CN108174690A - A kind of fruit picking apparatus - Google Patents

A kind of fruit picking apparatus Download PDF

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Publication number
CN108174690A
CN108174690A CN201810168775.8A CN201810168775A CN108174690A CN 108174690 A CN108174690 A CN 108174690A CN 201810168775 A CN201810168775 A CN 201810168775A CN 108174690 A CN108174690 A CN 108174690A
Authority
CN
China
Prior art keywords
connector
lug
mounting bracket
fruit picking
gripping pawl
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.)
Granted
Application number
CN201810168775.8A
Other languages
Chinese (zh)
Other versions
CN108174690B (en
Inventor
靳龙
王德艳
刘林聪
刘华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangxi University of Science and Technology
Original Assignee
Guangxi University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangxi University of Science and Technology filed Critical Guangxi University of Science and Technology
Priority to CN201810168775.8A priority Critical patent/CN108174690B/en
Publication of CN108174690A publication Critical patent/CN108174690A/en
Application granted granted Critical
Publication of CN108174690B publication Critical patent/CN108174690B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • H04N7/183Closed circuit television systems, i.e. systems in which the signal is not broadcast for receiving images from a single remote source

Abstract

The invention discloses a kind of fruit picking apparatus, including handle, telescopic rod, picking head, the picking head includes mounting bracket, clamp device, camera, the lower end of the telescopic rod and the upper end of handle connect, upper end is connected by the lower end of connector I and mounting bracket, the upper end installation clamp device and camera of the mounting bracket.The configuration of the present invention is simple, it is easy to operate, it can realize fruits picking mechanical, improve production efficiency, reduce cost.

