CN108401665A - Automatic fruit device for picking - Google Patents
Automatic fruit device for picking Download PDFInfo
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- CN108401665A CN108401665A CN201810444256.XA CN201810444256A CN108401665A CN 108401665 A CN108401665 A CN 108401665A CN 201810444256 A CN201810444256 A CN 201810444256A CN 108401665 A CN108401665 A CN 108401665A
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- picking
- main body
- resetting
- body bridge
- fruit
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention provides a kind of automatic fruit device for picking, including：Main body bridge；Spiral handspike mechanism is set to the inside of main body bridge；Picking claw is connected with one end of main body bridge, rotates fruit-picking for folding and unfolding；One end of resetting-mechanism, resetting-mechanism is connected with picking claw, and the other end of resetting-mechanism is connected with spiral handspike mechanism；Transmission mechanism is connected with picking claw, is set between main body bridge and actuating unit；Actuating unit is connected with transmission mechanism, spiral handspike mechanism respectively, and actuating unit is set to the other end of main body bridge；Control device is electrically connected with actuating unit, the start and stop for controlling actuating unit.Technical solution through the invention, easy to operate, easy to carry, picking is collected and is integrated, it is time saving and energy saving, picking efficiency is greatly improved, automation control is realized, the fussy degree for reducing manual control improves the integrality of fruit, reduces the damage ratio of fruit.
Description
Technical field
The present invention relates to agricultural machinery technological fields, in particular to a kind of automatic fruit device for picking.
Background technology
With the development of agricultural, planting fruit trees area increases, and needs to carry out concentration picking to fruit in season of receiving, phase
In the technology of pass, general using artificial picking or by manpower picking lever, there are following technological deficiencies：
(1) artificial picking needs the pinnacled fruit of length to carry out picking of ascending a height by ladder, has certain danger
Property, or by the picking platform that can be lifted, and the expensive of platform is picked, practicability is poor.
(2) when being picked by manpower picking lever, picking is collected discontinuously, and picking efficiency is low, and apple breakage rate is higher.
Invention content
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
For this purpose, it is an object of the present invention to provide a kind of automatic fruit device for picking.
To achieve the goals above, technical scheme of the present invention provides a kind of automatic fruit device for picking, including：Main body bar
Frame；Spiral handspike mechanism is set to the inside of main body bridge；Picking claw is connected with one end of main body bridge, is adopted for folding and unfolding rotation
It picks fruit；One end of resetting-mechanism, resetting-mechanism is connected with picking claw, the other end and the spiral handspike mechanism phase of resetting-mechanism
Even, for resetting picking claw and resetting spiral handspike mechanism, to reset main body bridge；Transmission mechanism is connected with picking claw, if
Between main body bridge and actuating unit；Actuating unit is connected with transmission mechanism, spiral handspike mechanism respectively, and actuating unit
Set on the other end of main body bridge；Control device is electrically connected with actuating unit, the start and stop for controlling actuating unit.
In the present solution, passing through main body bridge and the spiral handspike mechanism inside main body bridge so that main body bridge
The connected picking claw in one end can not only slowly rotate and can carry out stretching motion in fruit-picking, on higher degree
Manual operation has been imitated, has reduced the spent muscle power of artificial picking, largely improves picking efficiency, improve picking
The serviceability rate of fruit reduces the cost manually picked, by resetting-mechanism, transmission mechanism, actuating unit and control device,
Picking claw can be completed promptly and loosening up, to realize automation control, reduce manual control within reasonable time
Fussy degree.
Specifically, control device control actuating unit namely motor rotate forward, and to drive transmission mechanism to tighten, drive
Picking claw firmly grasps fruit, and transmission mechanism continues to tighten, and main body bridge shortens downwards, internal helicoid transfer bar mechanism during shortening
Main body bridge is set slowly to rotate, fruit is detached with fruit tree, and main body bridge is retracted to lower limit position, and motor rotating forward terminates, opens
Begin to invert, transmission mechanism loosens, and resetting-mechanism makes picking claw, spiral handspike mechanism also have the reset of main body bridge.
