CN108401667A - A kind of Handheld fruit picker and its method - Google Patents
A kind of Handheld fruit picker and its method Download PDFInfo
- Publication number
- CN108401667A CN108401667A CN201810340752.0A CN201810340752A CN108401667A CN 108401667 A CN108401667 A CN 108401667A CN 201810340752 A CN201810340752 A CN 201810340752A CN 108401667 A CN108401667 A CN 108401667A
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- China
- Prior art keywords
- steel wire
- finger
- sliding seat
- nearly
- mechanical finger
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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
- A01D46/247—Manually operated fruit-picking tools
-
- 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
-
- 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)
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Abstract
The invention discloses a kind of Handheld fruit pickers, including handle, stock and gripper；The head end of the stock connects the gripper, and the tail end of the stock is connected with the handle；The gripper includes collet, closely refer to chassis, the first mechanical finger, the second mechanical finger and third mechanical finger；The collet lower end is fixedly attached the head end of the stock, and the collet upper end is concentric to be fixedly connected with the nearly finger chassis；Circumferentially array is installed on the nearly upside disk for referring to chassis for first mechanical finger, the second mechanical finger and third mechanical finger；This programme is simple in structure, can realize single auxiliary fruit and vegetable picking, the two states which realizes parallel crawl and captured to the heart, suitable for spherical fruit, it is also applied for stick fruit, switching is more convenient, simultaneously using buffering chip architecture, effectively realizing, which prevents from pressing from both sides bad situation, occurs.
Description
Technical field
The invention belongs to fruit picking field more particularly to a kind of Handheld fruit picker and its methods.
Background technology
As large agricultural country, vegetables and fruit are the second the third-largest long-term cropping respectively, also determine many certainly in China
The source of finance in region.And the efficiency of fruit and vegetable picking and picking quality directly affect the planting cost and economic well-being of workers and staff of orchard worker.
Now existing fruit and vegetable picking end effector is most of all using the type of drive driven entirely in the market, although full driving can be compared with
For the movement of free control mechanism, but in single auxiliary fruit and vegetable picking end effector due to drive more bring it is more stupid
The weight of weight also becomes a problem for being difficult to single long working, and the prior art can not spirit to the picking of Multifunctional fruit vegetable auxiliary
The deficiency of switching living, the heavy problem that the prior art is brought with schemes such as electric drive, lead screw transmissions in the middle.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of with parallel crawl and right
A kind of Handheld fruit picker and its method of the two states of heart crawl.
Technical solution：To achieve the above object, a kind of Handheld fruit picker of the invention, including handle, stock
And gripper；The head end of the stock connects the gripper, and the tail end of the stock is connected with the handle；
The gripper includes collet, closely refer to chassis, the first mechanical finger, the second mechanical finger and third mechanical finger；
The collet lower end is fixedly attached the head end of the stock, and the collet upper end is concentric to be fixedly connected with the nearly finger chassis；Institute
Stating the first mechanical finger, the second mechanical finger and third mechanical finger, circumferentially array is installed on the nearly upper side panel for referring to chassis
Face.
Further, first mechanical finger, the second mechanical finger and third mechanical finger respectively include fixed referring to root, the
The one dynamic root and second that refers to moves finger root；Surely root, the first dynamic finger root and the second dynamic finger root of referring to is to be in along the nearly finger chassis axis
The U-shaped body cradle structure of circumference array distribution；
Described refer to surely on root, the first dynamic finger root and the second dynamic finger root includes closely referring to cross bar；Three pieces described close to refer to cross bar
Middle-end refers to root, the first dynamic top articulated connection for referring to root and the second dynamic finger root surely with described respectively；
The nearly both ends for referring to cross bar are respectively inner segment and outer segment；The inner segment is to the nearly close center of circle direction in finger chassis
Extend, the outer segment extends to closely finger chassis far from center of circle direction；
First mechanical finger, the second mechanical finger and third mechanical finger also include nearly finger joint, nearly finger joint connecting rod,
Middle finger joint driving lever, middle finger joint, middle finger joint connecting rod and remote finger joint；
One end of the nearly finger joint is articulated and connected with the nearly stage casing for referring to cross bar, and the nearly finger joint other end is jointly hinged
Connect one end of one end and middle finger joint of the middle finger joint driving lever, one end of the end of the outer segment and the nearly finger joint connecting rod
Articulated connection, the other end of the nearly finger joint connecting rod are articulated and connected the middle-end of the middle finger joint driving lever, and the middle finger joint is actively
The other end of bar is articulated and connected one end of the middle finger joint connecting rod；The other end articulated connection remote finger of the middle finger joint connecting rod
One end of section, the other end of the middle finger joint are articulated and connected the middle-end of the remote finger joint；
The inner segment end for pulling downward on three cross bars simultaneously, can make the gripper do inside grasping movement, simultaneously
The inner segment end for pushing up three cross bars can make the gripper do a pawl action.
