CN108174690B - A kind of fruit picking apparatus - Google Patents
A kind of fruit picking apparatus Download PDFInfo
- Publication number
- CN108174690B CN108174690B CN201810168775.8A CN201810168775A CN108174690B CN 108174690 B CN108174690 B CN 108174690B CN 201810168775 A CN201810168775 A CN 201810168775A CN 108174690 B CN108174690 B CN 108174690B
- Authority
- CN
- China
- Prior art keywords
- connector
- clamping claw
- lug
- mounting rack
- telescopic rod
- 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.)
- Expired - Fee Related
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of fruit picking apparatus, including handle, telescopic rod, picking head, the picking head includes mounting rack, 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 rack, the upper end installation clamp device and camera of the mounting rack.The configuration of the present invention is simple, it is easy to operate, it can be realized fruits picking mechanical, improve production efficiency, reduce cost.
Description
Technical field
The invention belongs to agricultural machinery technological fields, and in particular to a kind of fruit picking apparatus.
Background technique
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, structure is complicated, and figure is heavy, and at high cost, inconvenient, it is impossible to meet the requirements of people.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of fruit picking apparatus, structure is simple, easy to operate, can reduce fruit
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 solution of the present invention is as follows:
Fruit picking apparatus of the invention, including handle, telescopic rod, picking head, the picking head include mounting rack, clamping
Device, camera, the lower end of the telescopic rod and the upper end of handle connect, and upper end passes through the lower end of connector I and mounting rack
Connection, the upper end installation clamp device and camera of the mounting rack.
Further, the clamp device includes motor, connector II, clamping claw, support swing rod；The motor is fixed
In mounting rack, drive screw is fixedly 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；3 groups or more of lug is set on the outer wall of the mounting rack along its outer ring interval
I, on the outer wall of the connector II along its outer ring interval be arranged 3 groups or more lug II, the lug I and lug II
Set reciprocal correspondence；The lower end of the clamping claw is installed on lug II by pin shaft, can be rotated around pin shaft；The support
The lower end of swing rod is installed on lug I by pin shaft, supports the upper end of swing rod by being installed on the lower part of clamping claw in pin shaft；Institute
When each jaws close stated, front end contacts with each other, whole to form closed spherical structure.
Further, the lug I, lug II, support swing rod structure be respectively equipped with 4 groups, the clamping claw is also right
4 should be equipped with, 4 clamping claws are divided into two groups facing each other, set on the front end of at least one of group of clamping claw being oppositely arranged
There is blade.
It further, further include limiting device, the limiting device includes limit plate and self-resetting switch；The limit
Plate is set on mounting rack, and front end extends to connector II, and is located at the middle part of connector II, and the front end of limit plate is equipped with vertical
Hook plate, the hook plate to the outer wall of connector II extend；The self-resetting switch is mounted on connector II, is located 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, stop operating to control motor.
Further, the mounting rack is equipped with sliding block, and the sliding block is equipped with fastening screw；In the limit plate
Portion and/or lower part are equipped with sliding slot, and limit plate is assemblied on sliding block by sliding slot；The fastening screw is used for sliding slot and cunning
Block is fixed or is unclamped, and when release, sliding slot can be slided relative to sliding block.
Further, the camera is set in any one clamping claw 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
Litter section sliding；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, same be threadedly engaged is equipped with lock sleeve on the external thread section on the top of the telescopic rod, the upper end of the lock sleeve
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 clamping
Within the structure that pawl surrounds.
It further, further include control button, the control button is located at the lower end of telescopic rod.
It further, further include handset mounting, the handset mounting is set to the lower part of telescopic rod, for installing mobile phone.