Preferably, spiral handspike mechanism includes：Spiral straight-bar；First spin friction component, is sheathed on spiral straight-bar, with
Spiral straight-bar is fixedly connected；The second spin friction component being equipped with the first spin friction component, the second spin friction group
Part is sheathed on spiral straight-bar, and the second spin friction component is fixedly connected with main body bridge, the inner circumferential of the second spin friction component
The lateral wall interval of side wall and spiral straight-bar, to accommodate the first spin friction component.
In the present solution, by spiral straight-bar, be fixedly connected with spiral straight-bar and be sheathed on spiral straight-bar first rotation
Friction component is fixedly connected with the second spin friction component being sheathed on spiral straight-bar with main body bridge and realizes main body bridge
Flexible and rotation, and it is easy to operate, it occupies little space, is conducive to promote carrying convenience.
Preferably, the length of spiral handspike mechanism is 260mm~290mm.
In the present solution, the length for passing through spiral handspike mechanism is 260mm~290mm, it is advantageously implemented stretching for main body bridge
Contracting and rotation, and it is suitable for universal fruit tree, it is suitable for picking the fruit of fruit tree eminence, the length of spiral handspike mechanism can
Think 280mm, is conducive to the efficiency for promoting fruit picking.
Preferably, the junction of the first spin friction component and the second spin friction component is mutually matched zigzag.
In the present solution, the junction of the first spin friction component and the second spin friction component is mutually matched sawtooth
Shape is advantageously implemented the slow rotation of main body bridge, to drive picking claw slowly to rotate, promotes the high efficiency of fruit picking and complete
Whole property.
Preferably, further include：A part for buffering gathering device, buffering gathering device is sheathed on the bottom of picking claw, delays
The other end for rushing collection device earthward extends.
In the present solution, be sheathed on the bottom of picking claw by a part for buffering gathering device, buffering gathering device it is another
One end earthward extends, and realizes picking and collects integration, has ensured the continuity of picking, reduces artificial picking phenomenon of ascending a height
Generation, eliminate the potential danger of picking to a certain extent, improve the safety of fruit picking.
Preferably, buffering gathering device, including：Lantern ring is sheathed on the bottom of picking claw；Buffer channel is connect with lantern ring,
Double-layer bumper baffle is equipped in buffer channel；Collecting box is connect with buffer channel.
In the present solution, the lantern ring of the bottom by being sheathed on picking claw, it is possible to reduce picking claw release after, fruit without
The generation for crossing the phenomenon that buffer channel is directly fallen is equipped with double-deck slow by the buffer channel being connect with lantern ring in buffer channel
Baffle is rushed, certain cushioning effect can be played to the landing of fruit, is conducive to the integrality for promoting fruit, reduces the damage of fruit
Hinder rate, by the collecting box being connect with buffer channel, the fruit slid via buffer channel can be stored, be advantageously implemented picking
Integration is collected, the continuity of picking has been ensured, has improved the degree of automation of fruit picking.
Specifically, after picking claw unclamps, fruit slides along buffer channel, more with the double-layer bumper baffle in buffer channel
Secondary contact is realized reduction of speed buffering, the collecting box of bottom is reached with slower speed, can effectively ensure that fruit is adopted during collecting
It plucks completely, does not destroy pericarp so that fruit good appearance, it is easily stored.
Preferably, the length of buffer channel is 60mm~80mm.
In the present solution, the length for passing through buffer channel is 60mm~80mm, on the one hand, reduce the occupancy to space, have
Conducive to the convenience of automatic fruit device for picking is promoted, on the other hand, the time of effective guarantee reduction of speed buffering, water is advantageously allowed
Fruit reaches the collecting box of bottom with slower speed, can effectively ensure that fruit picking is complete, does not destroy pericarp so that outside fruit
Shape is beautiful, easily stored.
Preferably, transmission mechanism includes：Take-up reel is set between the other end and actuating unit of main body bridge；Steel wire rope,
One end of steel wire rope is fixed on take-up reel and is wound with this as the starting point, and the other end of steel wire rope is connected with picking claw, with control
The folding and unfolding of picking claw.
In the present solution, by take-up reel and steel wire rope between the other end and actuating unit of main body bridge, it can
Effectively to control the folding and unfolding of picking claw, it is advantageously implemented the flexible of main body bridge, and then is conducive to be promoted the picking effect of fruit
Rate.