Further, the first sliding seat and the second sliding seat, the described first dynamic finger root are also equipped on the nearly finger chassis
It is fixedly installed in first sliding seat and the second sliding seat with the second dynamic root bottom part that refers to；
First sliding seat and the second sliding seat are kidney-shaped block structure, and first sliding seat/second sliding seat is close
A nearly bottom for referring to the chassis center of circle is rotatablely connected with the nearly finger chassis by bearing；First sliding seat and second
The opposite waist side of sliding seat is connected by flexible steel wire, and also set is provided with relaxation spring outside the flexible steel wire, described
Relaxation both ends of the spring distinguishes the first sliding seat of top pressure and the opposite waist side of the second sliding seat；Under flexible steel wire linear state
It is in angle between one sliding seat and the opposite waist side of the second sliding seat；
It is additionally provided with pulley base on the inside of the nearly disk for referring to chassis, fixed pulley is installed on the pulley base, further includes
Commutate steel wire, and for the commutation steel wire across the fixed pulley, one end and the middle part of the flexible steel wire of the commutation steel wire are solid
Fixed connection；The extending direction of one section of commutation steel wire between the fixed pulley and flexible steel wire is vertical with the flexible steel wire；It changes
The flexible steel wire of linear state can be pulled into the broken line bent along midpoint to steel wire；Under the flexible steel wire broken line state,
First sliding seat and the opposite waist side of the second sliding seat are mutually parallel；
Strip limited block, strip limiting block are further fixedly arranged between first sliding seat and the second sliding seat
The length direction of block and the flexible steel wire of linear state are mutually parallel；
First sliding seat and the opposite waist side of the second sliding seat are mutually parallel under state,
The cambered surface at the limited block both ends limits the first sliding seat of contact and the opposite waist side of the second sliding seat respectively
Face.
Further, it is the column chamber knot of upper end opening that concentric hollow out, which has circular hole, the collet, in the middle part of the nearly finger chassis
Structure, the collet cylindrical cavity in the collet are arranged with the circular hole coaxial heart；It is concentric in the collet cylindrical cavity to be provided with steel
Silk fixed disc, gap setting between the fixation with steel wire disk and the collet cylinder cavity wall；
Further include three transmission hard steel wires, fixation with steel wire disk described in the lower end synchronized links of three hard steel wires, institute
State the inner segment end that three hard steel wire upper ends are respectively fixedly connected with three cross bars；Fixation with steel wire disk moves downward drive
Three hard steel wires pull downward on the inner segment end of three cross bars simultaneously, and then it is dynamic so that the gripper is done inwardly crawl
Make.
Further, fixation with steel wire disk lower end is concentric is fixedly connected with guiding axis, is passed through inside the guiding axis
Logical to be provided with passing channel, the passing channel upper end is pierced by from the fixation with steel wire disk upper surface, under the passing channel
End is connected to the tube chamber of the stock, and guiding axis lower end movable sleeve is equipped with guideway, the guideway wall coaxial heart
It is fixedly sheathed in the long rod head end inner wall；Return spring is also arranged on the guiding axis, the return spring is in compression shape
It is set between the fixation with steel wire disk and the guideway；
It is laterally fixedly installed bracing wire connecting rod in the passing channel of the guiding axis, further includes in the tube chamber of the stock
One end of bracing wire, the bracing wire is fixedly connected with the bracing wire connecting rod, and the other end of the bracing wire fixes the drawing at the handle
Bar, pulling back the pull rod makes bracing wire drive the guiding axis and the displacement together of fixation with steel wire disk；
It is concentric in the middle part of the tube chamber of the stock to be movably set with commutation guide sleeve, it is described to be drawstring through the commutation guiding
The draw cord channel of set, the draw cord channel wall are further fixedly arranged on rope connection stake, and the other end of the commutation steel wire passes through institute
It states passing channel and tube chamber and connect stake with the rope and be fixedly connected, the commutation guide sleeve outer wall, which is fixedly connected with, to be pulled
Handle；
The stock is located at hollow out on the outer wall at the commutation guide sleeve and is provided with handle guide groove, described to have handle
It is active in the handle guide groove, the tail end of the handle guide groove is also vertically installed with handle locating slot, pulls back
The flexible steel wire of linear state is pulled into the broken line bent along midpoint by the handle by the steel wire that commutates.
Further, the wherein hard steel wire lower end in three hard steel wires passes through on the fixation with steel wire disk
Across hole and dish type latch bracket is connected, the latch bracket is connected with the fixation with steel wire disk lower wall by buffer spring elasticity
It connects.
