CN108124594B - Replaceable fruit picking head - Google Patents
Replaceable fruit picking head Download PDFInfo
- Publication number
- CN108124594B CN108124594B CN201810183340.0A CN201810183340A CN108124594B CN 108124594 B CN108124594 B CN 108124594B CN 201810183340 A CN201810183340 A CN 201810183340A CN 108124594 B CN108124594 B CN 108124594B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- sliding block
- motion control
- control disk
- fruit
- 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.)
- Active
Links
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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a kind of replaceable fruit picking heads, including chassis, motion control disk and three movement mechanisms being connected with motion control disk, each movement mechanism includes connecting rod, bracket and the sliding block for being mounted on cradle top, bracket passes through on support column distributing installation chassis triangular in shape, mid-stent and top are respectively equipped with arc-shaped rail slot and horizontal rail slot, the midpoint of connecting rod is mounted in arc-shaped rail slot by first axle, the bottom and top of connecting rod are hinged and connected with motion control disk and sliding block respectively, sliding block is mounted in the horizontal rail slot of cradle top, sliding block is equipped with carpopodium disconnecting device for fruit-picking and replaceable, motion control disk is driven to move up and down by driving mechanism, to be moved along a straight line by connecting rod band movable slider in horizontal rail slot, sliding block drives carpopodium disconnecting device to cut off carpopodium, it completes Fruit picking.The present invention can be suitable for various fruits picking by replacing picking head, high-efficient, low in cost.
Description
Technical field
The invention belongs to picking fruit apparatus fields, are related to a kind of picking fruit equipment, and in particular to a kind of replaceable water
Fruit picking head.
Background technique
Different fruits is since its carpopodium characteristic is different, and the picker needed is also different, such as transparent apple carpopodium base
Easily broken absciss layer is formd between portion and fruit, fruit is slightly such as rotated or raised by some external force and will fallen off, and crawl side is suitble to
Formula picking；Orange is easily damaged when rotating picking, and its carpopodium is harder, is suitble to cut mode picking.Bar class on the market at present
Picker is mainly crawl type and both carpopodiums type that fractures, and the two type cannot be general, is needed for different types of fruit
It is equipped with multiple pickers.It is not only with high costs, but also using trouble.
Summary of the invention
It is an object of the invention to by crawl type and fracture carpopodium the characteristics of combine, devise a replaceable picking
Head, orchard worker need to pluck apple, and when this kind of fruit of pears uses crawl picking head；Need to pluck orange, when this kind of fruit of orange, which is changed to, cuts
Cut picking head.The demand of more users is met in this way, and transformation operation mode is convenient.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that:
A kind of replaceable fruit picking head, it is characterised in that: be connected including chassis, motion control disk and with motion control disk
Three movement mechanisms, each movement mechanism includes connecting rod, bracket and the sliding block for being mounted on cradle top, and the bracket passes through
On support column installation chassis, the distribution triangular in shape on chassis of three brackets, mid-stent and top are respectively equipped with arc-shaped rail
The midpoint of road slot and horizontal rail slot, the connecting rod is equipped with first axle, and the hinge axis of first axle is mounted on arc-shaped rail
In road slot, the bottom of connecting rod is hinged and connected with motion control disk by second hinge, and the top of connecting rod and sliding block are cut with scissors by third
Chain is hinged and connected, and sliding block is mounted in the horizontal rail slot of cradle top, and the arc diameter of arc-shaped rail slot is equal to connecting rod
Length, sliding block are equipped with carpopodium disconnecting device for fruit-picking and replaceable, and the carpopodium disconnecting device is inside pawl
Son or cutter cutting mechanism, the cutter cutting mechanism includes into two serrated blades that angle is mounted on sliding block, adjacent
Serrated blade on two sliding blocks overlaps to form sliding pair, forms scissor construction；Where the arc-shaped rail slot
Rotation center the right angle three using connecting rod as bevel edge is constituted together with the second hinge of third hinge, connecting rod bottom at the top of connecting rod
It is angular, and the rotation center where arc-shaped rail slot is located at the top of bevel edge；It is driven on motion control disk by driving mechanism
Lower movement, to be moved along a straight line by connecting rod band movable slider in horizontal rail slot, sliding block drives carpopodium disconnecting device to cut off carpopodium,
Complete fruit picking.
