CN108522007B - Dragon fruit picking device - Google Patents
Dragon fruit picking device Download PDFInfo
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- CN108522007B CN108522007B CN201810265669.1A CN201810265669A CN108522007B CN 108522007 B CN108522007 B CN 108522007B CN 201810265669 A CN201810265669 A CN 201810265669A CN 108522007 B CN108522007 B CN 108522007B
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- clamping
- clamping hand
- dragon fruit
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- blade
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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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- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a dragon fruit picking device, which comprises: a frame; each clamping hand is provided with a concave cambered surface; one end of each clamping hand is arranged on the rack in a mode of rotating left and right, and the two clamping hands are distributed left and right in a mode of opposite concave cambered surfaces; the dragon fruit scissors comprise two blades which are higher than the clamping hand, and the two blades are distributed left and right in a mode that the cutting edges are opposite; the blade positioned on the left side is fixedly connected with the clamping hand positioned on the left side, and the blade positioned on the right side is fixedly connected with the clamping hand positioned on the right side; and the driving mechanism is used for driving the two clamping hands to rotate in the opposite direction or in the opposite direction. According to the invention, when the two clamping hands are used for closely wrapping the dragon fruits, the two blades are used for shearing the connection between the dragon fruits and the branches, so that the dragon fruits can be conveniently and quickly picked, and the dragon fruits can be effectively prevented from falling underground.
Description
Technical Field
The invention relates to the field of dragon fruits, in particular to a dragon fruit picking device.
Background
Pitaya is a plant of the family Cactaceae, genus Petasites, the fruit of which is ripe in summer and autumn, sweet in taste, and juicy. In addition, the dragon fruit is rich in nutrition and unique in function, and contains plant albumin, anthocyanin, abundant vitamins and water-soluble dietary fibers which are few in common plants. Therefore, the dragon fruit not only has sweet taste, but also has high nutritive value, and integrates the advantages of fruits, flower buds, vegetables and medicines.
At present, when the dragon fruits are picked, the fruits are held by one hand of a worker, and then the positions where the fruits are connected with branches are cut off by the other hand by using a cutter. Therefore, the dragon fruits are inconvenient to pick, time and labor are wasted, and the dragon fruits can fall onto the ground to be damaged by carelessness.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a dragon fruit picking device, so that the defects that the existing dragon fruit picking process is time-consuming and labor-consuming and the dragon fruit is easy to damage are overcome.
In order to achieve the above object, the present invention provides a dragon fruit picking device, wherein the dragon fruit picking device comprises: a frame; each clamping hand is provided with a concave cambered surface; one end of each clamping hand is arranged on the rack in a mode of rotating left and right, and the two clamping hands are distributed left and right in a mode of opposite concave cambered surfaces; the dragon fruit scissors comprise two blades which are higher than the clamping hand, and the two blades are distributed left and right in a mode that the cutting edges are opposite; the blade positioned on the left side is fixedly connected with the clamping hand positioned on the left side, and the blade positioned on the right side is fixedly connected with the clamping hand positioned on the right side; and the driving mechanism is used for driving the two clamping hands to rotate in the opposite direction or in the opposite direction.
Preferably, in the above technical solution, a cushion pad is laid on the concave arc surface of each clamping hand.
Preferably, in the above technical scheme, each clamping hand includes a plurality of arc-shaped clamping pieces distributed in parallel from top to bottom, and two adjacent arc-shaped clamping pieces from top to bottom are connected through the pillar.
Preferably, in the above technical solution, the two blades are staggered from top to bottom.
Preferably, in the above technical solution, a middle portion of each of the blades is bent upward
Preferably, in the above technical solution, one end of each of the clamping hands is rotatably disposed on the frame through two hinge lugs distributed up and down.
Preferably, in the above technical solution, one end of each of the two blades is fixed to the hinge lug above the clamping hand located on the same side of the blade by welding.
Preferably, in the above technical solution, the driving mechanism includes: the hinged lugs above the two clamping hands are fixedly connected with one gear respectively, and the two gears are arranged on the rack in a rotatable mode through one gear shaft respectively; the two gears are meshed with each other; and the power mechanism is connected with one gear shaft.
Preferably, in the above technical solution, the power mechanism is a motor disposed on the frame.
Compared with the prior art, the invention has the following beneficial effects:
the two blades of the dragon fruit picker are respectively fixed on the two clamping hands, the two clamping hands and the two blades are synchronously opened and closed, when the two clamping hands close and wrap the dragon fruit, the two blades cut off the connection between the dragon fruit and the branches, the dragon fruit picker can conveniently and quickly pick the dragon fruit, and can effectively prevent the dragon fruit from falling to the ground so as to avoid the damage of the dragon fruit.
Drawings
Fig. 1 is a schematic structural view of a dragon fruit picking device according to the invention.
Fig. 2 is a schematic view of the structure of the blade and the clamping hand according to the invention.