Specifically, in picking process, motor rotates forward, and take-up reel tightens steel wire rope, and steel wire rope drives picking claw to firmly grasp
Apple, steel wire rope continue to tighten, and main body bridge shortens downwards, the first spin friction component of spiral handspike mechanism during shortening
Cooperating with the second spin friction component touch makes main body bridge slowly rotate, to drive picking claw slowly to rotate, water
Fruit detaches with fruit tree, and main body bridge is retracted to lower limit position, motor reversion, and steel wire rope loosens, picking claw and main body bridge
Its return, main body bridge is set to extend to initial position by resetting-mechanism, picking claw unclamps.
Preferably, resetting-mechanism includes：Resetting spring, resetting spring are connected with spiral handspike mechanism；Release link, release link
One end be connected with resetting spring, the other end of release link is connected with the pedestal of picking claw；The connection of resetting spring and release link
Place is equipped with bearing；Resetting spring and the junction of spiral handspike mechanism are equipped with rubber washer.
In the present solution, by the resetting spring being connected with spiral handspike mechanism, the release link being connected with resetting spring resets
Bar is connected with the pedestal of picking claw, is advantageously implemented the reset of picking claw and main body bridge so that automatic fruit device for picking is grasped
Make simplicity, bearing is equipped with by the junction of resetting spring and release link, cushioning effect to a certain extent can be played, passed through
Resetting spring and the junction of spiral handspike mechanism are equipped with rubber washer, can play a degree of buffer protection function, have
Conducive to the general safety performance of promotion automatic fruit device for picking.
Preferably, picking claw is covered with soft protective layer；Lantern ring is covered with soft protective layer.
In the present solution, being covered with soft protective layer by picking claw and lantern ring is covered with soft protective layer, can further protect
Fruit is protected, damage of the fruit in picking process is reduced, is conducive to the integrality for ensureing fruit.
By above technical scheme, spiral handspike mechanism and setting buffering gathering device are set in the inside of main body bridge
Deng so that automatic fruit device for picking is easy to operate, easy to carry, and picking is collected and is integrated, time saving and energy saving, greatly improves
Picking efficiency realizes automation control, reduces the fussy degree of manual control, and being equipped with double-layer bumper in buffer channel keeps off
Plate can play certain cushioning effect to the landing of fruit, improve the integrality of fruit, reduce the damage ratio of fruit.
The additional aspect and advantage of the present invention will provide in following description section, will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 shows the structural schematic diagram of automatic fruit device for picking according to an embodiment of the invention；
Fig. 2 shows the structural schematic diagrams of automatic fruit device for picking according to another embodiment of the invention；
Fig. 3 shows the diagrammatic cross-section at A-A in Fig. 2；
Fig. 4 shows the enlarged diagram at B in Fig. 2；
Fig. 5 shows the front view of picking claw in Fig. 2；
Fig. 6 shows the enlarged diagram at C in Fig. 5；
Fig. 7 shows the side view of picking claw in Fig. 2；
Fig. 8 shows the enlarged diagram at D in Fig. 7；
Fig. 9 shows the structural schematic diagram of Tu3Zhong spiral handspikes mechanism；
Figure 10 shows the diagrammatic cross-section at E-E in Fig. 9；
Figure 11 shows the assembling schematic diagram of the first spin friction component and the second spin friction component in Fig. 9；
Figure 12 shows the diagrammatic cross-section at F-F in Figure 11；
Figure 13 shows the front view of the first spin friction component in Fig. 3；
Figure 14 shows the diagrammatic cross-section at G-G in Figure 13；
Figure 15 shows the enlarged diagram at H in Figure 13；
Figure 16 shows the side view of the first spin friction component in Fig. 3；
Figure 17 shows the front views of the second spin friction component in Fig. 3；
Figure 18 shows the diagrammatic cross-section at I-I in Figure 17；
Figure 19 shows the enlarged diagram at J in Figure 18；
Figure 20 shows the side view of the second spin friction component in Fig. 3；
Figure 21 shows the front view of take-up reel in Fig. 4；
Figure 22 shows the diagrammatic cross-section at K-K in Figure 21；
Figure 23 shows the vertical view of take-up reel in Figure 21,
Wherein, the correspondence in Fig. 1 to Figure 23 between reference numeral and component is：
102 main body bridges, 104 spiral handspike mechanisms, 1042 spiral straight-bars, 1,044 first spin friction components, 1,046
Two spin friction components, 1048 sawtooth, 106 picking claws, 1062 pedestals, 1064 cleft hands, 108 resetting-mechanisms, 1082 resetting springs,
1086 release links, 1088 bearings, 1090 rubber washers, 110 transmission mechanisms, 1102 take-up reels, 1104 steel wire ropes, 112 engines
Structure, 114 control devices, 116 buffering gathering devices, 1162 lantern rings, 1164 buffer channels, 1166 collecting boxs, 118 power supply boxes.