The course of work of the invention is as follows:
The present invention first adjusts the length of telescopic rod, then starts the button for rotating forward the motor in mounting rack, motor driving
Drive screw movement, since nut and connector II connect firmly, so that connector II be made to move in a straight line relative to mounting rack；Due to
The lug II of the outer surface connector II is connect with clamping claw, so that clamping claw be made to open；Since clamping claw is connected with support swing rod,
To make to support swing rod small angle oscillation；When clamping claw is opened, connector II drives self-resetting switch movement, and clamping claw is opened
When to set angle, the contact on self-resetting switch is contacted with hook plate is squeezed power-off, keeps motor prograde circuit breaking, motor
Stop rotating forward；It is accurately positioned at this time by the picture that mobile phone screen observation is mounted on the thecamera head at the top of picking head,
Starter motor inverts button, and motor drives drive screw movement, and nut and connector II do reverse linear movement, and clamping claw is gradually
Closure, when being closed completely, the blade for being mounted on clamping claw apical position cuts off carpopodium, and fruit is fallen into pallet, that is, completes
Primary picking.
The unique design of the invention picking header structure of five-rod, by a screw mechanism and a crank block machine
Structure is composed, including drive screw, connector II, clamping claw, support swing rod, mounting rack, motor drive screw mechanism movement,
Since nut and connector II connect firmly, so that connector be made to move in a straight line, then passes through the lug II of connector outer surface, drive
With clamping claw to make clamping claw open.Simple so as to form a kind of structure, cutting is accurate, easy to operate, and can protect for a long time
Hold the novel picking header structure of the operation is stable.
Fruit picking apparatus of the invention, additionally it is possible to directly mobile phone is placed on handset mounting, open bluetooth connection, that is, observable
Scene on to fruit tree simplifies the structure of picking machine；Picking head can be pushed to space and carry out color picture compared with distant positions by telescopic rod,
Reduce picking difficulty；It is unique that picking head of the invention designs, scientific and reasonable, securely and reliably, can rapid picking fruit, realize
Mechanization improves working efficiency.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of picking head of the invention；
Fig. 3 is the structural schematic diagram of limiting device of the invention；
Fig. 4 is schematic diagram of mechanism movement of the invention；
Each serial number and title are as follows in figure:
1- handle；2- telescopic rod；3- connector I；4- mounting rack；5- camera；6- connector II；7- clamping claw；8- branch
Support swing rod；9- limiting device；10- lug I；11- lug II；12-L type groove；13- connector；14- lock sleeve；15- pallet；16-
Blade；17- control button；18- handset mounting；19- fixed column；21- limit plate；22- self-resetting switch；23- hook plate；24- sliding slot；
25- sliding block；26- fastening screw.
Specific embodiment
By specific embodiment, the present invention is described in detail with reference to the accompanying drawing.
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
Including mounting rack 4, clamp device, camera 5, the lower end of the telescopic rod 2 is connect with the upper end of handle 1, and upper end passes through company
Fitting I3 is connect with the lower end of mounting rack 4, the upper end installation clamp device and camera 5 of the mounting rack 4.
The clamp device includes motor, connector II 6, clamping claw 7, support swing rod 8；The motor fixation is set
In in mounting rack 4, drive screw is fixedly 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；3 groups or more of lug is set on the outer wall of the mounting rack 4 along its outer ring interval
I10, on the outer wall of the connector II6 along its outer ring interval be arranged 3 groups or more lug II11, the lug I10 and
The position lug II11 corresponds to each other；The lower end of the clamping claw 7 is installed on lug II11 by pin shaft, can be turned around pin shaft
It is dynamic；The lower end of the support swing rod 8 is installed on lug I10 by pin shaft, supports the upper end of swing rod 8 by installing in pin shaft
In the lower part of clamping claw 7；When each clamping claw 7 is closed up, front end contacts with each other, whole to form closed spherical junctions
Structure.
The lug I10, lug II11, the structure of swing rod 8 is supported to be respectively equipped with 4 groups, the clamping claw 7 also corresponds to
Equipped with 4, it is two groups facing each other that 4 clamping claws 7, which are divided to, is set on the front end of at least one of group of clamping claw 7 being oppositely arranged
There is blade 16.
