CN108781748B - A pick equipment for agricultural fruit is picked - Google Patents
A pick equipment for agricultural fruit is picked Download PDFInfo
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- CN108781748B CN108781748B CN201810499074.2A CN201810499074A CN108781748B CN 108781748 B CN108781748 B CN 108781748B CN 201810499074 A CN201810499074 A CN 201810499074A CN 108781748 B CN108781748 B CN 108781748B
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- fixedly connected
- picking
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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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- 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
- A01D46/243—Accessories specially adapted for manual picking, e.g. ladders, carts
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- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to the technical field of agriculture, and discloses picking equipment for picking agricultural fruits, which comprises a control cylinder, wherein the top of the control cylinder is fixedly connected with a hollow connecting rod, one end of the hollow connecting rod, which is far away from the control cylinder, is fixedly connected with a picking manipulator, the bottom of the inner side of the picking manipulator is fixedly connected with a reset connecting structure, the top of the reset connecting structure is fixedly connected with a protective base, the top of the picking manipulator is provided with a cutting device, the inner side of the hollow connecting rod is provided with a connecting rope, the inner side wall of the control cylinder is provided with a limiting connecting device, and the bottom of the inner side of the control cylinder is provided with a connecting and regulating device. According to the fruit picking machine, the control cylinder, the hollow connecting rod, the picking manipulator, the reset connecting structure, the protective base, the cutting device, the connecting rope, the limiting connecting device and the connecting regulation and control device are arranged to be matched with each other, so that fruits are effectively picked, and an operator can conveniently pick the fruits.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to picking equipment for picking agricultural fruits.
Background
The planting of agricultural fruit trees needs to invest in a large amount of labor force, people often adopt a fruit picker to pick apples or pears for fruits on fruit trees, and for example, the authorized bulletin number is: a fruit picker in CN 206923312U, introduce in the description that current fruit picker can not effectual going on to the cutting of fruit root, because the root is too hard when picking the fruit, and can not effectual harvesting, set up tongs and cutting knife on the fruit picker and cut the root of fruit, but it is when picking the fruit, the cutting knife easily produces to touch the damage to the fruit surface, can reduce the price of fruit after the surface production of fruit touches the damage, the income of fruit grower has been reduced, so need a fruit picker to carry out safe effectual harvesting to the fruit, the damage rate that the fruit was picked is reduced.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides picking equipment for picking agricultural fruits, which solves the problem that the existing picking device for picking agricultural fruits is easy to generate touch damage on the surfaces of the fruits.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a pick equipment for agricultural fruit is picked, is including controlling a section of thick bamboo, the hollow connecting rod of top fixedly connected with of controlling a section of thick bamboo, hollow connecting rod is keeping away from the one end fixedly connected with of controlling a section of thick bamboo and is picking the manipulator, the inboard bottom fixedly connected with connection structure that resets of picking the manipulator, the top fixedly connected with protection base of connection structure that resets, the top of picking the manipulator is provided with tailors and cuts the device, the inboard of hollow connecting rod is provided with the connection rope, the inside wall of controlling a section of thick bamboo is provided with spacing connecting device, the inboard bottom of controlling a.
Preferably, the picking manipulator comprises a fixed base, a left picking claw, a right picking claw and a rope guide groove, the hollow connecting rod is far away from the one end fixedly connected with picking manipulator which controls the barrel, the hollow connecting rod is far away from one end which controls the barrel and passes through the bolt fixedly connected with fixed base, the left side and the right side of the fixed base are respectively and movably connected with the left picking claw and the right picking claw through a pin shaft, and the rope guide groove is formed in the side face, back to back, of the left picking claw and the right picking claw.
Preferably, the reset connection structure comprises a transverse connection bottom plate, a transverse sliding chute, a connection through hole, a sliding chute block, a limit baffle, a reset spring, a reset rope, a circular connection ring and a picking rope, the inner bottom of the picking manipulator is fixedly connected with the reset connection structure, the reset connection structure is fixedly connected to the middle position of the upper surface of the fixed base, the inner bottom of the picking manipulator is fixedly connected with the transverse connection bottom plate, the upper surface of the transverse connection bottom plate is provided with the transverse sliding chute, the middle position of the inner bottom of the transverse sliding chute is provided with the connection through hole, the sliding chute block is movably connected in the transverse sliding chute, the two sliding chute blocks are arranged in bilateral symmetry relative to the center of the transverse sliding chute, the inner side of the transverse sliding chute is fixedly connected with two limit baffles, the two limit baffles are arranged in bilateral symmetry relative to the center, rope connect the through hole has all been seted up to the side that spacing baffle is relative, fixedly connected with reset spring between spacing baffle and the spout piece that corresponds each other, the rope is picked to the equal fixed connection in the side that two spout pieces carried on the back mutually, the equal fixedly connected with rope that resets in the side that two spout pieces are relative, two rope connect the through hole and the circular go-between of fixedly connected with are run through respectively in the one end of keeping away from the spout piece to two ropes that reset, circular go-between is located connect the through hole directly over.