Further, the nearly finger joint on first mechanical finger, the second mechanical finger and third mechanical finger, middle finger joint
With the first buffer substrate tablet, the second buffer substrate tablet and third buffer substrate tablet for being respectively arranged with soft materials on the inside of the clamping of remote finger joint.
Further, the picking method of a kind of Handheld fruit picker according to claim
Gripper pawl method：By the pull rod at handle to being pushed forward, and then fixation with steel wire disk is made to be in free state,
Fixation with steel wire disk moves upwards under the action of return spring, and then fixation with steel wire disk drives three hard steel wires to transport upwards
It is dynamic, and then three hard steel wires push up the inner segment end of three cross bars simultaneously, the gripper can be made to do a pawl dynamic
Make；
Gripper grasping means：Pull rod at handle is pulled back, pulling back the pull rod makes to lead described in bracing wire drive
To axis and fixation with steel wire disk together to bottom offset, and then fixation with steel wire disk drives three hard steel wires to move downward, in turn
Three hard steel wires pull downward on the inner segment end of three cross bars simultaneously, and the gripper can be made to do the spherical water of inwardly crawl
Fruit acts；
The commutation method of second mechanical finger and third mechanical finger：When the stick fruit for needing that such as banana type is clamped
When, pulling back handle makes commutation guide sleeve synchronize rearward displacement, and then guide sleeve affects commutation steel wire, and the steel wire that commutates is led
Action makes the flexible steel wire of linear state pulling into the broken line bent along midpoint under, in flexible steel wire pulling function inwardly
Under, and then make the first sliding seat and the second sliding seat along bearing rotary, until the first sliding seat and the second sliding seat are opposite
Waist side by be in 120 degree of angles be gradually converted into be mutually parallel when, the second mechanical finger and third mechanical finger are also synchronous
It realizes commutation, and then the gripping direction of the second mechanical finger and third mechanical finger is made to be state in the same direction, at the same time, limiting block
The cambered surface at block both ends limits the first sliding seat of contact and the opposite waist side of the second sliding seat respectively, and limited block prevents at this time
First sliding seat and the second sliding seat further rotate；The gripper of the state is suitble to capture the stick fruit of banana type；
When needing to be converted to clamping spherical fruit again, handle is unclamped, it is flexible under the elastic force effect of relaxation spring
Steel wire comes back to exceptionally straight linear state, and the first sliding seat and the opposite waist side of the second sliding seat are by being in by mutual
It is parallel to be converted between each other into 120 degree of angles automatically.
Advantageous effect：This programme is simple in structure, can realize single auxiliary fruit and vegetable picking, the structure realize parallel crawl and
To the two states of heart crawl, it is suitable for spherical fruit, is also applied for stick fruit, switching is more convenient, while using buffering
Chip architecture, effectively realizing, which prevents from pressing from both sides bad situation, occurs.
Description of the drawings
Attached drawing 1 is apparatus of the present invention overall structure diagram；
Attached drawing 2 is structural schematic diagram at the stock and handle of the present apparatus；
Attached drawing 3 is the three-dimensional view that spherical fruit is clamped in gripper；
Attached drawing 4 is the vertical view that spherical fruit is clamped in gripper；
Attached drawing 5 is gripper first structure schematic diagram；
Attached drawing 6 is the second structural schematic diagram of gripper；
Attached drawing 7 is structural schematic diagram at the label 1 of attached drawing 6；
Attached drawing 8 is the first cut-away diagram inside collet；
Attached drawing 9 is the second cut-away diagram inside collet；
Attached drawing 10 is third cut-away diagram inside collet；
Attached drawing 11 is gripper by being converted to the conversion schematic diagram of parallel seized condition to heart seized condition；
Attached drawing 12 is the structural schematic diagram at stock handle.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
Introduction about the construction：A kind of Handheld fruit picker as shown in attached drawing 1 to 12, including handle 29,30 and of stock
Gripper 31；The head end of the stock 30 connects the gripper 31, and the tail end of the stock 30 is connected with the handle 29；
The gripper 31 includes collet 45, closely refers to chassis 15, the first mechanical finger 46, the second mechanical finger 55 and third
Mechanical finger 57；45 lower end of the collet is fixedly attached the head end of the stock 30, and the concentric fixation in 45 upper end of the collet is even
Connect the nearly finger chassis 15；First mechanical finger 46, the second mechanical finger 55 and third mechanical finger 57 circumferentially array
It is installed on the nearly upside disk for referring to chassis 15.