As an improvement, the motion control disk surrounding is mounted on the support columns by guide sleeve, by support column to fortune
Dynamic control panel, which moves up and down, to be oriented to.
As an improvement, the motion control disk is equipped with pull rod, the pull rod passes freely through downwards the hole set on chassis, leads to
Crossing pull rod pulls realization motion control disk to move up and down.
As an improvement, being equipped with fruit collection port, the fruit collection port lower accepting water fruit collection channel at the chassis edge
Or fruit collecting bag.
As an improvement, sliding pair specific structure are as follows: it is equipped with a strip sliding slot in the middle part of each serrated blade, adjacent two
The strip sliding slot of serrated blade on a sliding block, which is overlapped and passes through lock limiting rivet, to be connected.
As an improvement, the support column of each movement mechanism is double support columns group, connecting rod is double link group.
The medicine have the advantages that
Picking head of the invention uses the picking claw and shear knife of Atria vertex arrangement, the work unit of three positions
(claw or blade) is centripetal simultaneously to translate the picking that can complete the picking or shear mode of grasp mode.Basis is only needed when use
Corresponding types of fruits changes claw or shear knife, and work unit's motion conditions of both of which are identical to be but able to achieve different operating
The work purpose of mode.User can select corresponding picking head according to demand, expand the scope of application of picker, be user
It is convenient to provide.
Detailed description of the invention
Fig. 1 is structure of the invention principle sketch.
Fig. 2 is that the present invention removes carpopodium disconnecting device schematic diagram.
Fig. 3 is single movement mechanism schematic diagram.
Fig. 4 is the sub- schematic diagram of sliding block upper mounting jaw.
Fig. 5 is that serrated blade schematic diagram is installed on sliding block.
Fig. 6 is that the serrated blade on three sliding blocks forms triangular structure schematic diagram.
1- connecting rod, 2- crank, 3- sliding block, 4- first axle, 5- second hinge, 6- third hinge, the 4th hinge of 7-, 8- circle
Arc track slot, 9- bracket, 10- support column, the chassis 11-, 12- motion control disk, 13- horizontal rail slot, 14- claw, 15- saw
Toothed blade, 16- limiting rivet, 17- serrated knife, 18- pull rod, 19- guide sleeve, 20- fruit collection port.
Specific embodiment
The present invention is illustrated with reference to the accompanying drawing.
As shown, seeing figure for structure of the invention principle, in figure, each movement mechanism is by connecting rod 1, crank 2 and sliding block 3
It forms, is first axle 4 at 1 center of connecting rod, the hinge axis of first axle 4 is connected with 2 lower end of crank, and 1 lower end of connecting rod is second
Hinge 5, second hinge 5 are connected with motion control disk 12, are third hinge 6 at the top of connecting rod 1, and third hinge 6 is connected with sliding block 3,
2 upper end of crank is fixed by the 4th hinge 7, and pull rod 18 is connected with motion control disk 12, second hinge 5, third hinge 6 and the 4th
Hinge 7 forms a triangular structure of right angle, and first axle 4 is located at the bevel edge midpoint of right angled triangle, in this way when pull rod 18 is drawn
When dynamic motion control disk 12 moves downward, third hinge 6(, that is, sliding block 3) it is drawn close to the 4th hinge 7, it moves horizontally, and crank 2
It is then moved in a circle with the 4th hinge 7 for midpoint, therefore considered when present invention design, crank 2 and 7 function of the 4th hinge are simplified
For the arc-shaped rail slot 8 for limiting 4 running track of first axle, specific embodiment is as follows:
A kind of replaceable fruit picking head, including chassis 11, motion control disk 12 and be connected with motion control disk 12 three
A movement mechanism, each movement mechanism include connecting rod 1, bracket 9 and the sliding block 3 for being mounted on 9 top of bracket, and the bracket 9 is logical
It crosses on 10 installation chassis 11 of support column, the distribution triangular in shape on chassis 11 of three brackets 9,12 surrounding of motion control disk is logical
It crosses guide sleeve 19 to be mounted on support column 10, is moved up and down and be oriented to motion control disk 12 by support column 10；9 middle part of bracket