Description

A kind of fruit picking apparatus
Technical field
The invention belongs to agricultural machinery technological fields, and in particular to a kind of fruit picking apparatus.
Background technology
China be in the world Production of fruit and consumption big country, as the improvement of people's living standards, fruit consumption demand by Year rapid growth, especially in outlying mountain area, application is especially extensive, whenever the fruit mature period, needs a large amount of labours, takes When it is laborious, therefore, be badly in need of a kind of fruit picking apparatus, mitigate the labor intensity of fruit picking worker, improve working efficiency.It is existing Fruit picking apparatus, complicated, build is heavy, of high cost, inconvenient, it is impossible to meet the requirement of people.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of fruit picking apparatus, and it is simple in structure, it is easy to operate, fruit can be mitigated The labor intensity of plucker improves working efficiency, and facilitates and be not easy to the fruit that artificial hand is plucked on picking fruit tree.
In order to achieve the above objectives, the technical scheme is that:
The fruit picking apparatus of the present invention, including handle, telescopic rod, picking head, the picking head includes mounting bracket, gripping dress It puts, camera, the lower end of the telescopic rod and the upper end of handle connect, and upper end is connected by the lower end of connector I and mounting bracket It connects, the upper end installation clamp device and camera of the mounting bracket.
Further, the clamp device includes motor, connector II, gripping pawl, support swing rod;The motor is fixed In mounting bracket, drive screw is installed on the projecting shaft of motor;The connector II is fixedly connected with nut, is led to Cross the upper end that nut is installed on drive screw;Its outer ring of the outer wall upper edge of the mounting bracket is arranged at intervals 3 groups or more of lug I, its outer ring of the outer wall upper edge of the connector II are arranged at intervals 3 groups or more of lug II, the lug I and lug II It puts and corresponds;The lower end of the gripping pawl is installed on by axis pin on lug II, can be rotated around axis pin;The support The lower end of swing rod is installed on by axis pin on lug I, and the upper end of swing rod is supported to grip the lower part of pawl by being installed in axis pin;Institute During each jaws close stated, front end contacts with each other, the spherical structure of whole composition closing.
Further, the lug I, lug II, support swing rod structure be respectively equipped with 4 groups, the gripping pawl is also right 4 should be equipped with, 4 gripping pawls are divided into two groups facing each other, are set on at least one of group of front end of gripping pawl being oppositely arranged There is blade.
Further, limiting device is further included, the limiting device includes limiting plate and self-resetting switch;The limiting Plate is set on mounting bracket, and front end extends to connector II, and positioned at the middle part of connector II, and the front end of limiting plate is equipped with vertically Hook plate, outer wall from the hook plate to connector II extend;The self-resetting switch is mounted on connector II, positioned at limit The inside of position plate can follow connector II to do feed movement, and the contact of self-resetting switch is just corresponding to the inner wall of hook plate;Described Self-resetting switch is electrically connected with motor, when self-resetting switch follows connector II to move upwards contact hook plate, self-resetting switch Contact be squeezed power-off, so as to which motor be controlled to stop operating.
Further, the mounting bracket is equipped with sliding block, and the sliding block is equipped with trip bolt;In the limiting plate Portion and/or lower part are equipped with sliding slot, and limiting plate is assemblied in by sliding slot on sliding block;The trip bolt is used for sliding slot and cunning Block is fixed or is unclamped, and during release, sliding slot can be slided relative to sliding block.
Further, the camera is set on any one gripping pawl the position for leaning on front end, and camera lens is towards the folder Take the front end endpoint of pawl.
Further, rear L-type slot is opened up on the lower end of the connector II;The upper end of the telescopic rod is equipped with external screw thread Section and litter section, the external thread section are located at below litter section, are cased with connector in the litter section, connector being capable of edge The slip of litter section;Fixed column is vertically equipped in the external wall of upper portion of the connector, the fixed column can be packed into L-type slot In, lock sleeve, the upper end of the lock sleeve are installed with thread fitting on the external thread section on the top of the telescopic rod It is contacted with connector.
Further, the upper end of the connector II is equipped with the pallet of opening upwards, and the pallet is located at each gripping Within the structure that pawl surrounds.
Further, control button is further included, the control button is located at the lower end of telescopic rod.
Further, handset mounting is further included, the handset mounting is set on the lower part of telescopic rod, for installing mobile phone.
The course of work of the present invention is as follows:
The present invention first adjusts the length of telescopic rod, and then starting makes the button that the motor in mounting bracket rotates forward, motor driving transmission Screw motion, since nut and connector II connect firmly, so as to which connector II be made to be moved in a straight line relative to mounting bracket;Due to connection The lug II of part II outer surfaces is connect with gripping pawl, so as to open gripping pawl;Since gripping pawl is with supporting swing rod to be connected, so as to Make support swing rod small angle oscillation;When gripping pawl opening, connector II drives self-resetting switch movement, and gripping pawl, which is flared to, to be set When determining angle, the contact on self-resetting switch is contacted with hook plate is squeezed power-off, makes motor prograde circuit breaking, motor stops It rotates forward;The picture for being mounted on the thecamera head at the top of picking head by mobile phone screen observation at this time is accurately positioned, and is started Motor inverts button, motor driving drive screw movement, and nut and connector II do reverse linear movement, and gripping pawl gradually closes It closes, when being closed completely, the blade mounted on gripping pawl apical position cuts off carpopodium, and fruit is fallen into pallet, that is, completes one Secondary picking.
The unique design picking header structure of five-rod of the present invention, by a screw mechanism and a crank block machine Structure is composed, and including drive screw, connector II, gripping pawl, support swing rod, mounting bracket, motor driving screw mechanism moves, Since nut and connector II connect firmly, so as to move in a straight line connector, then the lug II by connector outer surface, it drives With gripping pawl so as to open gripping pawl.Simple in structure so as to form one kind, cut-out is accurate, easy to operate, and can protect for a long time Hold the novel picking header structure of the operation is stable.
