CN107950200A - A kind of picking fruit mechanical clamping device - Google Patents
A kind of picking fruit mechanical clamping device Download PDFInfo
- Publication number
- CN107950200A CN107950200A CN201711210919.3A CN201711210919A CN107950200A CN 107950200 A CN107950200 A CN 107950200A CN 201711210919 A CN201711210919 A CN 201711210919A CN 107950200 A CN107950200 A CN 107950200A
- Authority
- CN
- China
- Prior art keywords
- rotating cylinder
- turntable
- fruit
- mounting bracket
- support plate
- 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
- A01D46/30—Robotic devices for individually picking crops
Abstract
The invention discloses a kind of picking fruit mechanical clamping device, including mounting bracket；Rotating cylinder is equipped with above the mounting bracket, is equipped with turntable in rotating cylinder, disk upper surface offers the arc groove being circumferentially distributed；The arc groove, which embeds, is cased with mobile column；Support plate is fixedly connected with the top of the mobile column, support plate is rotatably connected to rotation pipe, sucker is communicated with the inside of rotation pipe.The present invention passes through equipped with by equipped with sucker and aspiration pump, carrying out absorption fixation to fruit, compared to mechanical grip, the damage smaller to fruit, improves the aesthetics for picking fruit；The present invention is equipped with turntable and rotating cylinder, and turntable is equipped with arc groove, and rotating cylinder is equipped with bar shaped groove so that mobile column drives sucker to clamp fruit, has well adapting to property, and clamping is efficient；The present invention is equipped with rotary electric machine, drives mounting bracket to rotate, so that fruit departs from carpopodium, easy to pick, avoids processing of the later stage to carpopodium, improves the efficiency of picking.
Description
Technical field
The present invention relates to agriculture picking field, is specifically a kind of picking fruit mechanical clamping device.
Background technology
The process picked to the fruit for reaching maturity.It is the link that recruitment is more in production of fruit trees.In time
Harvested with rational, to the fruit yield with the coming year, quality, and storing processing and the market supply relation pole of fruit then
Greatly.
The mechanical grip pawl that traditional picking fruit device uses, is raised to eminence by gripper jaw by lifting gear, passes through
Mechanical actuation device so that gripper closes, and fruit is fixed, the clipping apparatus set after allowing by upper surface, by fruit
Stalk is cut, and is picked, this Softening, easily so that gripper jaw causes to damage to pericarp surface, influences the condition of fruit,
Economic loss is caused, in addition directly cuts carpopodium, be easy to cause the residual of carpopodium, the later stage also needs to be handled.
The content of the invention
It is an object of the invention to provide a kind of picking fruit mechanical clamping device, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides following technical solution：
A kind of picking fruit mechanical clamping device, including mounting bracket, servomotor, sucker and aspiration pump；On the mounting bracket
Side is equipped with rotating cylinder, and rotary cylinder bottom is rotatablely connected by the first ball set and mounting bracket upper surface；Rotating cylinder lower surface center
Position is fixedly connected with rotation axis, and rotation axis is connected with rotary electric machine；Be equipped with turntable in the rotating cylinder, turntable by bearing holder (housing, cover) and
Rotating cylinder inwall is rotatablely connected；Annular backup pad is equipped with below the turntable, annular backup pad is fixedly connected with rotating cylinder inner bottom plating, is turned
Tray bottom is rotatablely connected by the second ball set and annular backup pad；Rack ring is fixedly connected with the turntable bottom margin,
Rack ring inner wall is equipped with latch, and rack ring is ratcheting gear, and gear is connected with servomotor by drive shaft；The turntable upper table
Face offers the arc groove being circumferentially distributed；The arc groove, which embeds, is cased with mobile column, and mobile column is slidably connected with arc groove；Institute
State mobile column to extend to above rotating cylinder, rotating cylinder is equipped with the bar-shaped trough being circumferentially distributed；Branch is fixedly connected with the top of the mobile column
Fagging, support plate are U-shaped；The support plate is rotatably connected to rotation pipe, rotates pipe outer wall and is fixedly connected with fixed column, fixed column
Extend on the outside of support plate, support plate offers half slot, and half slot is the straight slot of arc；Suction is communicated with the inside of the rotation pipe
Disk, rotation pipe right side are communicated with aspiration pump by exhaust tube.
