manipulators 2 are completely closed to complete the clamping of the fruit;

The workman continues to press down the handle 5, and the first slide block 6 continues to move downwards. At this time, the extension spring 12 is stretched, and the first slide block 6 presses down the second slide block 15 after touching the second slide block 15. The slider 15 drives the external gear 13 to rotate through the second backguy 16, the external gear 13 drives the internal gear 14 to generate a displacement, and the blade 4 stretches out to complete the cutting of the fruit stem;

The worker releases the handle 5, and under the elastic force of each spring, the first slider 6 and the second slider 15 rise, and the blade 4 first resets under the force of the torsion spring, and is completely embedded in the inside of the manipulator 2, and then the first Compression spring 19 pushes up baffle plate 18 and pull rod 9, and the two manipulators 2 are opened;

Because the fruit is in a free state in the manipulator 2, under the action of its own gravity, the upper operating rod 21 will bend at a certain angle (state as shown in Figure 5), and the fruit will freely fall into the collection bag 24, and under the action of gravity, it will be collected The bag 24 descends and compresses the third compression spring 27. When the collection bag 24 reaches the lowest position, the worker takes out the fruit in it, and the third compression spring 27 resets the collection bag 24;

So far, complete a complete picking process.

The apple picking manipulator of the invention is simple in structure, easy to use, high in picking efficiency, can greatly reduce the labor intensity of workers, does not cause damage to fruits, and has good practicability.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (10)

1. Apple picking manipulator, it is characterized in that: comprise operating rod, the bottom of described operating rod is provided with the first slide block that is positioned at its interior, described first slide block moves back and forth linearly along the length direction of operating rod; The upper end of the operating rod is provided with a clamping mechanism, including two symmetrical manipulators, the two manipulators are hingedly connected with the operating rod, and an accommodating chamber for clamping the fruit is formed between the two manipulators; The upper end of the operating rod is also provided with a pull rod inside it, and the extending direction of the pulling rod is the same as that of the operating rod. The upper end of the pulling rod is respectively hingedly connected with two manipulators through two second connecting rods. The slider and the pull rod are connected through the first pull wire, and the first slider realizes the clamping action of the two manipulators through the first pull wire, the pull rod, and the second connecting rod; A cutting mechanism is also provided in the manipulator, and the action of the cutting mechanism is located after the action of the clamping mechanism is completed. 2. The apple-picking manipulator according to claim 1, wherein a hollow cavity is provided at the top of the operating rod, and a protrusion protruding inward is provided on the inner wall of the hollow cavity, and above the protrusion There is a baffle fixed integrally with the pull rod, and the protrusion acts as a limit to the baffle; A first compression spring is connected to the lower surface of the baffle plate, a tension spring is arranged on the first pull wire, and the elastic coefficient of the tension spring is greater than that of the first compression spring; A second slider for controlling the action of the cutting mechanism is provided below the first slider, and the contact between the baffle and the protrusion is located before the contact between the first slider and the second slider. 3. apple picking manipulator as claimed in claim 2, is characterized in that: described cutting mechanism comprises the blade that embeds in described manipulator, is all provided with external gear in two described manipulators, and described external gear and second The sliders are connected by a second pull wire, and the second slider drives the external gear to rotate through the second pull wire; The manipulator is also provided with a section of internal gear that meshes with the external gear, the blade is fixed on the internal gear, and the external gear drives the internal gear to move to realize the extension of the two blades for cutting off the fruit. fruit stem. 4. The apple picking manipulator according to claim 3, characterized in that: when the two blades protrude, they are arranged in a dislocation up and down. 5. The apple picking manipulator according to claim 3 or 4, wherein a torsion spring for reset is provided on the external gear, and a second pressure spring is connected to the lower surface of the second slider. 6. The apple picking manipulator according to claim 1, characterized in that: a handle is hinged on the outer surface of the lower end of the operating rod, and the handle is hingedly connected to the first slider through a first connecting rod. 7. The apple picking manipulator according to claim 1, wherein the operating rod is composed of an upper operating rod and a lower operating rod connected by a hinge, and the operating rod can be bent centered on the hinge; A collection bag reciprocatingly sliding along the lower operating rod is also provided below the hinge. 8. The apple picking manipulator as claimed in claim 7, characterized in that: said lower operating rod is provided with a guide rail on which a third slide block reciprocatingly slides, and said collection bag is fixed on the third slide block , a third compression spring is connected to the lower surface of the third slider. 9. The apple picking manipulator according to claim 8, wherein eight rollers are evenly distributed on the third slider, and all the rollers are in contact with the guide rail. 10. The apple picking manipulator according to claim 7, characterized in that: elastic pads are provided on the inner surfaces of the manipulator and the collecting bag.