Arc-shaped rail slot 8 and horizontal rail slot 13 are respectively equipped with top, the midpoint of the connecting rod 1 is equipped with first axle 4, and first
The hinge axis of hinge 4 is mounted in arc-shaped rail slot 8, and free to slide in arc-shaped rail slot 8, and the bottom of connecting rod 1 is set
Have second hinge 5, second hinge 5 is connected with motion control disk 12, and the top of connecting rod 1 is equipped with third hinge 6, third hinge 6 with
Sliding block 3 is connected, and sliding block 3 is mounted in the horizontal rail slot 13 at 9 top of bracket, and the fortune of sliding block 3 is limited by horizontal rail slot 13
Dynamic direction, i.e., movement in horizontal direction, the arc diameter of arc-shaped rail slot 8 are equal to 1 length of connecting rod, and sliding block 3 is equipped with for adopting
It picks fruit and replaceable carpopodium disconnecting device, drives motion control disk 12 to move up and down by driving mechanism, to pass through company
Bar 1 moves along a straight line with movable slider 3 in horizontal rail slot 13, and sliding block 3 drives carpopodium disconnecting device to cut off carpopodium, completes fruit and adopts
It plucks.
The motion control disk 12 is equipped with pull rod 18, and the pull rod 18 passes freely through the hole set on chassis 11 downwards, leads to
Crossing pull rod 18 pulls realization motion control disk 12 to move up and down.
11 edge of chassis is equipped with fruit collection port 20, the 20 lower accepting water fruit collection channel of fruit collection port or water
Fruit collecting bag.
The carpopodium disconnecting device is inside claw 14.As a kind of more preferably embodiment, the carpopodium disconnecting device
It can be also connected by quick-replaceable connector between sliding block 3, be conveniently replaceable picking head.
The carpopodium disconnecting device can be also cutter cutting mechanism, specifically include into two that angle is mounted on sliding block 3
Serrated blade 15, the serrated blade 15 on two neighboring sliding block 3 overlap to form sliding pair, form scissor construction.
Sliding pair specific structure are as follows: a strip sliding slot, two neighboring sliding block 3 are equipped in the middle part of each serrated blade 15
On serrated blade 15 strip sliding slot be overlapped and pass through lock limiting rivet 16 be connected.
The support column 10 of each movement mechanism is double support columns group, and connecting rod 1 is double link group.
In use, making pull rod 18 toward drop-down by manual-operating mechanism or motor-operating mechanism, pull rod 18 drives movement
Control panel 12 moves downward, and motion control disk 12 drives the first axle 4 of each movement mechanism sliding in arc-shaped rail slot 8
It is dynamic, so that sliding block 3 drives carpopodium disconnecting device to cut off carpopodium by connecting rod 1 with moving in 3 horizontal direction of movable slider, complete fruit
The fruit of picking, picking falls into fruit collection channel or fruit collecting bag by the fruit collection port 20 on chassis 11, is collected
Get up；When carpopodium is softer easily broken (such as apple), it can be the straight pawl of strip that carpopodium disconnecting device, which uses 14 structure of claw,
Son, or arc claw first passes through operating stick and drive claw 14 by fruit packet when the hand-held operating stick with the device
It encloses, then makes pull rod 18 toward drop-down by manual-operating mechanism or motor-operating mechanism, connecting rod 1 drives claw 14 inwardly to receive
Hold together, external force is then applied by operating stick, such as rotates or raises, carpopodium stress is broken, and the fruit fallen falls into fruit receipts
It is collected in collection mouth 20；When fruit-picking carpopodium is not harder easily broken (such as orange, orange etc.), carpopodium disconnecting device is cutter
Cutting mechanism drives serrated blade 15 to surround fruit, while making carpopodium by operating stick in use, first passing through operating stick
Then serrated blade 15 close to certain side makes the past drop-down of pull rod 18 by manual-operating mechanism or motor-operating mechanism,
Connecting rod 1 is inwardly collapsed with movable slider 3, and opposite variation (specially reducing at similar triangles), carpopodium occur for position between sliding block 3
Closer to serrated blade 15, relative motion just occurs for serrated blade 15 in such adjacent sliders 3, serrated blade 15
Crisscross motion occurs for serrated knife 17, carpopodium is cut off, the fruit fallen falls into fruit collection port 20 and is collected.
