CN108496539A - One kind is lockable to pack tightly pineapple manipulator - Google Patents
One kind is lockable to pack tightly pineapple manipulator Download PDFInfo
- Publication number
- CN108496539A CN108496539A CN201810407439.4A CN201810407439A CN108496539A CN 108496539 A CN108496539 A CN 108496539A CN 201810407439 A CN201810407439 A CN 201810407439A CN 108496539 A CN108496539 A CN 108496539A
- Authority
- CN
- China
- Prior art keywords
- pineapple
- arc
- tentacle
- spine bar
- correction
- 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.)
- Pending
Links
- 235000007119 Ananas comosus Nutrition 0.000 title claims abstract description 81
- 244000099147 Ananas comosus Species 0.000 title 1
- 241000234671 Ananas Species 0.000 claims abstract description 83
- 239000002356 single layer Substances 0.000 claims description 10
- 208000007623 Lordosis Diseases 0.000 claims description 8
- 239000010410 layer Substances 0.000 claims description 7
- 238000000465 moulding Methods 0.000 claims description 4
- 230000006378 damage Effects 0.000 abstract description 5
- 238000003306 harvesting Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- De-Stacking Of Articles (AREA)
Abstract
One kind is lockable to pack tightly pineapple manipulator, including the double-deck arc tentacle, and grain surface belt corrects arc plate, riser, spine bar, pawl and mounting bracket.The double-deck arc tentacle is located at top and lower section, and grain surface belt is located between one layer of arc tentacle, and is connected with spine bar；Spine bar is located at rear in arc tentacle, and is matched with two pawls；Correction arc plate is connected with riser, is located in front of arc tentacle.Compared with prior art, the present invention drives arc tentacle to pack tightly pineapple using grain surface belt, forms face contact, reduces the damage to pineapple, increase the fault-tolerance of manipulator；Using correction arc plate, the pineapple that the double-deck tentacle adapts to different inclined degrees automatically is facilitated, the fault-tolerance of manipulator is further increased；Using spine bar click-fit, realize unidirectional locked；Connected with correction arc plate using riser, eliminates interference problem of the pineapple plant leaves to the double-deck tentacle.Solves key problem for pineapple picking machine.
Description
Technical field
It is especially a kind of that very little, fault-tolerance are damaged to pineapple the present invention relates to a kind of pineapple picker that orchard worker uses
Prodigious pineapple picking mechanical arm.
Background technology
Country pineapple is main at present or human hand is picked, and takes time and effort, and pineapple only has the harvest of or so two weeks high
The peak phase needs a large amount of manpower that can harvest numerous pineapples, the burden of people is very often in the harvest peak period of pineapple
Greatly, a kind of auxiliary pineapple picker is needed, and it is often to clamp the manipulator of pineapple to assist the core of pineapple picker.
Manipulator in the market about picking pineapple is seldom, some only pineapple picking mechanical arms are past when clamping pineapple
Toward prodigious damage can be caused to pineapple, the preservation of pineapple is directly affected；And such picking mechanical arm, which exists, is clamping pineapple
Pineapple can not be locked in the process, pineapple can slide, hypsokinesis and the problem of pick unsuccessfully；Moreover, such picking mechanical arm exists
Pineapple size, inclined direction and angle be different etc. to be considered less, is merely able to the pineapple of the good size of single clamped design,
It is not of uniform size can not to adapt to pineapple, inclined direction is different when growth, and angle of inclination different problems cannot put into reality well
In the application of border.
Invention content
The purpose of the present invention is to propose to it is a kind of it is lockable pack tightly pineapple manipulator, different size can be adapted to automatically, it is different
Highly, the pineapple of different inclined degrees, and be bonded and pack tightly pineapple, manipulator when picking pineapple drops to most the injury of pineapple
It is low.
The present invention is achieved by the following technical solutions.
One kind of the present invention is lockable to pack tightly pineapple manipulator, is divided into upper layer and lower layer fixture, structure is completely the same.
Single-layer fixture includes flexible paste molding block, rectification module, row's interference module and locked module.
The flexible paste molds block, including two pieces of left arc tentacles, two pieces of right arc tentacles, spine bar lordosis and grain surface belt.
The left and right that left and right arc tentacle is located at single-layer fixture is connected by pin with the mounting bracket at rear, and arc is according to each portion of pineapple
Divide the fitting of diameter difference, is fitted；Spine bar lordosis is located among single-layer fixture, can be moved forward and backward on sliding rail with spine bar；
Grain surface belt and right arc tentacle, spine bar lordosis, left arc tentacle is affixed by Screw, forms a flexible fit area, initially
Flexible fit area is wider, and as fixture touches pineapple, flexible fit area is gradually reduced as pineapple enters, and realizes pineapple
Automatic attaching pack tightly, have larger fault-tolerance.Double-layer clamp has flexibility fit area at upper and lower two, can automatically adapt to not
Level pineapple.
