CN108702937A - A kind of more bar metamorphic mechanisms fruit picking apparatus - Google Patents
A kind of more bar metamorphic mechanisms fruit picking apparatus Download PDFInfo
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- CN108702937A CN108702937A CN201810657610.7A CN201810657610A CN108702937A CN 108702937 A CN108702937 A CN 108702937A CN 201810657610 A CN201810657610 A CN 201810657610A CN 108702937 A CN108702937 A CN 108702937A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 19
- 230000008859 change Effects 0.000 claims abstract description 22
- 230000001105 regulatory effect Effects 0.000 claims description 15
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004224 protection Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Crystals, And After-Treatments Of Crystals (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of more bar metamorphic mechanisms fruit picking apparatus, including recessed collet extra block, recessed collet, recessed collet extra block is bolted to connection with recessed collet, recessed collet is connect with upper connecting rod A by shaft, recessed collet is connect with upper connecting rod B by shaft, it is connect by axis pin with spring clamp block A in the middle part of upper connecting rod A, it is connect by axis pin with change born of the same parents' baffle B in the middle part of upper connecting rod B, the lower ends upper connecting rod A are connect with change born of the same parents' limited block A and change born of the same parents' baffle A by axis pin, become born of the same parents' baffle A and become born of the same parents' limited block A and is connect by axis pin with the upper ends lower link A, lower link A is connect with spring clamp block A by axis pin.The present invention increases a pair of of passive constraint bar in more bar metamorphic mechanisms, solve the problems, such as that collision makes original Deformation Member caused by branch during winning, passive constraint bar enhances the rigidity of more bar metamorphic mechanisms, ensure that the stationarity of more bar metamorphic mechanisms during the motion.The present invention is easy to operate, service life is long and is picked suitable for various fruits.
Description
Technical field
The invention belongs to indirect labor's picked technology fields, and in particular to a kind of more bar metamorphic mechanisms fruit picking apparatus.
Background technology
For the dispersion cultivation in domestic orchard, the height of tree is different, the problem of disharmony between agricultural machinery agronomy, in recent years
China's picking mechanical is rapidly developed, but there are costs that higher, complicated for operation, mechanical structure is easily damaged etc. asks for overall development
Topic.Device for picking complicated for operation is difficult left-hand seat, influences fruit picking cost.
During winning, the frequent fruit periphery branch of picking mechanism of device for picking mutually collides, the picking machine of device for picking
Structure is generally link mechanism composition, is easily deformed when by larger external force.It can influence the coherent and accuracy of grasping movement.
Meanwhile fruit stalk is pullled during winning, so that the Impact direction of picking mechanism is deviateed mechanism center shaft line direction, is easy pair
Picking mechanism damages, and influences the service life of picking mechanism.
Therefore, the fruit picking apparatus that easy to operate, of low cost, service life is long and is picked suitable for various fruits is developed
It is very necessary.