The fruit picking apparatus of the present invention, additionally it is possible to directly mobile phone is placed on handset mounting, opens bluetooth connection, that is, observable Scene on to fruit tree simplifies the structure of picking machine;Picking head can be pushed to space by telescopic rod, and position carries out color picture farther out, Reduce picking difficulty;The picking head design of the present invention is unique, scientific and reasonable, securely and reliably, can rapid picking fruit, realize Mechanization improves working efficiency.
Description of the drawings
Fig. 1 is the structure diagram of the present invention;
Fig. 2 is the structure diagram of the picking head of the present invention;
Fig. 3 is the structure diagram of the limiting device of the present invention;
Fig. 4 is the schematic diagram of mechanism movement of the present invention;
Each serial number and title are as follows in figure:
1- handles;2- telescopic rods;3- connectors I;4- mounting brackets;5- cameras;6- connectors II;7- grips pawl;8- support pendulum Bar;9- limiting devices;10- lugs I;11- lugs II;12-L type grooves;13- connectors;14- lock sleeves;15- pallets;16- knives Sword;17- control buttons;18- handset mountings;19- fixed columns;21- limiting plates;22- self-resetting switch;23- hook plates;24- sliding slots; 25- sliding blocks;26- trip bolts.
Specific embodiment
By specific embodiment, the present invention is described in detail below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figs 1-4, fruit picking apparatus of the invention, including handle 1, telescopic rod 2, picking head, the picking head includes Mounting bracket 4, clamp device, camera 5, the lower end of the telescopic rod 2 are connect with the upper end of handle 1, and upper end passes through connector I3 is connect with the lower end of mounting bracket 4, the upper end installation clamp device and camera 5 of the mounting bracket 4.
The clamp device includes motor, connector II 6, gripping pawl 7, support swing rod 8;The motor fixation is set In in mounting bracket 4, drive screw is installed on the projecting shaft of motor;The connector II6 is fixedly connected with nut, is led to Cross the upper end that nut is installed on drive screw;Its outer ring of the outer wall upper edge of the mounting bracket 4 is arranged at intervals 3 groups or more of lug I10, its outer ring of the outer wall upper edge of the connector II6 be arranged at intervals 3 groups or more lug II11, the lug I10 and Lug II11 positions correspond;The lower end of the gripping pawl 7 is installed on by axis pin on lug II11, can be turned around axis pin It is dynamic;The lower end of the support swing rod 8 is installed on by axis pin on lug I10, supports the upper end of swing rod 8 by being installed in axis pin In the lower part of gripping pawl 7;When each gripping pawl 7 closes up, front end contacts with each other, the spherical junctions of whole composition closing Structure.
The lug I10, lug II11, the structure of swing rod 8 is supported to be respectively equipped with 4 groups, the gripping pawl 7 also corresponds to Equipped with 4, it is two groups facing each other that 4 gripping pawls 7, which are divided to, is set on at least one of group of front end of gripping pawl 7 being oppositely arranged There is blade 16.
Limiting device 9 is further included, the limiting device 9 includes limiting plate 21 and self-resetting switch 22;The limiting Plate 21 is set on mounting bracket 4, and front end extends to connector II6, and positioned at the middle part of connector II6, the limiting plate 21 Front end be equipped with vertical hook plate 23, outer wall from the hook plate 23 to connector II6 extend;The self-resetting switch 22 is pacified On connector II6, positioned at the inside of limiting plate 21, connector II6 can be followed to do feed movement, self-resetting switch 22 Contact is just corresponding to the inner wall of hook plate 23;The self-resetting switch 22 is electrically connected with motor, when self-resetting switch 22 follows connection When part II6 moves upwards contact hook plate 23, the contact of self-resetting switch 22 is squeezed power-off, so as to which motor be controlled to stop turning It is dynamic.
The mounting bracket 4 is equipped with sliding block 25, and the sliding block 25 is equipped with trip bolt 26;The limiting plate 21 Middle part and/or lower part are equipped with sliding slot 24, and limiting plate 21 is assemblied in by sliding slot 24 on sliding block 25;The trip bolt 26 is used In fixing or unclamp sliding slot 24 and sliding block 25, during release, sliding slot 24 can be slided relative to sliding block 25.
The camera 5 is set on any one gripping pawl 7 position for leaning on front end, and camera lens is towards the gripping pawl 7 Front end endpoint.
Rear L-type slot 12 is opened up on the lower end of the connector II6;The upper end of the telescopic rod 2 is equipped with external thread section With litter section, the external thread section is located at below litter section, is cased with connector 13 in the litter section, connector 13 can It is slided along litter section;Fixed column 19 is vertically equipped in the external wall of upper portion of the connector 13, the fixed column 19 can It is fitted into L-type slot 12, lock sleeve 14 is installed with thread fitting on the external thread section on the top of the telescopic rod 2, it is described The upper end of lock sleeve 14 contacted with connector 13.
The upper end of the connector II6 is equipped with the pallet 15 of opening upwards, and the pallet 15 is located at each gripping pawl 7 Within the structure surrounded.
Control button 17 is further included, the control button 17 is located at the lower end of telescopic rod 2.
Handset mounting 18 is further included, the handset mounting 18 is set on the lower part of telescopic rod 2, for installing mobile phone.
The course of work of the present invention is as follows:
The present invention first adjusts the length of telescopic rod 2, then starts the button that in mounting bracket 4 motor is made to rotate forward, motor driving biography Dynamic screw motion, since nut and connector II6 connect firmly, so as to which connector II6 be made to be moved in a straight line relative to mounting bracket 4;By Lug I11 in connector II6 outer surfaces is connect with gripping pawl 7, so as to open gripping pawl 7;Since gripping pawl 7 and support are put Bar 8 is connected, so as to make 8 small angle oscillation of support swing rod;When gripping the opening of pawl 7, connector II6 drives self-resetting switch 22 to transport Dynamic, when gripping pawl 7 is flared to set angle, the contact on self-resetting switch 22 is contacted with hook plate 23 is squeezed power-off, makes horse Up to prograde circuit open circuit, motor stops rotating forward;The camera 5 being mounted at the top of picking head by mobile phone screen observation at this time transmits Picture be accurately positioned, starter motor reversion button, motor driving drive screw movement, nut and connector II6 are done instead To linear motion, gripping pawl 7 is gradually closed, and when being closed completely, the blade 16 mounted on gripping 7 apical position of pawl cuts carpopodium Disconnected, fruit is fallen into pallet 15, that is, completes primary picking.