Description of the main reference numerals:
1-a frame, 2-a connecting plate, 3-a clamping hand, 4-an arc clamping piece, 5-a supporting column, 6-a buffer cushion, 7-a hinge lug, 8-a gear, 9-a gear shaft, 10-a motor, 11-a blade and 12-a welding block.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Fig. 1 to 2 show a schematic structural view of a dragon fruit picking device according to a preferred embodiment of the present invention, which comprises a frame 1, a holding hand 3, dragon fruit scissors and a driving mechanism. Referring to fig. 1, a rack 1 is used to support the entire apparatus, which may be manipulated by a human or an automated device. For example, when the frame 1 is disposed on a robot arm, the frame 1 is provided with a connecting plate 2, and the connecting plate 2 is provided with a mounting hole for mounting on the robot arm. Two clamping hands 3 are arranged on the machine frame 1, and each clamping hand 3 is provided with a concave cambered surface. One end of each clamping hand 3 is arranged on the machine frame 1 in a mode of rotating left and right, and the two clamping hands 3 are distributed left and right in a mode of opposite concave cambered surfaces. Two centre gripping hands 3 realize the switching through rotating in opposite directions or back of the body mutually, just can wrap up and clip the dragon fruit through two concave cambered surfaces when two centre gripping hands 3 close. Preferably, each clamping hand 3 comprises a plurality of arc-shaped clamping pieces 4 distributed in parallel up and down, and two adjacent arc-shaped clamping pieces 4 up and down are connected through a supporting column 5. The concave arc surfaces of all the arc-shaped clamping pieces are combined into a concave arc surface of the clamping hand 3, the clamping hand 3 is composed of a plurality of arc-shaped clamping pieces 4, the weight can be reduced, and the obstruction of branches is reduced. In addition, preferably, the concave arc surface of each clamping hand 3 is paved with a buffer pad 6, and the dragon fruit can be prevented from being damaged when being clamped by the buffer pad 6.
With continued reference to fig. 1, the dragon fruit scissors comprise two blades 11 higher than the clamping hand 3, and the two blades 11 are distributed left and right in a manner that the cutting edges are opposite; the blade 11 on the left side is fixedly connected with the clamping hand 3 on the left side, and the blade 11 on the right side is fixedly connected with the clamping hand 3 on the right side. When two centre gripping hands 3 move towards each other or back to each other, just enable two blades 11 and also move towards each other or back to make centre gripping hand 3 and blade 11 can carry out the switching in step, two blades 11 are closed just can cut off the connection of dragon fruit and branch. Preferably, the two blades 11 are arranged offset from each other, i.e. one blade 11 is higher than the other blade 11, and when the two blades 11 are completely closed, the two blades 11 are overlapped together. It is further preferred that the middle portion of each blade 11 is bent upward to increase the distance between the cutting edge of the blade 11 and the upper end of the clamping hand 3 to ensure more convenient cutting of the dragon fruit and protection of the branches.
Referring to fig. 1 and 2, one end of each of the holding hands 3 is preferably rotatably mounted on the frame 1 by two hinge lugs 7 arranged one above the other. One end of each of the two hinge lugs 7 is fixed on the upper side and the lower side of one end of the clamping hand 3, and the other end of each hinge lug 7 is arranged on the rack 1 in a rotatable manner. When the clamping hand 3 is composed of the arc-shaped clamping pieces 4 and the supporting columns 4, the two hinge lugs 7 are respectively connected with the uppermost arc-shaped clamping piece 4 and the lowermost arc-shaped clamping piece 4 of the clamping hand 3, and each hinge lug 7 and the corresponding arc-shaped clamping piece 4 can be integrally formed. Preferably, one end of each of the two blades 11 is fixed to the hinge lug 7 above the clamping hand 3 on the same side thereof by welding. Each blade 11 and the corresponding hinge lug 7 are welded together through a welding block 12, the upper end of the welding block 12 is welded with the blade 11, and the lower end of the welding block is welded with the hinge lug 7.
With continued reference to fig. 1, the driving mechanism is used to drive the two clamping hands 3 to rotate towards or away from each other, and the two clamping hands 3 can drive the two blades 11 to rotate synchronously when rotating. Preferably, the driving mechanism comprises two gears 8 and a power mechanism, the hinge lugs 7 above the two clamping hands 3 are fixedly connected with one gear 8 respectively, and the two gears 8 are arranged on the frame 1 in a rotatable manner through one gear shaft 9 respectively; the two gears 8 mesh with each other. The power mechanism is connected with one of the gear shafts 9. Further preferably, the power mechanism is a motor 10 disposed on the frame 1. The motor 10 drives one of the gears 8 to rotate through the corresponding gear shaft 9, and the other gear 8 can rotate in the opposite direction, so that the two clamping hands 3 and the two blades 11 rotate in the opposite direction or in the opposite direction, and the opening and closing of the two clamping hands 3 and the two blades 11 are controlled.