As the further scheme of the present invention：The mounting bracket is equipped with bolt mounting holes, what mounting bracket was bolted
Mode is fixedly connected with exterior lifting gear.
As the further scheme of the present invention：The rotating cylinder hollow-core construction, in rotating cylinder upper surface center and turntable
Heart position offers through hole.
As the further scheme of the present invention：The arc groove is the arc chute of opening upwards.
As the further scheme of the present invention：The bar-shaped trough is the straight slot of bar shaped.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention by equipped with by equipped with sucker and aspiration pump,
Absorption fixation is carried out to fruit, compared to mechanical grip, the damage smaller to fruit, improves the aesthetics for picking fruit；The present invention
Equipped with turntable and rotating cylinder, turntable is equipped with arc groove, and rotating cylinder is equipped with bar shaped groove so that mobile column drive sucker to fruit into
Row clamping, has well adapting to property, and clamping is efficient；The present invention is equipped with rotary electric machine, drives mounting bracket to rotate, so that
Fruit departs from carpopodium, easy to pick, avoids processing of the later stage to carpopodium, improves the efficiency of picking.
Brief description of the drawings
Fig. 1 is picking fruit mechanical clamping device sectional view；
Fig. 2 is the top view of rotating cylinder in picking fruit mechanical clamping device；
Fig. 3 is the top view of picking fruit mechanical clamping device turntable；
Fig. 4 is the structure diagram of support plate in picking fruit mechanical clamping device.
In figure：1- mounting brackets；2- rotating cylinders；The first ball sets of 3-；4- rotation axis；5- rotary electric machines；6- bolt mounting holes；7-
Turntable；8- bearing holder (housing, cover)s；9- through holes；The second ball sets of 10-；11- annular backup pads；12- rack rings；13- gears；14- servos electricity
Machine；15- arc grooves；16- mobile columns；17- bar-shaped troughs；18- support plates；19- rotation pipes；20- suckers；21- half slots；22- consolidates
Fixed column；23- exhaust tubes；24- aspiration pumps.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Please refer to Fig.1~4, in the embodiment of the present invention, a kind of picking fruit mechanical clamping device, including mounting bracket 1, watch
Take motor 14, sucker 20 and aspiration pump 24；The top of mounting bracket 1 is equipped with rotating cylinder 2, and 2 bottom of rotary cylinder passes through the first ball set 3
It is rotatablely connected with 1 upper surface of mounting bracket；The 2 lower surface center of rotating cylinder is fixedly connected with rotation axis 4, and rotation axis 4 connects
There is rotary electric machine 5, rotary electric machine 5 is fixedly connected by bolt with mounting bracket 1, and rotary electric machine 5 is electrically connected with external power supply, is turned
Dynamic motor 5 drives rotating cylinder 2 to rotate by rotation axis 4；The mounting bracket 1 is equipped with bolt mounting holes 6, and mounting bracket 1 is consolidated by bolt
Fixed mode is fixedly connected with exterior lifting gear；2 hollow-core construction of rotating cylinder, rotating cylinder 2 is interior to be equipped with turntable 7, and turntable 7 passes through axis
Bearing sleeve 8 is rotatablely connected with 2 inner wall of rotating cylinder；The lower section of the turntable 7 is equipped with annular backup pad 10, in annular backup pad 10 and rotating cylinder 2
Bottom plate is fixedly connected, and 7 bottom of turntable is rotatablely connected by the second ball set 11 with annular backup pad 10；7 bottom sides of turntable
Rack ring 12 is fixedly connected with edge, 12 inner wall of rack ring is equipped with latch, and rack ring 12 is ratcheting gear 13, and gear 13 passes through drive
Moving axis is connected with servomotor 14, and servomotor 14 is fixedly connected by bolt with 2 inner bottom plating of rotating cylinder, servomotor 14 and outside
Power supply is electrically connected, and servomotor 14 drives turntable 7 to rotate by drive shaft and rack ring 12；7 upper surface of turntable opens up
There is the arc groove 15 being circumferentially distributed, arc groove 15 is the arc chute of opening upwards；The arc groove 15 is embedded to be cased with moving
Column 16, mobile column 16 are slidably connected with arc groove 15, and mobile column 16 is slided in arc groove 15；The mobile column 16, which extends to, to be turned
The top of cylinder 2, rotating cylinder 2 are equipped with the bar-shaped trough 17 being circumferentially distributed, and bar-shaped trough 17 is the straight slot of bar shaped, mobile column 16 and bar-shaped trough 17
It is slidably connected；The top of mobile column 16 is fixedly connected with support plate 18, and support plate 18 is U-shaped；The support plate 18, which rotates, to be connected
Rotation pipe 19 is connected to, 19 outer wall of rotation pipe is fixedly connected with fixed column 22, and fixed column 22 extends to the outside of support plate 18, support plate
18 offer half slot 21, and half slot 21 is the straight slot of arc；Fixed column 22 is slided in half slot 21 so that rotation pipe 19 has
There is certain slewing area；The inner side of rotation pipe 19 is communicated with sucker 20, and sucker 20 carries out absorption fixation to fruit；Described turn
The dynamic right side of pipe 19 is communicated with aspiration pump 24 by exhaust tube 23, and aspiration pump 24 is fixedly connected by bolt with the bottom plate in rotating cylinder 2,
Aspiration pump 24 is electrically connected with external power supply；The 2 upper surface center of rotating cylinder and the center of turntable 7 offer through hole
9, exhaust tube 23 passes through through hole 9.