Claims (10)

1. a kind of fruit picking apparatus, including handle(1), telescopic rod(2), picking head, it is characterised in that:
The picking head includes mounting bracket(4), clamp device, camera(5), the telescopic rod(2)Lower end and handle (1)Upper end connection, upper end passes through connector I(3)With mounting bracket(4)Lower end connection, the mounting bracket(4)Upper end peace Fill clamp device and camera(5).
2. fruit picking apparatus according to claim 1, it is characterised in that:
The clamp device includes motor, connector II(6), gripping pawl(7), support swing rod(8);The motor fixation is set In mounting bracket(4)It is interior, it is installed with drive screw on the projecting shaft of motor;The connector II(6)It fixes and connects with nut It connects, the upper end of drive screw is installed on by nut;The mounting bracket(4)Its outer ring of outer wall upper edge be arranged at intervals 3 groups with On lug I(10), the connector II(6)Its outer ring of outer wall upper edge be arranged at intervals 3 groups or more of lug II(11), institute The lug I stated(10)With lug II(11)Position corresponds;The gripping pawl(7)Lower end lug is installed on by axis pin II(11)On, it can be rotated around axis pin;The support swing rod(8)Lower end lug I is installed on by axis pin(10)On, support Swing rod(8)Upper end gripping pawl is installed on by axis pin(7)Lower part;Each gripping pawl(7)When closing up, front end phase Mutually contact, the spherical structure of whole composition closing.
3. fruit picking apparatus according to claim 2, it is characterised in that:
The lug I(10), lug II(11), support swing rod(8)Structure be respectively equipped with 4 groups, the gripping pawl(7) 4 are correspondingly provided with, 4 gripping pawls(7)It is divided into two groups facing each other, at least one of group of gripping pawl being oppositely arranged(7)'s Front end is equipped with blade(16).
4. fruit picking apparatus according to claim 2, it is characterised in that:Further include limiting device(9), described limiting dress It puts(9)Including limiting plate(21)And self-resetting switch(22);The limiting plate(21)Set on mounting bracket(4)On, front end to Connector II(6)Extension, and positioned at connector II(6)Middle part, limiting plate(21)Front end be equipped with vertical hook plate(23), institute The hook plate stated(23)To connector II(6)Outer wall extension;The self-resetting switch(22)Mounted on connector II(6)On, Positioned at limiting plate(21)Inside, connector II can be followed(6)Do feed movement, self-resetting switch(22)Contact it is just corresponding Hook plate(23)Inner wall;The self-resetting switch(22)It is electrically connected with motor, works as self-resetting switch(22)Follow connector II (6)Move upwards contact hook plate(23)When, self-resetting switch(22)Contact be squeezed power-off, so as to control motor stop turn It is dynamic.
5. fruit picking apparatus according to claim 4, it is characterised in that:The mounting bracket(4)It is equipped with sliding block(25), The sliding block(25)It is equipped with trip bolt(26);The limiting plate(21)Middle part and/or lower part are equipped with sliding slot(24), Limiting plate(21)Pass through sliding slot(24)It is assemblied in sliding block(25)On;The trip bolt(26)For by sliding slot(24)And sliding block (25)It is fixed or unclamp, during release, sliding slot(24)It can be relative to sliding block(25)It slides.
6. fruit picking apparatus according to claim 2, it is characterised in that:Camera(5)Set on any one gripping pawl(7) The upper position by front end, camera lens is towards the gripping pawl(7)Front end endpoint.
7. fruit picking apparatus according to claim 1, it is characterised in that:The connector II(6)Lower end on open up L-type slot afterwards(12);The telescopic rod(2)Upper end be equipped with external thread section and litter section, the external thread section is located at litter Below section, connector is cased in the litter section(13), connector(13)It can be slided along litter section;The connector (13)External wall of upper portion on vertically be equipped with fixed column(19), the fixed column(19)L-type slot can be packed into(12)In, it is described Telescopic rod(2)Top on external thread section on thread fitting lock sleeve is installed(14), the lock sleeve(14)It is upper End and connector(13)Contact.
8. fruit picking apparatus according to claim 1, it is characterised in that:The connector II(6)Upper end be equipped with open The upward pallet of mouth(15), the pallet(15)Positioned at each gripping pawl(7)Within the structure surrounded.
9. fruit picking apparatus according to claim 1, it is characterised in that:Further include control button(17), the control Button(17)It is located at telescopic rod(2)Lower end.
10. fruit picking apparatus according to claim 1, it is characterised in that:Further include handset mounting(18), the handset mounting (18)Set on telescopic rod(2)Lower part, for installing mobile phone.
CN201810168775.8A 2018-02-28 2018-02-28 A kind of fruit picking apparatus Expired - Fee Related CN108174690B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810168775.8A CN108174690B (en) 2018-02-28 2018-02-28 A kind of fruit picking apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810168775.8A CN108174690B (en) 2018-02-28 2018-02-28 A kind of fruit picking apparatus