Claims (6)
1. a kind of replaceable fruit picking head, it is characterised in that: be connected including chassis, motion control disk and with motion control disk
Three movement mechanisms, each movement mechanism include connecting rod, bracket and the sliding block for being mounted on cradle top, and the bracket passes through branch
On dagger installation chassis, the distribution triangular in shape on chassis of three brackets, mid-stent and top are respectively equipped with arc-shaped rail
The midpoint of slot and horizontal rail slot, the connecting rod is equipped with first axle, and the hinge axis of first axle is mounted on arc-shaped rail
In slot, the bottom of connecting rod is hinged and connected with motion control disk by second hinge, and the top of connecting rod and sliding block pass through third hinge
It is hinged and connected, sliding block is mounted in the horizontal rail slot of cradle top, and the arc diameter of arc-shaped rail slot is equal to length of connecting rod
Degree, sliding block are equipped with carpopodium disconnecting device for fruit-picking and replaceable, and the carpopodium disconnecting device is inside claw
Or cutter cutting mechanism, the cutter cutting mechanism include into two serrated blades that angle is mounted on sliding block, adjacent two
Serrated blade on a sliding block overlaps to form sliding pair, forms scissor construction；Where the arc-shaped rail slot
Rotation center constitutes the right angle trigonometry using connecting rod as bevel edge together with the second hinge of third hinge, connecting rod bottom at the top of connecting rod
Shape, and the rotation center where arc-shaped rail slot is located at the top of bevel edge；Motion control disk or more is driven by driving mechanism
Movement, to be moved along a straight line by connecting rod band movable slider in horizontal rail slot, sliding block drives carpopodium disconnecting device to cut off carpopodium, complete
At fruit picking.
2. replaceable fruit picking head as described in claim 1, it is characterised in that: the motion control disk surrounding passes through guiding
Set is mounted on the support columns, is moved up and down and is oriented to motion control disk by support column.
3. replaceable fruit picking head as described in claim 1, it is characterised in that: the motion control disk is equipped with pull rod, institute
It states pull rod and passes freely through hole set on chassis downwards, pass through pull rod and pull and realize that motion control disk moves up and down.
4. the replaceable fruit picking head as described in claims 1 to 3 any one, it is characterised in that: at the chassis edge
Equipped with fruit collection port, the fruit collection port lower accepting water fruit collection channel or fruit collecting bag.
5. replaceable fruit picking head as claimed in claim 4, it is characterised in that: sliding pair specific structure are as follows: each sawtooth
A strip sliding slot is equipped in the middle part of shape blade, the strip sliding slot of the serrated blade on two neighboring sliding block is overlapped and passes through
Limiting rivet is locked to be connected.