Specific implementation mode
To better understand the objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and specific real
Mode is applied the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be implemented different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Automatic fruit device for picking according to an embodiment of the invention is specifically described with reference to Fig. 1 to Figure 23.
As shown in Figure 1 to Figure 3, automatic fruit device for picking according to an embodiment of the invention, including：Main body bridge 102；Spiral shell
Transfer bar mechanism 104 is revolved, the inside of main body bridge 102 is set to；Picking claw 106 is connected with one end of main body bridge 102, for receiving
Put rotation fruit-picking；One end of resetting-mechanism 108, resetting-mechanism 108 is connected with picking claw 106, resetting-mechanism 108 it is another
End is connected with spiral handspike mechanism 104, for resetting picking claw 106 and resetting spiral handspike mechanism 104, to reset main body bar
Frame 102；Transmission mechanism 110 is connected with picking claw 106, is set between main body bridge 102 and actuating unit 112；Actuating unit
112, it is connected respectively with transmission mechanism 110, spiral handspike mechanism 104, and actuating unit 112 is set to the another of main body bridge 102
End；Control device 114 is electrically connected with actuating unit 112, the start and stop for controlling actuating unit 112.
In the present embodiment, by main body bridge 102 and the spiral handspike mechanism 104 inside main body bridge 102, make
The connected picking claw 106 in one end of winner's body rod frame 102 can not only slowly be rotated in fruit-picking and can be stretched
Contracting moves, and manual operation has been imitated on higher degree, reduces the spent muscle power of artificial picking, largely improves and adopt
Efficiency is plucked, the serviceability rate of fruit-picking is improved, reduces the cost manually picked, passes through resetting-mechanism 108, transmission mechanism
110, actuating unit 112 and control device 114, picking claw 106 can be completed promptly and loosening up within reasonable time,
Automation control is realized, the fussy degree of manual control is reduced.
It should be noted that main body bridge 102 and 104 level-one spiral handspike mechanism 104 of spiral handspike mechanism and reset machine
Structure 108 is connected by rod set.
Specifically, control device 114 controls actuating unit 112 namely motor rotates forward, to drive transmission mechanism 110
Tightening drives picking claw 106 to firmly grasp fruit, and transmission mechanism 110 continues to tighten, and main body bridge 102 shortens downwards, in the process of shortening
Middle internal helicoid transfer bar mechanism 104 makes main body bridge 102 slowly rotate, and fruit is detached with fruit tree, and main body bridge 102 is retracted to down
Extreme position, motor rotating forward terminate, start to invert, and transmission mechanism 110 loosens, and resetting-mechanism 108 is so that picking claw 106, spiral shell
Revolving transfer bar mechanism 104 also has main body bridge 102 to reset.
Control device 114, actuating unit 112 (motor) etc. are powered by portable power supply box 118, power supply box 118
Generally silicon energy storage battery, actuating unit 112 are generally dc motor, and control device 114 is generally microcontroller switch.
As shown in Fig. 5 to Fig. 8, picking claw 106 includes pedestal 1062 and cleft hand 1064, and cleft hand 1064 is with pedestal 1062
Movable connection, cleft hand 1064 are a section, can be operated with higher degree upper mold manual imitation.