Invention content
The purpose of the present invention is to provide a kind of more bar metamorphic mechanisms fruit picking apparatus, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides the following technical solutions：A kind of more bar metamorphic mechanisms fruit picking apparatus, including
Recessed collet extra block, upper connecting rod A, upper connecting rod B, becomes born of the same parents' baffle A, becomes born of the same parents' baffle B, becomes born of the same parents' limited block B, spring clamp recessed collet
Block B, spring clamp block A, become born of the same parents' spring B, become born of the same parents' spring A, spring clamp block D, spring clamp block C, become born of the same parents' limited block A, lower company
Bar B, lower link A, passive constraint bar, short connecting rod, upper connector, body, interior bar spring, clamp hand seat, outer bar, interior bar, sliding slot are adjusted
Part, sliding block, lower connector, sliding slot limited block, interdigitated electrode structure blade, convex collet, collects connecting rod, recessed collet extra block at top shoe
It is bolted to connection with recessed collet, recessed collet embeds bearing, and recessed collet is connect with upper connecting rod A by shaft, and upper connecting rod A is set
There are regulating tank, recessed collet to be connect by shaft with upper connecting rod B, upper connecting rod B is equipped with regulating tank, the middle parts upper connecting rod A and spring clamp
Block A is connected by axis pin, in the middle part of upper connecting rod B with become born of the same parents' baffle B and connect by axis pin, the lower ends upper connecting rod A and change born of the same parents' limited block A with
And become born of the same parents' baffle A and connected by axis pin, become born of the same parents' baffle A and change born of the same parents' limited block A is connect with the upper ends lower link A by axis pin, under
Connecting rod A is connect with spring clamp block A by axis pin；Spring clamp block A determines the heavy of spring position with spring clamp block C intermediate finites
Head bore, spring clamp block A and spring clamp block C are fixed on born of the same parents' spring A is become in counter sink, and are bolted；Lower link A
Middle part is connect with one end of passive constraint bar and short connecting rod by axis pin, and the short connecting rod other end is connected with upper connector by axis pin
It connects, upper connector is fixedly connected with interior bar by screw；The lower ends upper connecting rod B pass through pin with change born of the same parents' limited block B and change born of the same parents' baffle B
Axis connection, becomes born of the same parents' baffle B and change born of the same parents' limited block B is connect with the upper ends lower link B by axis pin, and lower link B and spring clamp block B is logical
Axis pin connection is crossed, spring clamp block B determines the counter sink of spring position, spring clamp block B and bullet with spring clamp block D intermediate finites
Spring gripping block D is fixed on born of the same parents' spring B is become in counter sink, and is bolted；Upper connector is equipped with adjustment hole, interior bar bullet
Spring is sleeved on interior bar upper end, and interior bar spring upper end is fixedly connected with upper connector, and interior bar lower spring end is fixedly connected with clamp hand seat；Under
The lower ends connecting rod A are connected with body is adjusted by shaft, are adjusted embedding bearing, lower link A in vivo and are equipped with regulating tank；In the middle part of lower link B with
Short connecting rod is connected by axis pin, and the lower ends lower link B are connected with body is adjusted by shaft, and lower link B is equipped with regulating tank；Adjust body
It is bolted with clamp hand seat, adjusts body and be equipped with regulating tank；Clamp hand seat is fixedly connected with outer bar upper end, outer bar lower end and sliding slot
Part is fixedly connected, and top shoe and sliding block are sleeved on spout, sliding block lower end and lower connector sliding contact, lower connector with
Interior bar is fixedly connected by screw, and lower connector is equipped with adjustment hole, and spout lower end is bolted with sliding slot limited block
Connection；Interdigitated electrode structure blade is bolted to connection with convex collet, convex collet and recessed collet be symmetrically distributed in clamp hand seat it is vertical in
The both sides of the axis of the heart, convex collet embed bearing, collect connecting rod and are bolted to connection with clamp hand seat.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention increases a pair of of passive constraint bar in more bar metamorphic mechanisms, solves and is collided caused by branch during winning
The problem of making original Deformation Member, passive constraint bar effectively enhance the rigidity of more bar metamorphic mechanisms, ensure that more bar metamorphic mechanisms
Stationarity during the motion.More bar metamorphic mechanisms are the improvement on four-bar mechanism, and the application of more bar metamorphic mechanisms is played
The effect of protection cleft hand connecting rod, avoid leads to pawl because parallelogram lindage is by outer force effect in entire win in action
Hand connecting rod is easy the phenomenon that bending or fracture.The intermittent movement of indexing mechanism is preferably utilized to control slide bar rocking bar in the present invention
The displacement of slide bar in mechanism, the movement of slide bar rocker device drive the movement of more bar metamorphic mechanisms, to which control entirely wins portion
The opening and closing divided.Part connecting rod is won in more bar metamorphic mechanisms protections, is avoided because what parallelogram lindage formed wins portion
The shortcomings that dividing tuning performance poor, and connecting rod caused to be easy bending or fracture.A kind of more bar metamorphic mechanisms fruit picking apparatus can be used
In the picking of different landforms fruit, device is easy to operate, highly reliable.