6. replaceable fruit picking head as described in claim 1, it is characterised in that: the support column of each movement mechanism is double branch
Dagger group, connecting rod are double link group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810183340.0A CN108124594B (en) | 2018-03-06 | 2018-03-06 | Replaceable fruit picking head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810183340.0A CN108124594B (en) | 2018-03-06 | 2018-03-06 | Replaceable fruit picking head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108124594A CN108124594A (en) | 2018-06-08 |
| CN108124594B true CN108124594B (en) | 2019-08-02 |
Family
ID=62431386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810183340.0A Active CN108124594B (en) | 2018-03-06 | 2018-03-06 | Replaceable fruit picking head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108124594B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108668627B (en) * | 2018-07-03 | 2023-09-12 | 西安思源学院 | Apple classification picking device capable of changing picking modes |
| CN108811738B (en) * | 2018-07-27 | 2023-05-26 | 浙江机电职业技术学院 | Adjustable apple auxiliary picking device |
| CN109757215B (en) * | 2019-02-25 | 2020-05-12 | 武汉理工大学 | Flexible claw suitable for high-altitude fruit picking rod |
| CN111052940B (en) * | 2019-12-29 | 2021-03-26 | 大国重器自动化设备(山东)股份有限公司 | Picking method of fruit picking robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104380917A (en) * | 2014-09-24 | 2015-03-04 | 方孙典 | Oblique-axis horizontal-axis-knife automatic cutting-pulling harvester for fruits on high branches |
| CN107094430A (en) * | 2017-06-09 | 2017-08-29 | 常州工学院 | A kind of eminence fruit aids in device for picking |
| CN206791022U (en) * | 2017-05-26 | 2017-12-26 | 衢州学院 | A kind of novel fruit picking device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8793883B1 (en) * | 2013-03-15 | 2014-08-05 | Galliot, LLC | Clipper |
-
2018
- 2018-03-06 CN CN201810183340.0A patent/CN108124594B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104380917A (en) * | 2014-09-24 | 2015-03-04 | 方孙典 | Oblique-axis horizontal-axis-knife automatic cutting-pulling harvester for fruits on high branches |
| CN206791022U (en) * | 2017-05-26 | 2017-12-26 | 衢州学院 | A kind of novel fruit picking device |
| CN107094430A (en) * | 2017-06-09 | 2017-08-29 | 常州工学院 | A kind of eminence fruit aids in device for picking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108124594A (en) | 2018-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108124594B (en) | Replaceable fruit picking head | |
| CN106613394A (en) | Angle-adjustable pruning and picking device | |
| CN108419520A (en) | A kind of efficient fruits picking end effector, device for picking fruit and picking vehicle | |
| CN105850365A (en) | Short-handled fruit picker | |
| CN110972708B (en) | Fruit picking rod | |
| CN103746318A (en) | Line patrol operation obstacle removing device | |
| CN104429356A (en) | Fruit picker | |
| CN208273619U (en) | A kind of efficient fruits picking end effector, device for picking fruit and picking vehicle | |
| CN109348844A (en) | Walking fruit picks collecting robot people automatically | |
| CN201860588U (en) | Fruit and vegetable picking device | |
| CN108633481B (en) | Backpack fruit collection device | |
| CN106612951B (en) | Cutter and fruit sampling instrument | |
| CN105850364A (en) | Portable electric fruit picking device | |
| CN109091203B (en) | Surrounding adhesive type tumor resection scissors | |
| CN208001542U (en) | A kind of shearing fruit picking apparatus of six-bar linkage | |
| CN207911388U (en) | A kind of broach lichee device for picking of interior axis cam rotary drive | |
| CN207340541U (en) | A kind of cherry picking device | |
| CN209449248U (en) | One kind hooking up conveying type fruit picking apparatus | |
| CN109348843A (en) | A kind of electronic picking fruit head | |
| CN110214549B (en) | Portable picking device | |
| CN107959259A (en) | A kind of earth potential live operation abnormity insulation conductor cutter | |
| CN210406247U (en) | Portable picking device | |
| CN111096156A (en) | Driving mechanism | |
| CN208210786U (en) | A kind of fruit and vegetable picking machinery hand | |
| CN208143862U (en) | A kind of mechanical device of indirect labor's fruit-picking |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230202 Address after: 312399 5th floor, A1 / F, Zhejiang University network new science and Technology Park, 2288 Jiangxi Road, Cao'e street, Shangyu District, Shaoxing City, Zhejiang Province Patentee after: Institute of advanced research Wuhan University of technology Shangyu District Shaoxing City Address before: 430070 Hubei Province, Wuhan city Hongshan District Luoshi Road No. 122 Patentee before: WUHAN University OF TECHNOLOGY |