As shown in Fig. 9 to Figure 12, spiral handspike mechanism 104 includes：Spiral straight-bar 1042；First spin friction component
1044, it is sheathed on spiral straight-bar 1042, is fixedly connected with spiral straight-bar 1042；It is set with the cooperation of the first spin friction component 1044
The the second spin friction component 1046 set, the second spin friction component 1046 are sheathed on spiral straight-bar 1042, the second rotary friction
Brush assembly 1046 is fixedly connected with main body bridge 102, inner circumferential side wall and the spiral straight-bar 1042 of the second spin friction component 1046
Lateral wall interval, to accommodate the first spin friction component 1044.
In the present embodiment, by spiral straight-bar 1042, it is fixedly connected with spiral straight-bar 1042 and is sheathed on spiral straight-bar
The first spin friction component 1044 on 1042 is fixedly connected with second be sheathed on spiral straight-bar 1042 with main body bridge 102
Spin friction component 1046 realizes the flexible and rotation of main body bridge 102, and easy to operate, occupies little space, favorably
In promotion carrying convenience.
Specifically, there are one be similar to rectangle in the first spin friction component 1044 and the second spin friction component 1046
But cambered hole, this hole can accommodate spiral straight-bar 1042, in addition be adjacent to the hole, and there are one round holes
Hole can accommodate steel wire rope 1104 and pass through, and should be rubber material similar to all side walls of rectangle but cambered hole has one
The outside of fixed elasticity, the first spin friction component 1044 and the second spin friction component 1046 is rigid plastics, in steel wire rope
1104 drive main body bridges 102 to shorten downwards namely when spiral 1042 retracted downward of straight-bar, the first spin friction component 1044 with
Second spin friction component 1046 coordinates so that it rotates integrally, and when upward elongation sets back, it does not rotate.
The length of spiral handspike mechanism 104 is 260mm~290mm.
In the present embodiment, it is 260mm~290mm by the length of spiral handspike mechanism 104, is advantageously implemented main body bridge
102 flexible and rotation, and it is suitable for universal fruit tree, it is suitable for picking the fruit of fruit tree eminence, spiral handspike mechanism
104 length can be 280mm, be conducive to the efficiency for promoting fruit picking.
As shown in Figure 13 to Figure 20, the junction of the first spin friction component 1044 and the second spin friction component 1046 is
1048 shape of mutually matched sawtooth.
In the present embodiment, the junction of the first spin friction component 1044 and the second spin friction component 1046 is phase interworking
1048 shape of sawtooth of conjunction, is advantageously implemented the slow rotation of main body bridge 102, to drive picking claw 106 slowly to rotate, promotes water
The high efficiency and integrality of fruit picking.
As shown in Figure 1, automatic fruit device for picking further includes：Buffering gathering device 116, one of buffering gathering device 116
The bottom for being sheathed on picking claw 106, the other end of buffering gathering device 116 is divided earthward to extend.
In the present embodiment, the bottom of picking claw 106, cushioning collecting are sheathed on by a part for buffering gathering device 116
The other end of device 116 earthward extends, and realizes picking and collects integration, has ensured the continuity of picking, reduces artificial
The generation for picking phenomenon of ascending a height, eliminates the potential danger of picking, improves the safety of fruit picking to a certain extent.
As shown in Figure 1, buffering gathering device 116, including：Lantern ring 1162 is sheathed on the bottom of picking claw 106；Buffering is logical
Road 1164 is connect with lantern ring 1162, and double-layer bumper baffle is equipped in buffer channel 1164；Collecting box 1166, with buffer channel
1164 connections.
In the present embodiment, the lantern ring 1162 of the bottom by being sheathed on picking claw 106, it is possible to reduce in 106 pine of picking claw
After opening, the generation for the phenomenon that fruit is directly fallen without buffer channel 1164 passes through the buffer channel being connect with lantern ring 1162
1164, buffer channel 1164 is interior to be equipped with double-layer bumper baffle, can play certain cushioning effect to the landing of fruit, be conducive to
The integrality for promoting fruit, reduces the damage ratio of fruit, by the collecting box 1166 being connect with buffer channel 1164, can store
Via the fruit that buffer channel 1164 slides, it is advantageously implemented picking and collects integration, ensured the continuity of picking, improved
The degree of automation of fruit picking.