It further include limiting device 9, the limiting device 9 includes limit plate 21 and self-resetting switch 22；The limit
Plate 21 is set on mounting rack 4, and front end extends to connector II6, and is located at the middle part of connector II6, the limit plate 21
Front end be equipped with vertical hook plate 23, the hook plate 23 to the outer wall of connector II6 extend；The self-resetting switch 22 is pacified
On connector II6, positioned at the inside of limit 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, stops turning to control motor
It is dynamic.
The mounting rack 4 is equipped with sliding block 25, and the sliding block 25 is equipped with fastening screw 26；The limit plate 21
Middle part and/or lower part are equipped with sliding slot 24, and limit plate 21 is assemblied on sliding block 25 by sliding slot 24；The fastening screw 26 is used
In sliding slot 24 and sliding block 25 is fixed or unclamp, when release, sliding slot 24 can be slided relative to sliding block 25.
The camera 5 is set in any one clamping claw 7 position for leaning on front end, and camera lens is towards the clamping claw 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, same be threadedly engaged is equipped with lock sleeve 14 on the external thread section on the top of the telescopic rod 2, 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 clamping claw 7
Within the structure surrounded.
It further include control button 17, the control button 17 is located at the lower end of telescopic rod 2.
It further include handset mounting 18, the handset mounting 18 is set to the lower part of telescopic rod 2, for installing mobile phone.
The course of work of the invention is as follows:
The present invention first adjusts the length of telescopic rod 2, and then starting makes the button that in mounting rack 4 motor rotates forward, motor drive
Dynamic drive screw movement, since nut and connector II6 connect firmly, so that connector II6 be made to do straight line fortune relative to mounting rack 4
It is dynamic；Since the lug I11 of the outer surface connector II6 is connect with clamping claw 7, so that clamping claw 7 be made to open；Due to clamping claw 7 with
Swing rod 8 is supported to be connected, to make to support 8 small angle oscillation of swing rod；When clamping claw 7 is opened, connector II6 drives Self-resetting to open
Close 22 movement, when clamping claw 7 is flared to set angle, the contact on self-resetting switch 22 contacted with hook plate 23 be squeezed it is disconnected
Electricity keeps motor prograde circuit breaking, and motor stops rotating forward；The camera shooting at the top of picking head is mounted on by mobile phone screen observation at this time
The picture of first 5 transmission is accurately positioned, and starter motor inverts button, and motor drives drive screw movement, nut and connector
II6 does reverse linear movement, and clamping claw 7 is gradually closed, and when being closed completely, is mounted on the blade 16 of 7 apical position of clamping claw
Carpopodium is cut off, fruit is fallen into pallet 15, that is, completes primary picking.
Claims (8)
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 rack (4), clamp device, camera (5), the lower end of the telescopic rod (2) and handle
(1) upper end connection, upper end passes through connector I(3) it is connect with the lower end of mounting rack (4), the upper end peace of the mounting rack (4)
Fill clamp device and camera (5)；
The clamp device includes motor, connector II(6), clamping claw (7), support swing rod (8)；The motor fixation is set
In mounting rack (4), drive screw is fixedly installed on the projecting shaft of motor；The connector II(6) and the fixed company of nut
It connects, the upper end of drive screw is installed on by nut；On the outer wall of the mounting rack (4) along its outer ring interval be arranged 3 groups with
On lug I(10), the connector II(6) outer wall on 3 groups or more of lug II(11 is set along its outer ring interval), institute
The lug I(10 stated) and lug II(11) position reciprocal correspondence；The lower end of the clamping claw (7) is installed on lug by pin shaft
II(11 it on), can be rotated around pin shaft；The lower end of the support swing rod (8) is installed on lug I(10 by pin shaft) on, support
The upper end of swing rod (8) is installed on the lower part of clamping claw (7) by pin shaft；When each clamping claw (7) is closed up, front end phase
Mutually contact, it is whole to form closed spherical structure；
It further include limiting device (9), the limiting device (9) includes limit plate (21) and self-resetting switch (22)；Described
Limit plate (21) is set on mounting rack (4), and front end extends to connector II(6), and positioned at the middle part of connector II(6), limit
The front end of position plate (21) is equipped with vertical hook plate (23), and the hook plate (23) extends to the outer wall of connector II(6)；Described
Self-resetting switch (22) is mounted on connector II(6) on, it is located at the inside of limit plate (21), connector II(6 can be followed) it does
Feed movement, the contact of self-resetting switch (22) is just corresponding to the inner wall of hook plate (23)；The self-resetting switch (22) and motor
Electrical connection, when self-resetting switch (22) follows connector II(6) move upwards contact hook plate (23) when, self-resetting switch (22)
Contact is squeezed power-off, stops operating to control motor.