The rectification module is located in front of flexible paste molding block, including left correction arc plate（21）, right correction arc plate（22）, use
In certain angles of inclination are excessive, the pineapple correction certain angle of single-layer fixture fault-tolerance is had exceeded so that it can enter flexible
It is bonded module.
Row's interference module includes two pieces of risers being bolted respectively with two or so correction arc plates（31）, make
With to separate pineapple leaf and pineapple, enter rectification module convenient for pineapple, and excludes the shadow that pineapple leaves pack tightly fixture pineapple
It rings.
The locked module includes spine bar, pawl and mounting bracket.Spine bar is located among single-layer fixture, is pushed by pineapple
When, it can be moved forward and backward by the sliding rail on mounting bracket；Pawl is fixedly mounted on pin, and two pawls are located at the two of spine bar
Side, when spine bar retreats, two pawls are pushed aside by ratchet, and after pineapple is packed tightly i.e. spine bar arrival forward stroke limit, pawl supports
Firmly ratchet.It acts as realizing to pack tightly the locked of pineapple, prevent it from sliding back and forth.
The invention has the advantages that the present invention realizes automatic adaptation different size, different height, different inclined degrees
Pineapple, have larger fault-tolerance, and face formula fitting pack tightly pineapple, damage when greatly reducing picking to pineapple.This
Invention packs tightly pineapple by arc tentacle, grain surface belt fitting, forms face contact, reduces the damage to pineapple, mechanical handbag
The double-deck fixture is included, two parts up and down of pineapple is packed tightly respectively, significantly increases the fault-tolerance of manipulator；It is auxiliary using correction arc plate
It has helped the double-deck fixture to adapt to the pineapple of different inclined degrees automatically, has further increased the fault-tolerance of manipulator；Using spine bar pawl
Cooperation realizes unidirectional locked, pineapple sliding when eliminating standard machinery hand folder pineapple and the defect that can not clamp；Using riser
Connect with correction arc plate, eliminates interference problem of the pineapple plant leaves to the double-deck tentacle.The present invention solves for pineapple picking machine
Key problem.
Description of the drawings
Fig. 1 is vertical view of the present invention.
Fig. 2 is shaft side figure of the present invention.
1 molds block for flexible paste in figure, and 11 be left arc tentacle, and 12 be right arc tentacle, and 13 be grain surface belt, and 14 be spine bar
Lordosis, 2 be rectification module, and 21 be left correction arc plate, and 22 be right correction arc plate, and 3 be row's interference module, and 31 be riser, and 4 be locked
Module, 41 be spine bar, and 42 be pawl, and 43 be mounting bracket.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clearly complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
The lockable pineapple machinery hand that packs tightly includes left correction arc plate 21, right correction arc plate 22, two pieces of risers, 31,4 left arcs
41,4 pawls 42 of 11,4 right arc tentacles of shape tentacle and two spine bars, two pieces of grain surface belts 13.Two spine bars 41 are initially pushed into
Front end, makes grain surface belt 13 be in relaxation state, and ratchet and 4 pawls 42 are in disengaged position.When work, it is located at double-deck touch
In front of hand, the Liang Shu Broad-rice-noodles 31 being connect with correction arc plate separate pineapple fruit and surrounding leaf, enter correction convenient for it
Region.After pineapple enters corrected zone, inclined degree, which does not influence the pineapple that the fitting of grain surface belt 12 packs tightly, will not touch left rectify
Positive arc plate 21, right correction arc plate 22, is directly entered flexible fit area, is contacted with spine bar lordosis 14；, inclined pineapple will be
Corrected zone touches 21 or right correction arc plate 22 of left correction arc plate, and then is corrected by arc plate arc, into flexible fit area.
Two spine bars 41, by pusher, are pulled grain surface belt 13 to make its contraction, the Double-layer clamp formed by arc tentacle by the reaction force of pineapple
Tool start drawn close to center, major diameter pineapple contacts first with left arc tentacle 11 or right arc tentacle 12, later by with control
The connected grain surface belt 13 of arc tentacle is bonded.The pineapple of general size then can push spine bar 41 in centre, so that with bilayer
The grain surface belt 13 of tentacle connection is gradually drawn close to pineapple, until touching fitting packs tightly pineapple, after pineapple is bonded and is packed tightly, spine bar
41 are clasped by the pawl 42 of both sides, lock, pineapple is made firmly to be adjacent to by the double-deck tentacle, until pineapple is broken disconnected and reaches appropriate position
When setting, compression bar pushes pawl aside, discharges pineapple.