Specifically, after picking claw 106 unclamps, fruit slides along buffer channel 1164, with pair in buffer channel 1164
Layer cushioning fender multiple-contact is realized reduction of speed buffering, the collecting box 1166 of bottom, energy during collection is reached with slower speed
It is complete that fruit picking is enough effectively ensured, does not destroy pericarp so that fruit good appearance, it is easily stored.
The length of buffer channel 1164 is 60mm~80mm.
In the present embodiment, the length by buffer channel 1164 is 60mm~80mm, on the one hand, reduces and is accounted for space
With being conducive to the convenience for promoting automatic fruit device for picking, on the other hand, the time of effective guarantee reduction of speed buffering, be conducive to
So that fruit reaches the collecting box 1166 of bottom with slower speed, it can effectively ensure that fruit picking is complete, do not destroy pericarp,
Make fruit good appearance, it is easily stored.
As shown in Fig. 4 and Figure 21 to Figure 23, transmission mechanism 110 includes：Take-up reel 1102 is set to main body bridge 102
Between the other end and actuating unit 112；One end of steel wire rope 1104, steel wire rope 1104 be fixed on take-up reel 1102 and as
Starting point is wound, and the other end of steel wire rope 1104 is connected with picking claw 106, to control the folding and unfolding of picking claw 106.
In the present embodiment, by the take-up reel 1102 between the other end of main body bridge 102 and actuating unit 112 with
And steel wire rope 1104, the folding and unfolding of picking claw 106 can be effectively controlled, the flexible of main body bridge 102, Jin Eryou are advantageously implemented
Conducive to the picking efficiency of promotion fruit.
Specifically, in picking process, motor rotates forward, and take-up reel 1102 tightens steel wire rope 1104,1104 band of steel wire rope
Dynamic picking claw 106 firmly grasps apple, and steel wire rope 1104 continues to tighten, and main body bridge 102 shortens downwards, spiral handspike during shortening
Mutual cooperation is contacted with the second spin friction component 1046 for first spin friction component 1044 of mechanism 104 so that main body bridge
102 slowly rotations, to drive picking claw 106 slowly to rotate, fruit is detached with fruit tree, and main body bridge 102 is retracted to limit inferior
Position, motor reversion, steel wire rope 1104 loosen, and picking claw 106 and main body bridge 102 make its return by resetting-mechanism 108, main
The elongation of body rod frame 102 to initial position, picking claw 106 unclamps.
As shown in Fig. 2, resetting-mechanism 108 includes：Resetting spring 1082, resetting spring 1082 and spiral handspike mechanism 104
It is connected；One end of release link 1086, release link 1086 is connected with resetting spring 1082, the other end and picking claw of release link 1086
106 pedestal 1062 is connected；Resetting spring 1082 and the junction of release link 1086 are equipped with bearing 1088；Resetting spring 1082 with
The junction of spiral handspike mechanism 104 is equipped with rubber washer 1090.
In the present embodiment, by the resetting spring 1082 being connected with spiral handspike mechanism 104, it is connected with resetting spring 1082
Release link 1086, release link 1086 is connected with the pedestal 1062 of picking claw 106, is advantageously implemented picking claw 106 and main body
The reset of bridge 102 so that automatic fruit device for picking is easy to operate, passes through the junction of resetting spring 1082 and release link 1086
Equipped with bearing 1088, cushioning effect to a certain extent can be played, passes through resetting spring 1082 and spiral handspike mechanism 104
Junction is equipped with rubber washer 1090, can play a degree of buffer protection function, is conducive to promote automatic fruit picking
The general safety performance of device.
As shown in Figure 1, picking claw 106 is covered with soft protective layer；Lantern ring 1162 is covered with soft protective layer.
In the present embodiment, soft protective layer is covered with by picking claw 106 and lantern ring 1162 is covered with soft protective layer, it can be with
Fruit is further protected, damage of the fruit in picking process is reduced, is conducive to the integrality for ensureing fruit.