2. fruit picking apparatus according to claim 1, it is characterised in that:
The lug I(10), lug II(11), support swing rod (8) structure be respectively equipped with 4 groups, the clamping claw (7)
It is correspondingly provided with 4,4 clamping claws (7) are divided into two groups facing each other, at least one of group of clamping claw (7) being oppositely arranged
Front end is equipped with blade (16).
3. fruit picking apparatus according to claim 1, it is characterised in that: the mounting rack (4) is equipped with sliding block (25),
The sliding block (25) is equipped with fastening screw (26)；In the middle part of the limit plate (21) and/or lower part is equipped with sliding slot (24),
Limit plate (21) is assemblied on sliding block (25) by sliding slot (24)；The fastening screw (26) is used for sliding slot (24) and sliding block
(25) fixed or unclamp, when release, sliding slot (24) can be slided relative to sliding block (25).
4. fruit picking apparatus according to claim 1, it is characterised in that: camera (5) is set to any one clamping claw (7)
The upper position by front end, front end endpoint of the camera lens towards the clamping claw (7).
5. fruit picking apparatus according to claim 1, it is characterised in that: the connector II(6) lower end on open up
L-type slot (12) afterwards；The upper end of the telescopic rod (2) is equipped with external thread section and litter section, and the external thread section is located at litter
Below section, it is cased with connector (13) in the litter section, connector (13) can be slided along litter section；The connector
(13) fixed column (19) vertically are equipped in external wall of upper portion, the fixed column (19) can be fitted into L-type slot (12), described
Be equipped with lock sleeve (14) on external thread section on the top of telescopic rod (2) with being threadedly engaged, the lock sleeve (14) it is upper
End is contacted with connector (13).
6. 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 (15) of mouth, the pallet (15) are located within the structure that each clamping claw (7) surrounds.
7. fruit picking apparatus according to claim 1, it is characterised in that: further include control button (17), the control
Button (17) is located at the lower end of telescopic rod (2).
8. fruit picking apparatus according to claim 1, it is characterised in that: further include handset mounting (18), the handset mounting
(18) it is set to the lower part of telescopic rod (2), for installing mobile phone.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108174690A CN108174690A (en) | 2018-06-19 |
| CN108174690B true CN108174690B (en) | 2019-06-28 |
Family
ID=62552977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810168775.8A Expired - Fee Related CN108174690B (en) | 2018-02-28 | 2018-02-28 | A kind of fruit picking apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108174690B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109392443B (en) * | 2018-12-19 | 2021-01-19 | 许昌学院 | Picking method of electric fruit picking device |
| CN111761642A (en) * | 2020-05-26 | 2020-10-13 | 王业根 | Poria cocos clamping machine |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3740040B2 (en) * | 2000-12-04 | 2006-01-25 | コベルコ建機株式会社 | Fruit collection device |
| CN102227973B (en) * | 2011-04-27 | 2013-06-05 | 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 |
| CN103168561B (en) * | 2013-03-29 | 2016-05-04 | 湖北四季春茶油股份有限公司 | A kind of oil tea machine for picking fruits |
| CN203575109U (en) * | 2013-11-20 | 2014-05-07 | 朱胜娃 | Electric Chinese prickly ash picking device |
-
2018
- 2018-02-28 CN CN201810168775.8A patent/CN108174690B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN108174690A (en) | 2018-06-19 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| 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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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190628 Termination date: 20200228 |