Description of the drawings
Fig. 1 is the more bar metamorphic mechanisms fruit picking apparatus structural schematic diagrams of the present invention；
Fig. 2 is the Structure explosion diagram of upper end change born of the same parents' connecting rod in overall structure of the present invention；
Fig. 3 is the Structure explosion diagram of the middle-end clamp hand seat and surrounding mechanics in overall structure of the present invention；
Fig. 4 is that the lower end in overall structure of the present invention manipulates part-structure explosive view.
In figure：The recessed collet extra blocks of 1-, the recessed collets of 2-, 3- upper connecting rod A, 4- upper connecting rods B, 5- become born of the same parents' baffle A, 6- and become born of the same parents' gear
Plate B, 7- become born of the same parents' limited block B, 8- spring clamp block B, 9- spring clamp block A, 10- and become born of the same parents' spring B, 11- change born of the same parents' spring A, 12- bullets
Spring gripping block D, 13- spring clamp block C, 14- become born of the same parents' limited block A, 15- lower link B, 16- lower link A, 17- passive constraint bar, 18-
Short connecting rod, 19- upper connectors, 20- adjust body, 21- interior bars spring, 22- clamp hands seat, 23- outer bars, 24- interior bars, 25- sliding slots
Connector, 29- sliding slots limited block, 30- interdigitated electrode structures blade, the convex collets of 31-, 32- under part, 26- top shoes, 27- sliding blocks, 28-
Collect connecting rod.
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 clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 4 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of more bar metamorphic mechanisms fruit picking apparatus, including it is recessed
Collet extra block 1, upper connecting rod A3, upper connecting rod B4, becomes born of the same parents' baffle A5, becomes born of the same parents' baffle B6, becomes born of the same parents' limited block B7, spring recessed collet 2
Gripping block B8, spring clamp block A9, become born of the same parents' spring B 10, become born of the same parents' spring A11, spring clamp block D12, spring clamp block C13, become
Born of the same parents' limited block A14, it lower link B15, lower link A16, passive constraint bar 17, short connecting rod 18, upper connector 19, adjusts body 20, is interior
Bar spring 21, clamp hand seat 22, outer bar 23, interior bar 24, spout 25, top shoe 26, sliding block 27, lower connector 28, sliding slot limit
Position block 29, convex collet 31, collects connecting rod 32, recessed collet extra block 1 and 2 company of being bolted of recessed collet at interdigitated electrode structure blade 30
Connect, recessed collet 2 embeds bearing, and recessed collet 2 is connect with upper connecting rod A3 by shaft, upper connecting rod A3 be equipped with regulating tank, recessed collet 2 with
Upper connecting rod B4 is connected by shaft, and upper connecting rod B4 is equipped with regulating tank, is connected by axis pin with spring clamp block A9 in the middle part of upper connecting rod A3
It connects, is connect by axis pin with change born of the same parents' baffle B6 in the middle part of upper connecting rod B4, the lower ends upper connecting rod A3 and change born of the same parents' limited block A14 and change born of the same parents' gear
Plate A5 is connected by axis pin, becomes born of the same parents' baffle A5 and change born of the same parents' limited block A14 is connect with the upper ends lower link A16 by axis pin, lower company
Bar A16 is connect with spring clamp block A9 by axis pin；Spring clamp block A9 determines spring position with spring clamp block C13 intermediate finites
Counter sink, spring clamp block A9 and spring clamp block C13 are fixed on born of the same parents' spring A11 is become in counter sink, and are connected by bolt
It connects；Connect by axis pin with one end of passive constraint bar 17 and short connecting rod 18 in the middle part of lower link A16,18 other end of short connecting rod and
Upper connector 19 is connected by axis pin, and upper connector 19 is fixedly connected with interior bar 24 by screw；The lower ends upper connecting rod B4 and change born of the same parents
Limited block B7 and change born of the same parents' baffle B6 are connected by axis pin, are become born of the same parents' baffle B6 and are become born of the same parents' limited block B7 and lead to the upper ends lower link B15