First mechanical finger 46, the second mechanical finger 55 and third mechanical finger 57 respectively include fixed referring to root 13, the
The one dynamic root 3 and second that refers to moves finger root 14；Surely the dynamic dynamic root 14 that refers to of root 3 and second that refers to of root 13, first that refers to is along the nearly finger bottom
The U-shaped body cradle structure of 15 axis of disk circumferentially array distribution；
Surely the dynamic root 3 and second that refers to of root 13, first that refers to moves on finger root 14 including closely referring to cross bar 11；Three nearly fingers
The middle-end of cross bar 11 is articulated and connected with the dynamic dynamic top for referring to root 14 of root 3 and second that refers to of root 13, first that refers to surely respectively；
The nearly both ends for referring to cross bar 11 are respectively inner segment 12 and outer segment 4；The inner segment 12 is leaned on to the nearly finger chassis 15
Nearly center of circle direction extends, and the outer segment 4 extends to closely finger chassis 15 far from center of circle direction；
First mechanical finger 46, the second mechanical finger 55 and third mechanical finger 57 also include nearly finger joint 5, closely refer to
Save connecting rod 6, middle finger joint driving lever 7, middle finger joint 10, middle finger joint connecting rod 8 and remote finger joint 9；
One end of the nearly finger joint 5 is articulated and connected with the nearly stage casing for referring to cross bar 11, and 5 other end of nearly finger joint is common
Be articulated and connected the middle finger joint driving lever 7 one end and middle finger joint 10 one end, the end of the outer segment 4 connects with the nearly finger joint
One end of bar 6 is articulated and connected, and the other end of the nearly finger joint connecting rod 6 is articulated and connected the middle-end of the middle finger joint driving lever 7, described
The other end of middle finger joint driving lever 7 is articulated and connected one end of the middle finger joint connecting rod 8；The other end of the middle finger joint connecting rod 8 is cut with scissors
Connect one end of the remote finger joint 9 in succession, the other end of the middle finger joint 10 is articulated and connected the middle-end of the remote finger joint 9；
12 end of inner segment for pulling downward on three cross bars 11 simultaneously can make the gripper 31 do inwardly crawl dynamic
Make, while pushing up 12 end of inner segment of three cross bars 11, the gripper 31 can be made to do a pawl action.
It is also equipped with the first sliding seat 2 and the second sliding seat 16 on the nearly finger chassis 15, described first dynamic refers to root 3 and the
Two dynamic 14 bottoms of root that refer to are fixedly installed in first sliding seat, 2 and second sliding seat 16；
First sliding seat, 2 and second sliding seat 16 is kidney-shaped block structure, first sliding seat, 2/ second sliding seat
16 are rotatablely connected with the nearly finger chassis 15 by bearing 40 close to nearly 35 bottoms for referring to 15 center of circle of chassis；Described
One sliding seat 2 and the opposite waist side 33 of the second sliding seat 16 are connected by flexible steel wire 32, outside the flexible steel wire 32
Also set is provided with relaxation spring 24, and 16 phases of top pressure the first sliding seat 2 and the second sliding seat are distinguished at 24 both ends of relaxation spring
To waist side 33；Under 32 linear state of flexible steel wire the first sliding seat 2 and the opposite waist side 33 of the second sliding seat 16 it
Between be in 120 angles；
It is additionally provided with pulley base 46 on the inside of the nearly disk for referring to chassis 15, fixed pulley is installed on the pulley base 46
22, further include commutation steel wire 18, the commutation steel wire 18 across the fixed pulley 22, one end of the steel wire 18 that commutates with it is described
The middle part of flexible steel wire 32 is fixedly connected；The extension side of one section of commutation steel wire 18 between the fixed pulley 22 and flexible steel wire 32
To vertical with the flexible steel wire 32；Commutation steel wire 18 can pull into the flexible steel wire 32 of linear state to be bent along midpoint
Broken line；Under 32 broken line state of the flexible steel wire, the first sliding seat 2 and the opposite waist side 33 of the second sliding seat 16 are mutually flat
Row；
It is further fixedly arranged on strip limited block 36, strip between first sliding seat, 2 and second sliding seat 16
The length direction of limited block 36 and the flexible steel wire 32 of linear state are mutually parallel；
The opposite waist side 33 of first sliding seat, 2 and second sliding seat 16 is mutually parallel under state,
The cambered surface at 36 both ends of the limited block limits the first sliding seat 2 of contact respectively and the second sliding seat 16 is opposite
Waist side 33.