Claims (1)
1. one kind is lockable to pack tightly pineapple manipulator, it is characterized in that being divided into upper layer and lower layer fixture, structure is identical；Single-layer fixture packet
Include flexible paste molding block, rectification module, row's interference module and locked module；
The flexible paste molds block, including two pieces of left arc tentacles, two pieces of right arc tentacles, spine bar lordosis and grain surface belt；Left and right
Arc tentacle is located at the left and right of single-layer fixture, is connected with the mounting bracket at rear by pin, and arc is according to pineapple each section
Diameter difference is fitted；Spine bar lordosis is located among single-layer fixture, can be moved forward and backward on sliding rail with spine bar；Grain surface belt with
Right arc tentacle, spine bar lordosis, left arc tentacle are affixed by Screw, form a flexible fit area, initial flexibility fitting
Region is wider, and as fixture touches pineapple, flexible fit area is gradually reduced as pineapple enters, and realizes the automatic patch of pineapple
Conjunction packs tightly；Double-layer clamp has flexibility fit area at upper and lower two, can adapt to the pineapple of different height automatically；
The rectification module is located in front of flexible paste molding block, including left correction arc plate, right correction arc plate, is used for angle of inclination
It is excessive, the pineapple correction angle of single-layer fixture fault-tolerance is had exceeded so that it can mold block into flexible paste；
Row's interference module include two pieces respectively with two or so the risers that are bolted of correction arc plates, by pineapple leaf with
Pineapple separates；
The locked module includes spine bar, pawl and mounting bracket；Spine bar is located among single-layer fixture, when being pushed by pineapple, leads to
The sliding rail crossed on mounting bracket is moved forward and backward；Pawl is fixedly mounted on pin, and two pawls are located at the both sides of spine bar, in spine bar
When retrogressing, two pawls are pushed aside by ratchet, and after pineapple is packed tightly, pawl resists ratchet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810407439.4A CN108496539A (en) | 2018-05-02 | 2018-05-02 | One kind is lockable to pack tightly pineapple manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810407439.4A CN108496539A (en) | 2018-05-02 | 2018-05-02 | One kind is lockable to pack tightly pineapple manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108496539A true CN108496539A (en) | 2018-09-07 |
Family
ID=63399890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810407439.4A Pending CN108496539A (en) | 2018-05-02 | 2018-05-02 | One kind is lockable to pack tightly pineapple manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108496539A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901339A (en) * | 2018-09-17 | 2018-11-30 | 桂林电子科技大学 | Portable pineapple picker |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR940018006A (en) * | 1993-01-16 | 1994-08-16 | 차홍진 | Harvester |
| JPH08154449A (en) * | 1994-12-07 | 1996-06-18 | Harutoshi Nakahira | Fruit picking implement |
| CN101019485A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of strobile picking robot and its control method |
| CN102907213A (en) * | 2012-11-01 | 2013-02-06 | 华南农业大学 | Picking actuating mechanism used at tail end of pineapple picking mechanical arm |
| CN103688657A (en) * | 2013-12-10 | 2014-04-02 | 华南农业大学 | Device and method for automatically picking pineapples |
| CN105493751A (en) * | 2015-12-18 | 2016-04-20 | 重庆农正农业开发有限公司 | Citrus picking device |
| CN106416621A (en) * | 2016-09-29 | 2017-02-22 | 南京信息职业技术学院 | Automatic collecting vehicle for tropical pineapple green picking |
| CN208370260U (en) * | 2018-05-02 | 2019-01-15 | 南昌大学 | One kind is lockable to pack tightly pineapple manipulator |
-
2018
- 2018-05-02 CN CN201810407439.4A patent/CN108496539A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR940018006A (en) * | 1993-01-16 | 1994-08-16 | 차홍진 | Harvester |
| JPH08154449A (en) * | 1994-12-07 | 1996-06-18 | Harutoshi Nakahira | Fruit picking implement |
| CN101019485A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of strobile picking robot and its control method |
| CN102907213A (en) * | 2012-11-01 | 2013-02-06 | 华南农业大学 | Picking actuating mechanism used at tail end of pineapple picking mechanical arm |
| CN103688657A (en) * | 2013-12-10 | 2014-04-02 | 华南农业大学 | Device and method for automatically picking pineapples |
| CN105493751A (en) * | 2015-12-18 | 2016-04-20 | 重庆农正农业开发有限公司 | Citrus picking device |
| CN106416621A (en) * | 2016-09-29 | 2017-02-22 | 南京信息职业技术学院 | Automatic collecting vehicle for tropical pineapple green picking |
| CN208370260U (en) * | 2018-05-02 | 2019-01-15 | 南昌大学 | One kind is lockable to pack tightly pineapple manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901339A (en) * | 2018-09-17 | 2018-11-30 | 桂林电子科技大学 | Portable pineapple picker |
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