Axis pin connection is crossed, lower link B15 is connect with spring clamp block B8 by axis pin, in spring clamp block B8 and spring clamp block D12
Between there is the counter sink for limiting spring position, spring clamp block B8 and spring clamp block D12 to be fixed on counter sink by born of the same parents' spring B 10 is become
In, and be bolted；Upper connector 19 is equipped with adjustment hole, and interior bar spring 21 is sleeved on 24 upper end of interior bar, interior bar spring 21
Upper end is fixedly connected with upper connector 19, and 21 lower end of interior bar spring is fixedly connected with clamp hand seat 22；The lower ends lower link A16 and adjusting
Body 20 is connected by shaft, is adjusted body 20 and is embedded bearing, lower link A16 is equipped with regulating tank；The middle parts lower link B15 and short connecting rod
18 are connected by axis pin, and the lower ends lower link B15 are connected with body 20 is adjusted by shaft, and lower link B15 is equipped with regulating tank；Adjust body
20 and clamp hand seat 22 be bolted, adjust body 20 be equipped with regulating tank；Clamp hand seat 22 is fixedly connected with 23 upper end of outer bar, outer bar
23 lower ends are fixedly connected with spout 25, and top shoe 26 is sleeved on sliding block 27 on spout 25,27 lower end of sliding block and lower company
28 sliding contact of fitting, lower connector 28 are fixedly connected with interior bar 24 by screw, and lower connector 28 is equipped with adjustment hole, sliding slot
25 lower end of part is bolted to connection with sliding slot limited block 29；Interdigitated electrode structure blade 30 and 31 company of being bolted of convex collet
It connecing, convex collet 31 is symmetrically distributed in the both sides of the axis at 22 vertical center of clamp hand seat with recessed collet 2, and convex collet 31 embeds bearing,
Connecting rod 32 is collected to be bolted to connection with clamp hand seat 22.
Operation principle：Top shoe 26 pulls moving down for sliding block 27 under the downward pulling force effect of human hand, glides
Block 27 drives lower connector 28 to move down, and lower connector 28 drives interior bar 24 to move down, and interior bar 24 drives upper connector 19
It moves down, upper connector 19 drives the swing of lower link A16, lower link A16 drives entirely to win portion by short connecting rod 18
More bar metamorphic mechanisms movements, realization are divided to win process.The reset of interior bar spring 21 drives upper connector 19 to move upwards so that whole
A direction of motion carries out in the opposite direction, since the structure feature of sliding block 27 can cause entire mechanism that cannot finally reset completely,
It can ensure that the fruit of picking will not be fallen down from the opening won in part.It repeats the above steps so that win part and close
It closes.The reset of interior bar spring 21 makes the entire direction of motion carry out in the opposite direction, wins part and returns to initial open configuration,
Fruit is removed, is ready to win process next time.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (1)
1. a kind of more bar metamorphic mechanisms fruit picking apparatus, including recessed collet extra block (1), recessed collet (2), upper connecting rod A (3), on
Connecting rod B (4), become born of the same parents' baffle A (5), become born of the same parents' baffle B (6), become born of the same parents' limited block B (7), spring clamp block B (8), spring clamp block A
(9), become born of the same parents' spring B (10), become born of the same parents' spring A (11), spring clamp block D (12), spring clamp block C (13), become born of the same parents' limited block A
(14), lower link B (15), lower link A (16), passive constraint bar (17), short connecting rod (18), upper connector (19), adjusting body
(20), interior bar spring (21), clamp hand seat (22), outer bar (23), interior bar (24), spout (25), top shoe (26), sliding block
(27), lower connector (28), sliding slot limited block (29), interdigitated electrode structure blade (30), convex collet (31), collection connecting rod (32), it is special
Sign is：Recessed collet extra block (1) is bolted to connection with recessed collet (2), and recessed collet (2) embeds bearing, recessed collet (2)
It is connect by shaft with upper connecting rod A (3), upper connecting rod A (3) is equipped with regulating tank, and recessed collet (2) is connected with upper connecting rod B (4) by shaft