Technical scheme of the present invention is described in detail above in association with attached drawing, the present invention proposes a kind of automatic fruit picking
Device, by the way that spiral handspike mechanism and setting buffering gathering device etc. is arranged in the inside of main body bridge so that automatic fruit is adopted
It is easy to operate, easy to carry to pluck device, picking is collected and is integrated, time saving and energy saving, greatly improves picking efficiency, is realized certainly
Dynamicization controls, and reduces the fussy degree of manual control, double-layer bumper baffle is equipped in buffer channel, can be to the landing of fruit
Certain cushioning effect is played, the integrality of fruit is improved, reduces the damage ratio of fruit.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, can also be can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term "upper", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, specific direction must be had, with specific azimuth configuration and operation by not indicating or implying the indicated device or unit,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the present invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of automatic fruit device for picking, which is characterized in that including：
Main body bridge；
Spiral handspike mechanism is set to the inside of the main body bridge；
Picking claw is connected with one end of the main body bridge, rotates fruit-picking for folding and unfolding；
Resetting-mechanism, one end of the resetting-mechanism are connected with the picking claw, the other end of the resetting-mechanism and the spiral shell
It revolves transfer bar mechanism to be connected, for resetting the picking claw and resetting the spiral handspike mechanism, to reset the main body bridge；
Transmission mechanism is connected with the picking claw, is set between the main body bridge and actuating unit；
The actuating unit is connected with the transmission mechanism, the spiral handspike mechanism respectively, and the actuating unit is set to institute
State the other end of main body bridge；
Control device is electrically connected with the actuating unit, the start and stop for controlling the actuating unit.
2. automatic fruit device for picking according to claim 1, which is characterized in that the spiral handspike mechanism includes：
Spiral straight-bar；
First spin friction component is sheathed on the spiral straight-bar, is fixedly connected with the spiral straight-bar；
The second spin friction component being equipped with the first spin friction component, the second spin friction component are arranged
In on the spiral straight-bar, the second spin friction component is fixedly connected with the main body bridge, second spin friction
The lateral wall interval of the inner circumferential side wall of component and the spiral straight-bar, to accommodate the first spin friction component.
3. automatic fruit device for picking according to claim 2, which is characterized in that
The length of the spiral handspike mechanism is 260mm~290mm.
4. automatic fruit device for picking according to claim 3, which is characterized in that
The junction of the first spin friction component and the second spin friction component is mutually matched zigzag.
5. automatic fruit device for picking according to any one of claim 1 to 4, which is characterized in that further include：
Buffering gathering device, a part for the buffering gathering device are sheathed on the bottom of the picking claw, the cushioning collecting
The other end of device earthward extends.
6. automatic fruit device for picking according to claim 5, which is characterized in that the buffering gathering device, including：
Lantern ring is sheathed on the bottom of the picking claw；
Buffer channel is connect with the lantern ring, and double-layer bumper baffle is equipped in the buffer channel；
Collecting box is connect with the buffer channel.
7. automatic fruit device for picking according to claim 6, it is characterised in that
The length of the buffer channel is 60mm~80mm.
8. automatic fruit device for picking according to claim 7, which is characterized in that the transmission mechanism includes：
Take-up reel is set between the other end and the actuating unit of the main body bridge；
One end of steel wire rope, the steel wire rope is fixed on the take-up reel and is wound with this as the starting point, the steel wire rope it is another
One end is connected with the picking claw, to control the folding and unfolding of the picking claw.
9. automatic fruit device for picking according to claim 8, is characterized in that, the resetting-mechanism includes：
Resetting spring, the resetting spring are connected with the spiral handspike mechanism；
Release link, one end of the release link are connected with the resetting spring, the other end of the release link and the picking claw
Pedestal be connected；
The resetting spring and the junction of the release link are equipped with bearing；
The resetting spring and the junction of the spiral handspike mechanism are equipped with rubber washer.
10. automatic fruit device for picking according to claim 9, which is characterized in that
The picking claw is covered with soft protective layer；The lantern ring is covered with soft protective layer.
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| CN108401665B CN108401665B (en) | 2023-05-16 |
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| CN109197154A (en) * | 2018-11-01 | 2019-01-15 | 天津城建大学 | Automation is without knife Rotary Water fruit picking machine and its control method |
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