It is the column cavity configuration of upper end opening that the 15 concentric hollow out in middle part of the nearly finger chassis, which has circular hole 100, the collet 45,
Collet cylindrical cavity 50 in the collet 45 and 100 concentric setting of the circular hole；It is concentric in the collet cylindrical cavity 50 to set
It is equipped with fixation with steel wire disk 53, gap setting between the fixation with steel wire disk 53 and 50 inner wall of collet cylindrical cavity；
Further include three transmission hard steel wires 52, fixation with steel wire disk described in the lower end synchronized links of three hard steel wires 52
53, three hard steel wires, 52 upper end is respectively fixedly connected with 12 end of inner segment of three cross bars 11；Fixation with steel wire disk
53 move downward 12 end of inner segment for driving three hard steel wires 52 while pulling downward on three cross bars 11, and then make described
Gripper 31 does inside grasping movement.
53 lower end of fixation with steel wire disk is concentric to be fixedly connected with guiding axis 44, and 44 internal run-through of the guiding axis is set
It is equipped with passing channel 51,51 upper end of the passing channel is pierced by from 53 upper surface of fixation with steel wire disk, the passing channel
51 lower ends are connected to the tube chamber 49 of the stock 30, and 44 lower end movable sleeve of the guiding axis is equipped with guideway 43, the guiding axis
It covers the 43 wall coaxial hearts and is fixedly sheathed in 30 head end inner wall of the stock；Return spring 42 is also arranged on the guiding axis 44,
The return spring 42 is set in compression shape between the fixation with steel wire disk 53 and the guideway 43；
Bracing wire connecting rod 23, the tube chamber of the stock 30 are laterally fixedly installed in the passing channel 51 of the guiding axis 44
Further include bracing wire 17 in 49, one end of the bracing wire 17 is fixedly connected with the bracing wire connecting rod 23, the other end of the bracing wire 17
Pull rod 28 at the fixed handle 29, pulling back the pull rod 28 makes bracing wire 17 drive the guiding axis 44 and fixation with steel wire
The displacement together of disk 53；
49 middle part of tube chamber of the stock 30 is concentric to be movably set with commutation guide sleeve 47, and the bracing wire 17 passes through described
The draw cord channel 102 of commutation guide sleeve 47,102 wall of the draw cord channel are further fixedly arranged on rope connection stake 48, the commutation
The other end of steel wire 18 passes through the passing channel 51 and tube chamber 49 and connect stake 48 with the rope and is fixedly connected, the commutation
47 outer wall of guide sleeve is fixedly connected with handle 25；
The stock 30 is located at hollow out on the outer wall at the commutation guide sleeve 47 and is provided with handle guide groove 26, described to have
Handle 25 is active in the handle guide groove 26, and the tail end of the handle guide groove 26 is also vertically installed with handle positioning
Slot 27, pull back the handle 25 flexible steel wire 32 of linear state pulled by the steel wire 18 that commutates it is curved along midpoint
The broken line of folding.
Wherein 52 lower end of hard steel wire in three hard steel wires 52 passes through wearing on the fixation with steel wire disk 53
Via 105 simultaneously connects dish type latch bracket 19, and the latch bracket 19 passes through buffer spring with 53 lower wall of fixation with steel wire disk
20 elastic connections, the elastic buffer structure ensure in the first mechanical finger 46, the second mechanical finger 55 and third mechanical finger 57
One of finger be not rigid clamping, effectively prevent pressing from both sides bad fruit.
First mechanical finger 46, the second mechanical finger 55 and the nearly finger joint 5 on third mechanical finger 57, middle finger joint 10
With the first buffer substrate tablet 39, the second buffer substrate tablet 38 and third buffer substrate tablet for being respectively arranged with soft materials on the inside of the clamping of remote finger joint 9
37, it prevents from fruit to press from both sides bad.