The present invention operation principle be：By bolt hole 6 by 1 lifting device mounted externally of mounting bracket, pass through outside
Sucker 20, is raised to the outside of fruit by lifting device, starts servomotor 14, servomotor 14 is by driving shaft driven gear
13 rotate, and gear 13 drives turntable 7 to rotate by rack ring 12, so that mobile column 16 is moved along arc groove 15, in bar
Under the cooperation of shape groove 17 and arc groove 15, the center of mobile column 16 to rotating cylinder 2 moves horizontally, and then passes through 18 band of support plate
Dynamic sucker 20 is moved to fruit so that sucker 20 is bonded with fruit surface, closes servomotor 14, wherein rotation pipe 19 and support
Plate 18 is hinged so that sucker 20 can be preferably bonded with fruit surface；Start aspiration pump 24, aspiration pump 24 passes through exhaust tube 23
The empty intracavity gas that sucker 20 and fruit surface are formed are extracted out so that sucker 20 carries out fruit absorption fixation, starts and rotates
Motor 5, rotary electric machine 5 drive rotating cylinder 2 to rotate by rotation axis 4, and then drive fruit to rotate by sucker 20, by picking fruit
Get off, remove fruit stalk, while do not damage fruit.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (4)
1. a kind of picking fruit mechanical clamping device, including mounting bracket（1）, servomotor（14）, sucker（20）And aspiration pump
（24）；It is characterized in that, the mounting bracket（1）Top is equipped with rotating cylinder（2）, rotary cylinder（2）Bottom passes through the first ball set（3）With
Mounting bracket（1）Upper surface is rotatablely connected；The rotating cylinder（2）Lower surface center is fixedly connected with rotation axis（4）, rotation axis
（4）It is connected with rotary electric machine（5）；The rotating cylinder（2）It is interior to be equipped with turntable（7）, turntable（7）Pass through bearing holder (housing, cover)（8）With rotating cylinder（2）It is interior
Wall is rotatablely connected；The turntable（7）Lower section is equipped with annular backup pad（10）, annular backup pad（10）With rotating cylinder（2）Inner bottom plating is consolidated
Fixed connection, turntable（7）Bottom passes through the second ball set（11）With annular backup pad（10）Rotation connection；The turntable（7）Bottom
Edge is fixedly connected with rack ring（12）, rack ring（12）Inner wall is equipped with latch, rack ring（12）It is ratcheting to have gear（13）, tooth
Wheel（13）Servomotor is connected with by drive shaft（14）；The turntable（7）Upper surface offers the arc groove being circumferentially distributed
（15）；The arc groove（15）It is embedded to be cased with mobile column（16）, mobile column（16）With arc groove（15）It is slidably connected；The movement
Column（16）Extend to rotating cylinder（2）Top, rotating cylinder（2）Equipped with the bar-shaped trough being circumferentially distributed（17）；The mobile column（16）Top
It is fixedly connected with support plate（18）, support plate（18）It is U-shaped；The support plate（18）It is rotatably connected to rotation pipe（19）, rotate
Pipe（19）Outer wall is fixedly connected with fixed column（22）, fixed column（22）Extend to support plate（18）Outside, support plate（18）Open up
There is half slot（21）, half slot（21）For the straight slot of arc；The rotation pipe（19）Inner side is communicated with sucker（20）, rotation pipe
（19）Right side passes through exhaust tube（23）It is communicated with aspiration pump（24）, the mounting bracket（1）Equipped with bolt mounting holes（6）, mounting bracket
（1）The mode being bolted is fixedly connected with exterior lifting gear.