The two blades 11 are respectively fixed on the two clamping hands 3, the two clamping hands 3 and the two blades 11 are synchronously opened and closed, when the two clamping hands 3 are closed to wrap and clamp the dragon fruit, the two blades 11 cut off the connection between the dragon fruit and the branches, the clamping and cutting of the dragon fruit can be simultaneously completed, so that the dragon fruit can be conveniently and quickly picked, and the dragon fruit is clamped by the clamping hands 3, so that the dragon fruit can be effectively prevented from falling to the underground, and the damage of the dragon fruit is avoided.
The intelligent picking machine can be connected to a mechanical arm with a vision system, and is connected with the mechanical arm through the connecting plate 2, so that the intelligent picking machine can be combined with an external vision system and the mechanical arm to form complete, accurate and controllable intelligent picking equipment. When the vision system positions the cutting point position of the dragon fruit and the equivalent long axis of the dragon fruit, the information is transmitted to the computer control system, the computer control system controls the mechanical arm to move, when the clamping hand 3 moves to a set distance from the dragon fruit, the control system automatically adjusts the axis of the clamping hand 3 to be parallel to the equivalent long axis of the dragon fruit, at the moment, the control motor 10 is started, the two gears 8 rotate to enable the two clamping hands 3 and the two blades 11 of the dragon fruit scissors to be opened simultaneously, when the clamping hand is opened to a set included angle, the mechanical arm controls the clamping hand 3 and the blades 11 to slowly approach the dragon fruit, when the bending part of the dragon fruit scissors and the axis of the clamping hand 3 are respectively superposed with the cutting point and the equivalent long axis of the dragon fruit, the computer control system controls the motor 10 to be started again, the two gears 8 rotate reversely, the two blades 11 and the two clamping hands of the dragon fruit scissors are closed, so as to simultaneously perform shearing and grasping, thereby completing the picking of the dragon fruit.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (2)
1. The utility model provides a device is picked to dragon fruit which characterized in that includes:
a frame;
each clamping hand is provided with a concave cambered surface; one end of each clamping hand is arranged on the rack in a mode of rotating left and right, and the two clamping hands are distributed left and right in a mode of opposite concave cambered surfaces; a buffer pad is laid on the concave cambered surface of each clamping hand; each clamping hand comprises a plurality of arc-shaped clamping pieces which are distributed in parallel up and down, and two adjacent arc-shaped clamping pieces up and down are connected through a supporting column; one end of each clamping hand is rotatably arranged on the rack through two hinge lugs which are distributed up and down;
the dragon fruit scissors comprise two blades which are higher than the clamping hand, and the two blades are distributed left and right in a mode that the cutting edges are opposite; the blade positioned on the left side is fixedly connected with the clamping hand positioned on the left side, and the blade positioned on the right side is fixedly connected with the clamping hand positioned on the right side; the middle part of each blade is bent upwards; one end of each blade is fixed on the hinge lug above the clamping hand positioned on the same side with the blade in a welding mode; and
the driving mechanism is used for driving the two clamping hands to rotate in the opposite direction or in the opposite direction; the drive mechanism includes: the hinged lugs above the two clamping hands are fixedly connected with one gear respectively, and the two gears are arranged on the rack in a rotatable mode through one gear shaft respectively; the two gears are meshed with each other; the power mechanism is connected with one gear shaft; the power mechanism is a motor arranged on the rack.
2. The dragon fruit picking device according to claim 1, wherein the two blades are staggered up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810265669.1A CN108522007B (en) | 2018-03-28 | 2018-03-28 | Dragon fruit picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810265669.1A CN108522007B (en) | 2018-03-28 | 2018-03-28 | Dragon fruit picking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108522007A CN108522007A (en) | 2018-09-14 |
| CN108522007B true CN108522007B (en) | 2022-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810265669.1A Active CN108522007B (en) | 2018-03-28 | 2018-03-28 | Dragon fruit picking device |
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| CN (1) | CN108522007B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109451989A (en) * | 2018-11-28 | 2019-03-12 | 无锡职业技术学院 | A kind of modularization picking mechanical arm and its telescoping mechanism |
| CN110012728A (en) * | 2019-05-07 | 2019-07-16 | 仲恺农业工程学院 | A kind of banana picking auxiliary device |
| CN110140515A (en) * | 2019-06-27 | 2019-08-20 | 长江师范学院 | Pineapple picker |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106134638B (en) * | 2016-08-30 | 2019-01-11 | 广东省农业科学院果树研究所 | A kind of Fruit-picking mechanical arm |
| CN206149880U (en) * | 2016-09-30 | 2017-05-10 | 广西壮族自治区农业科学院园艺研究所 | Simple and convenient dragon fruit picker |
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| CN108522007A (en) | 2018-09-14 |
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