The method of this programme, technological progress arrange as follows：
Gripper pawl method：By the pull rod 28 at handle 29 to being pushed forward, and then fixation with steel wire disk 53 is made to be in freely
State, fixation with steel wire disk 53 moves upwards under the action of return spring 42, and then the drive of fixation with steel wire disk 53 three is hard
Matter steel wire 52 moves upwards, and then three hard steel wires 52 push up 12 end of inner segment of three cross bars 11 simultaneously, can
The gripper 31 is set to do a pawl action；
Gripper grasping means：Pull rod 28 at handle 29 is pulled back, pulling back the pull rod 28 makes 17 band of bracing wire
The dynamic guiding axis 44 and fixation with steel wire disk 53 are together to bottom offset, and then fixation with steel wire disk 53 drives three hard steel wires
52 move downward, and then three hard steel wires 52 pull downward on 12 end of inner segment of three cross bars 11 simultaneously, can make described
Gripper 31 does inwardly crawl spherical fruit 54 and acts；
The commutation method of second mechanical finger 55 and third mechanical finger 57：When needing using parallel crawl, example is clamped
As banana type stick fruit when, pulling back handle 25 makes commutation guide sleeve 47 synchronize rearward displacement, and then guide sleeve
47 affect commutation steel wire 18, make to pull into the flexible steel wire 32 of linear state along midpoint bending under the curbing function for the steel wire 18 that commutates
Broken line, under flexible steel wire 32 inwardly pulling function, so make the first sliding seat 2 and the second sliding seat 16 along bearing 40 revolve
Turn, until the first sliding seat 2 and the opposite waist side 33 of the second sliding seat 16 are gradually converted into phase by being in 120 degree of angles
When mutually parallel, the second mechanical finger 55 and third mechanical finger 57 also synchronous realization commutation, and then make 55 He of the second mechanical finger
The gripping direction of third mechanical finger 57 is state in the same direction, and at the same time, the cambered surface at 36 both ends of limited block limits contact respectively
First sliding seat 2 and the opposite waist side 33 of the second sliding seat 16, at this time limited block 36 prevent the first sliding seat 2 and second
Sliding seat 16 further rotates；The gripper 31 of the state is suitble to the stick fruit of crawl banana type；
When gripper, which needs to be converted to again, to be captured to the heart, such as when clamping apple equal sphere fruit 54, release pulls
Handle 25, under the elastic force effect of relaxation spring 24, flexible steel wire 32 comes back to exceptionally straight linear state, 2 He of the first sliding seat
Second sliding seat 16 relative to waist side 33 be converted between each other into 120 degree of angles automatically by being in by being mutually parallel.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of Handheld fruit picker, which is characterized in that including handle (29), stock (30) and gripper (31)；Institute
The head end for stating stock (30) connects the gripper (31), and the tail end of the stock (30) is connected with the handle (29)；
The gripper (31) includes collet (45), closely refers to chassis (15), the first mechanical finger (46), the second mechanical finger (55)
With third mechanical finger (57)；Collet (45) lower end is fixedly attached the head end of the stock (30), on the collet (45)
It holds and concentric is fixedly connected with the nearly finger chassis (15)；First mechanical finger (46), the second mechanical finger (55) and third
Circumferentially array is installed on the nearly upside disk for referring to chassis (15) to mechanical finger (57).
2. a kind of Handheld fruit picker according to claim 1, it is characterised in that：First mechanical finger
(46), the second mechanical finger (55) and third mechanical finger (57) respectively include fixed finger root (13), the first dynamic finger root (3) and second
It is dynamic to refer to root (14)；Surely root (13), first dynamic root (3) and the second dynamic root (14) that refers to of referring to of referring to is along nearly finger chassis (15) axis
The U-shaped body cradle structure of line circumferentially array distribution；
Described refer to surely on root (13), the first dynamic finger root (3) and the second dynamic finger root (14) includes closely referring to cross bar (11)；Described in three
The middle-end for closely referring to cross bar (11) is cut with scissors with root (13), the first dynamic finger root (3) and the second dynamic top for referring to root (14) of referring to surely respectively
It connects in succession；
The nearly both ends for referring to cross bar (11) are respectively inner segment (12) and outer segment (4)；The inner segment (12) is to the nearly finger chassis
(15) extend close to center of circle direction, the outer segment (4) extends to chassis (15) separate center of circle direction is closely referred to；
First mechanical finger (46), the second mechanical finger (55) and third mechanical finger (57) also include nearly finger joint (5),
Nearly finger joint connecting rod (6), middle finger joint driving lever (7), middle finger joint (10), middle finger joint connecting rod (8) and remote finger joint (9)；
One end of the nearly finger joint (5) is articulated and connected with the nearly stage casing for referring to cross bar (11), and nearly finger joint (5) other end is total
With one end of one end and middle finger joint (10) of the middle finger joint driving lever (7) of being articulated and connected, the end of the outer segment (4) with it is described
One end articulated connection of nearly finger joint connecting rod (6), the other end articulated connection middle finger joint driving lever of the nearly finger joint connecting rod (6)
(7) middle-end, one end of the other end articulated connection middle finger joint connecting rod (8) of the middle finger joint driving lever (7)；The middle finger
Save one end of the other end articulated connection remote finger joint (9) of connecting rod (8), the other end articulated connection institute of the middle finger joint (10)
State the middle-end of remote finger joint (9)；
Inner segment (12) end for pulling downward on three cross bars (11) simultaneously can make the gripper (31) do inwardly crawl dynamic
Make, while pushing up inner segment (12) end of three cross bars (11), the gripper (31) can be made to do a pawl action.