It connects, upper connecting rod B (4) is equipped with regulating tank, is connect by axis pin with spring clamp block A (9) in the middle part of upper connecting rod A (3), upper connecting rod B (4)
Middle part is connect with born of the same parents' baffle B (6) is become by axis pin, (3) lower ends upper connecting rod A and change born of the same parents' limited block A (14) and change born of the same parents' baffle A
(5) it is connected by axis pin, becomes born of the same parents' baffle A (5) and change born of the same parents' limited block A (14) is connect with lower link A (16) upper end by axis pin,
Lower link A (16) is connect with spring clamp block A (9) by axis pin；Have among spring clamp block A (9) and spring clamp block C (13)
The counter sink of spring position is limited, spring clamp block A (9) and spring clamp block C (13) will become born of the same parents' spring A (11) and be fixed on countersunk head
Kong Zhong, and be bolted；One end in the middle part of lower link A (16) with passive constraint bar (17) and short connecting rod (18) passes through axis pin
Connection, short connecting rod (18) other end are connect with upper connector (19) by axis pin, and upper connector (19) passes through with interior bar (24)
Screw is fixedly connected；(4) lower ends upper connecting rod B are connect with change born of the same parents' limited block B (7) and change born of the same parents' baffle B (6) by axis pin, and born of the same parents are become
Baffle B (6) and change born of the same parents' limited block B (7) are connect with lower link B (15) upper end by axis pin, lower link B (15) and spring clamp block
B (8) is connected by axis pin, and spring clamp block B (8) determines the counter sink of spring position, bullet with spring clamp block D (12) intermediate finite
Spring gripping block B (8) and spring clamp block D (12) will become born of the same parents' spring B (10) and be fixed in counter sink, and be bolted；On
Connector (19) is equipped with adjustment hole, and interior bar spring (21) is sleeved on interior bar (24) upper end, interior bar spring (21) upper end and upper connection
Part (19) is fixedly connected, and interior bar spring (21) lower end is fixedly connected with clamp hand seat (22)；(16) lower ends lower link A and adjusting body
(20) it is connected by shaft, adjusts body (20) and embed bearing, lower link A (16) is equipped with regulating tank；In the middle part of lower link B (15) with it is short
Connecting rod (18) is connected by axis pin, and (15) lower ends lower link B are connected with body (20) is adjusted by shaft, and lower link B (15) is set
There is regulating tank；It adjusts body (20) and clamp hand seat (22) is bolted, adjust body (20) and be equipped with regulating tank；Clamp hand seat (22) and
Outer bar (23) upper end is fixedly connected, and outer bar (23) lower end is fixedly connected with spout (25), top shoe (26) and sliding block (27)
It is sleeved on spout (25), sliding block (27) lower end and lower connector (28) sliding contact, lower connector (28) and interior bar (24)
It is fixedly connected by screw, lower connector (28) is equipped with adjustment hole, and spout (25) lower end passes through with sliding slot limited block (29)
Bolt is fixedly connected；Interdigitated electrode structure blade (30) is bolted to connection with convex collet (31), convex collet (31) and recessed collet (2)
The both sides of the axis at the vertical center of clamp hand seat (22) are symmetrically distributed in, convex collet (31) embeds bearing, collects connecting rod (32) and folder
Hand seat (22) is bolted to connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657610.7A CN108702937B (en) | 2018-06-25 | 2018-06-25 | Multi-rod metamorphic mechanism fruit picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657610.7A CN108702937B (en) | 2018-06-25 | 2018-06-25 | Multi-rod metamorphic mechanism fruit picking device |
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| Publication Number | Publication Date |
|---|---|
| CN108702937A true CN108702937A (en) | 2018-10-26 |
| CN108702937B CN108702937B (en) | 2024-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810657610.7A Active CN108702937B (en) | 2018-06-25 | 2018-06-25 | Multi-rod metamorphic mechanism fruit picking device |
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