A kind of 2. picking fruit mechanical clamping device according to claim 1, it is characterised in that the rotating cylinder（2）It is empty
Core structure, rotating cylinder（2）Upper surface center and turntable（7）Center offer through hole（9）.
A kind of 3. picking fruit mechanical clamping device according to claim 1, it is characterised in that the arc groove（15）
For the arc chute of opening upwards.
A kind of 4. picking fruit mechanical clamping device according to claim 1, it is characterised in that the bar-shaped trough（17）
For the straight slot of bar shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711210919.3A CN107950200A (en) | 2017-11-28 | 2017-11-28 | A kind of picking fruit mechanical clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711210919.3A CN107950200A (en) | 2017-11-28 | 2017-11-28 | A kind of picking fruit mechanical clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107950200A true CN107950200A (en) | 2018-04-24 |
Family
ID=61962227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711210919.3A Pending CN107950200A (en) | 2017-11-28 | 2017-11-28 | A kind of picking fruit mechanical clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107950200A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109168629A (en) * | 2018-08-28 | 2019-01-11 | 黄河科技学院 | The automatic picking method of Tree Fruit |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066022A (en) * | 2007-04-03 | 2007-11-07 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| CN201167486Y (en) * | 2008-01-31 | 2008-12-24 | 华南农业大学 | String-shaped fruits picking mechanical hand |
| CN202050707U (en) * | 2011-04-27 | 2011-11-30 | 南京工程学院 | End effector of globose fruit picking robot |
| CN102428802A (en) * | 2011-09-14 | 2012-05-02 | 西北农林科技大学 | Kiwi picking end effector |
| CN102907213A (en) * | 2012-11-01 | 2013-02-06 | 华南农业大学 | Picking actuating mechanism used at tail end of pineapple picking mechanical arm |
| JP2013202728A (en) * | 2012-03-28 | 2013-10-07 | Hidejiro Otsutake | Harvest hand device |
| CN203369124U (en) * | 2013-07-30 | 2014-01-01 | 西北农林科技大学 | Full-automatic kiwi berry picking end actuator |
| CN204948790U (en) * | 2015-07-10 | 2016-01-13 | 潍坊友容实业有限公司 | Saline and alkaline land is with automatic picking head of seed ball |
| CN207543646U (en) * | 2017-11-28 | 2018-06-29 | 石建瑞 | A kind of picking fruit mechanical clamping device |
-
2017
- 2017-11-28 CN CN201711210919.3A patent/CN107950200A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066022A (en) * | 2007-04-03 | 2007-11-07 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| CN201167486Y (en) * | 2008-01-31 | 2008-12-24 | 华南农业大学 | String-shaped fruits picking mechanical hand |
| CN202050707U (en) * | 2011-04-27 | 2011-11-30 | 南京工程学院 | End effector of globose fruit picking robot |
| CN102428802A (en) * | 2011-09-14 | 2012-05-02 | 西北农林科技大学 | Kiwi picking end effector |
| JP2013202728A (en) * | 2012-03-28 | 2013-10-07 | Hidejiro Otsutake | Harvest hand device |
| CN102907213A (en) * | 2012-11-01 | 2013-02-06 | 华南农业大学 | Picking actuating mechanism used at tail end of pineapple picking mechanical arm |
| CN203369124U (en) * | 2013-07-30 | 2014-01-01 | 西北农林科技大学 | Full-automatic kiwi berry picking end actuator |
| CN204948790U (en) * | 2015-07-10 | 2016-01-13 | 潍坊友容实业有限公司 | Saline and alkaline land is with automatic picking head of seed ball |
| CN207543646U (en) * | 2017-11-28 | 2018-06-29 | 石建瑞 | A kind of picking fruit mechanical clamping device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109168629A (en) * | 2018-08-28 | 2019-01-11 | 黄河科技学院 | The automatic picking method of Tree Fruit |
| CN109168629B (en) * | 2018-08-28 | 2021-05-18 | 黄河科技学院 | Automatic fruit picking method for fruit trees |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180424 |