3. a kind of Handheld fruit picker according to claim 2, it is characterised in that：On the nearly finger chassis (15)
It is also equipped with the first sliding seat (2) and the second sliding seat (16), the described first dynamic finger root (3) and second dynamic finger root (14) bottom are solid
Dingan County is loaded on first sliding seat (2) and the second sliding seat (16)；
First sliding seat (2) and the second sliding seat (16) are kidney-shaped block structure, the first sliding seat (2)/second activity
Seat (16) is turned with the nearly finger chassis (15) by bearing (40) close to nearly (35) bottom for referring to chassis (15) center of circle
Dynamic connection；First sliding seat (2) and the opposite waist side (33) of the second sliding seat (16) pass through flexible steel wire (32) even
It connects, the external also set of the flexible steel wire (32) is provided with relaxation spring (24), relaxation spring (24) the both ends difference top pressure the
One sliding seat (2) and the opposite waist side (33) of the second sliding seat (16)；First activity under flexible steel wire (32) linear state
In 120 angles between seat (2) and the opposite waist side (33) of the second sliding seat (16)；
It is additionally provided with pulley base (46) on the inside of the nearly disk for referring to chassis (15), fixed pulley is installed on the pulley base (46)
(22), further include commutation steel wire (18), the commutation steel wire (18) across the fixed pulley (22), the steel wire (18) that commutates
It is fixedly connected in the middle part of one end and the flexible steel wire (32)；One section between the fixed pulley (22) and flexible steel wire (32) is changed
Extending direction to steel wire (18) is vertical with the flexible steel wire (32)；Commutating steel wire (18) can be by the flexibility of linear state
Steel wire (32) pulls into the broken line bent along midpoint；Under flexible steel wire (32) the broken line state, the first sliding seat (2) and second is lived
The opposite waist side (33) of dynamic seat (16) is mutually parallel；
It is further fixedly arranged on strip limited block (36), strip between first sliding seat (2) and the second sliding seat (16)
The length direction of shape limited block (36) and the flexible steel wire (32) of linear state are mutually parallel；
First sliding seat (2) and the opposite waist side (33) of the second sliding seat (16) are mutually parallel under state,
The cambered surface at limited block (36) both ends limits the first sliding seat of contact (2) respectively and the second sliding seat (16) institute is opposite
Waist side (33).
4. a kind of Handheld fruit picker according to claim 3, it is characterised in that：In the nearly finger chassis (15)
It is the column cavity configuration of upper end opening, the collet in the collet (45) that the concentric hollow out in portion, which has circular hole (100), the collet (45),
Cylindrical cavity (50) and the circular hole (100) concentric setting；It is concentric in the collet cylindrical cavity (50) to be provided with fixation with steel wire
Disk (53), gap setting between the fixation with steel wire disk (53) and the collet cylindrical cavity (50) inner wall；
Further include three transmission hard steel wires (52), fixation with steel wire disk described in the lower end synchronized links of three hard steel wires (52)
(53), three hard steel wires (52) upper end is respectively fixedly connected with inner segment (12) end of three cross bars (11)；Steel wire
Fixed disc (53) moves downward the inner segment for driving three hard steel wires (52) while pulling downward on three cross bars (11)
(12) end, and then the gripper (31) is made to do inside grasping movement.
5. a kind of Handheld fruit picker according to claim 4, it is characterised in that：The fixation with steel wire disk
(53) lower end is concentric is fixedly connected with guiding axis (44), and guiding axis (44) internal run-through is provided with passing channel (51),
Passing channel (51) upper end is pierced by from fixation with steel wire disk (53) upper surface, passing channel (51) the lower end connection
The tube chamber (49) of the stock (30), guiding axis (44) lower end movable sleeve are equipped with guideway (43), the guideway
(43) the wall coaxial heart is fixedly sheathed in the stock (30) head end inner wall；It is also arranged with return spring on the guiding axis (44)
(42), the return spring (42) in compression shape be set to the fixation with steel wire disk (53) and the guideway (43) it
Between；
Bracing wire connecting rod (23) is laterally fixedly installed in the passing channel (51) of the guiding axis (44), the stock (30)
Further include bracing wire (17) in tube chamber (49), one end of the bracing wire (17) is fixedly connected with the bracing wire connecting rod (23), the drawing
The other end of line (17) fixes the pull rod (28) at the handle (29), and pulling back the pull rod (28) makes bracing wire (17) drive
The guiding axis (44) and fixation with steel wire disk (53) displacement together；
Concentric in the middle part of the tube chamber (49) of the stock (30) to be movably set with commutation guide sleeve (47), the bracing wire (17) passes through
The draw cord channel (102) of the commutation guide sleeve (47), draw cord channel (102) wall are further fixedly arranged on rope connection stake
(48), the other end of the commutation steel wire (18) passes through the passing channel (51) and tube chamber (49) and connect stake with the rope
(48) it is fixedly connected, commutation guide sleeve (47) outer wall is fixedly connected with handle (25)；
The stock (30) is located at hollow out on the outer wall at the commutation guide sleeve (47) and is provided with handle guide groove (26), described
There is handle (25) to be active in the handle guide groove (26), the tail end of the handle guide groove (26) is also vertically installed with hand
Pull handle locating slot (27) pulls back the handle (25) by the steel wire (18) that commutates by the flexible steel wire of linear state
(32) broken line bent along midpoint is pulled into.