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Publication Number Publication Date
CN108174690A true CN108174690A (en) 2018-06-19
CN108174690B CN108174690B (en) 2019-06-28

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109392443A (en) * 2018-12-19 2019-03-01 许昌学院 A kind of picking method of electric fruit picker
CN111761642A (en) * 2020-05-26 2020-10-13 王业根 Poria cocos clamping machine

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002233229A (en) * 2000-12-04 2002-08-20 Kobelco Contstruction Machinery Ltd Fruit picking apparatus and implement equipped with the apparatus
CN102227973A (en) * 2011-04-27 2011-11-02 南京工程学院 End effector of ball-like fruit picking robot
CN202160434U (en) * 2011-06-12 2012-03-14 何乐民 Safety platform suitable for being used for picking of fruit trees on hilly land
CN202507253U (en) * 2012-03-29 2012-10-31 陈政 Improved multifunctional picking and trimming tool
CN103168561A (en) * 2013-03-29 2013-06-26 湖北四季春茶油有限公司 Oil-tea camellia picker
CN203575109U (en) * 2013-11-20 2014-05-07 朱胜娃 Electric Chinese prickly ash picking device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002233229A (en) * 2000-12-04 2002-08-20 Kobelco Contstruction Machinery Ltd Fruit picking apparatus and implement equipped with the apparatus
CN102227973A (en) * 2011-04-27 2011-11-02 南京工程学院 End effector of ball-like fruit picking robot
CN202160434U (en) * 2011-06-12 2012-03-14 何乐民 Safety platform suitable for being used for picking of fruit trees on hilly land
CN202507253U (en) * 2012-03-29 2012-10-31 陈政 Improved multifunctional picking and trimming tool
CN103168561A (en) * 2013-03-29 2013-06-26 湖北四季春茶油有限公司 Oil-tea camellia picker
CN203575109U (en) * 2013-11-20 2014-05-07 朱胜娃 Electric Chinese prickly ash picking device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109392443A (en) * 2018-12-19 2019-03-01 许昌学院 A kind of picking method of electric fruit picker
CN111761642A (en) * 2020-05-26 2020-10-13 王业根 Poria cocos clamping machine

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CB03 Change of inventor or designer information

Inventor after: Jin Long

Inventor after: Zhang Yan

Inventor after: Mo Youtang

Inventor after: Chen Boming

Inventor after: Ren Yayong

Inventor after: Lv Xuan

Inventor before: Jin Long

Inventor before: Wang Deyan

Inventor before: Liu Lincong

Inventor before: Liu Hua

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190628

Termination date: 20200228

CF01 Termination of patent right due to non-payment of annual fee