6. a kind of Handheld fruit picker according to claim 5, it is characterised in that：In three hard steel wires (52)
Wherein hard steel wire (52) lower end pass through passing through hole (105) and connecting dish type bullet on the fixation with steel wire disk (53)
Spring bracket (19), the latch bracket (19) pass through buffer spring (20) elastic connection with fixation with steel wire disk (53) lower wall.
7. a kind of Handheld fruit picker according to claim 2, it is characterised in that：First mechanical finger
(46), the nearly finger joint (5) on the second mechanical finger (55) and third mechanical finger (57), middle finger joint (10) and remote finger joint (9)
Clamping inside is respectively arranged with the first buffer substrate tablet (39), the second buffer substrate tablet (38) and third buffer substrate tablet (37) of soft materials.
8. a kind of picking method of Handheld fruit picker according to claim 6, it is characterised in that：
Gripper pawl method：By the pull rod (28) at handle (29) to being pushed forward, so make fixation with steel wire disk (53) be in from
By state, fixation with steel wire disk (53) moves upwards under the action of return spring (42), and then fixation with steel wire disk (53) band
It moves three hard steel wires (52) to move upwards, and then three hard steel wires (52) while pushing up three cross bars (11)
Inner segment (12) end can make the gripper (31) do a pawl action；
Gripper grasping means：Pull rod (28) at handle (29) is pulled back, pulling back the pull rod (28) makes bracing wire
(17) drive the guiding axis (44) and fixation with steel wire disk (53) together to bottom offset, and then fixation with steel wire disk (53) drives
Three hard steel wires (52) move downward, and then three hard steel wires (52) while pulling downward on the interior of three cross bars (11)
Section (12) end can make the gripper (31) do inwardly crawl spherical fruit (54) and act；
The commutation method of second mechanical finger (55) and third mechanical finger (57)：When the stick for needing that such as banana type is clamped
When fruit, pulling back handle (25) makes commutation guide sleeve (47) synchronize rearward displacement, and then guide sleeve (47) affects commutation
Steel wire (18), commutation steel wire (18) curbing function under make the flexible steel wire (32) of linear state pulling into the folding bent along midpoint
Line under flexible steel wire (32) inwardly pulling function, and then makes the first sliding seat (2) and the second sliding seat (16) along bearing
(40) it rotates, until the first sliding seat (2) and the opposite waist side (33) of the second sliding seat (16) are by being in 120 degree of angles
It is gradually converted into when being mutually parallel, the second mechanical finger (55) and third mechanical finger (57) also synchronous realization commutation, and then makes
The gripping direction of second mechanical finger (55) and third mechanical finger (57) is state in the same direction, at the same time, limited block (36)
The cambered surface at both ends limits the first sliding seat of contact (2) and the opposite waist side (33) of the second sliding seat (16), this time limit respectively
Position block (36) prevents the first sliding seat (2) and the second sliding seat (16) from further rotating；The gripper (31) of the state is suitble to
Capture the stick fruit of banana type；
When needing to be converted to clamping spherical fruit (54) again, handle (25) is unclamped, is made in the elastic force of relaxation spring (24)
Under, flexible steel wire (32) comes back to exceptionally straight linear state, and the first sliding seat (2) and the second sliding seat (16) are opposite
Waist side (33) is converted between each other into 120 degree of angles by being in by being mutually parallel automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810340752.0A CN108401667B (en) | 2018-04-17 | 2018-04-17 | Handheld fruit picking device and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810340752.0A CN108401667B (en) | 2018-04-17 | 2018-04-17 | Handheld fruit picking device and method thereof |
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| Publication Number | Publication Date |
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| CN108401667A true CN108401667A (en) | 2018-08-17 |
| CN108401667B CN108401667B (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810340752.0A Active CN108401667B (en) | 2018-04-17 | 2018-04-17 | Handheld fruit picking device and method thereof |
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| CN109757215A (en) * | 2019-02-25 | 2019-05-17 | 武汉理工大学 | A kind of flexible pawl suitable for high-altitude fruit picking bar |
| CN115024086A (en) * | 2022-06-27 | 2022-09-09 | 浙江工贸职业技术学院 | Pineapple picking manipulator |
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| Publication number | Publication date |
|---|---|
| CN108401667B (en) | 2023-06-23 |
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