Preferably, the cutting and cutting device comprises a rectangular groove, ball sliding grooves, rectangular push-pull blocks, movable balls, connecting springs and cutting blades, the cutting and cutting device is arranged at the top of the picking manipulator, the rectangular grooves are formed in the opposite side surfaces of the tops of the left picking claw and the right picking claw, the ball sliding grooves are formed in the tops and the bottoms of the inner sides of the two rectangular grooves, the rectangular push-pull blocks are arranged on the inner sides of the two rectangular grooves, the movable balls are movably connected to the tops and the bottoms of the rectangular push-pull blocks respectively and are located on the inner sides of the corresponding ball sliding grooves, the connecting springs are fixedly connected to the side surfaces of the rectangular push-pull blocks, one ends of the connecting springs, far away from the rectangular push-pull blocks, are fixedly connected to the inner side walls of the rectangular grooves, the cutting blades are fixedly connected to the side surfaces, far away from the connecting springs, the two, the picking rope extends out of the inner side of the transverse sliding groove at one end far away from the sliding groove block, penetrates through the inner side wall through hole of the fixed base, the inner sides of the rope guide groove and the rectangular groove and is fixedly connected to the side face of the rectangular push-pull block.
Preferably, the limiting and connecting device comprises transverse fixing rods, a positioning pulley, a C-shaped limiting sheet, a fixing ring, a pressing groove, a pressing button, a movable connecting rod, a connecting pulley and a C-shaped connecting sheet, the inner side wall of the control cylinder is provided with the limiting and connecting device, the inner wall of the left side of the control cylinder is fixedly connected with the fixing ring, the inner wall of the left side of the control cylinder is fixedly connected with two transverse fixing rods, the fixing ring is positioned below the two transverse fixing rods, one ends of the two transverse fixing rods, far away from the control cylinder, are both movably connected with the positioning pulley through pin shafts, the pin shafts on the two positioning pulleys are both fixedly connected with the C-shaped limiting sheet, the right side of the control cylinder is provided with the pressing groove, the inner side wall of the pressing groove is movably connected with the pressing button, the movable connecting rod is fixedly connected with the middle position of the, the movable connecting rod is movably connected with a connecting pulley through a pin shaft, the pin shaft on the connecting pulley is fixedly connected with a C-shaped connecting sheet, and the connecting pulley is positioned between the two positioning pulleys.
Preferably, connect regulation and control device including adjusting thread piece, adjusting bolt, universal connection bulb and regulation pull ring, the inboard bottom of controlling a section of thick bamboo is provided with connects regulation and control device, the bottom fixedly connected with adjusting thread piece of controlling a section of thick bamboo, threaded through hole has been seted up on the adjusting thread piece, the bottom of controlling a section of thick bamboo is seted up the through-hole that is linked together with threaded through hole, threaded through hole inner wall threaded connection on the adjusting thread piece has adjusting bolt, adjusting bolt runs through threaded through hole and through-hole and extends to the inner circle of controlling a section of thick bamboo, adjusting bolt is in the one end fixedly connected with universal connection bulb of controlling a section of thick bamboo inner circle, universal connection bulb fixedly connected with regulation pull ring, it is located.
Preferably, the one end of connecting the rope runs through the inboard bottom of hollow connecting rod and the top of controlling a section of thick bamboo and extends to the inner chamber of controlling a section of thick bamboo, and the one end from the top down of connecting the rope in the inner chamber of controlling a section of thick bamboo runs through the positioning pulley who is located the top in proper order, connects pulley, the positioning pulley who is located the below and adjust the pull ring and fixed winding on solid fixed ring, and the other end of connecting the rope runs through the inboard top and unable adjustment base of hollow connecting rod and fixed winding on circular go-between.
Preferably, the side surfaces of the left picking claw and the right picking claw are fixedly connected with protective pads, the protective pads can adopt flexible rubber pads, and the protective pads are bonded with the left picking claw and the right picking claw.
The working principle is as follows: when the device is used, the pressing button of the limiting connecting device is pressed, the pressing button acts on the connecting pulley through the movable connecting rod, so that the connecting pulley pushes and compresses the connecting rope, the connecting rope is limited through the two positioning pulleys, the connecting rope is tensioned and contracted, the connecting rope pulls the reset rope through the circular connecting ring, the circular connecting ring moves downwards, the reset rope pulls the chute block, the chute block pulls the picking rope, the picking rope pulls the rectangular push-pull block, the rectangular push-pull block acts on the connecting spring, the connecting spring is compressed, when the movable balls at the top and the bottom of the rectangular push-pull block move in the ball chute until the movable balls move to one end of the inner side of the ball chute, at the moment, the cutting blade is retracted to the inner side of the rectangular groove by the rectangular push-pull block, the cutting blade is prevented from touching the surface of damaged fruits, and the rectangular push, under the pulling of picking the rope, left side is picked the claw and is picked the claw to the both sides pulling with the right side, make the picking manipulator expand, snatch the fruit, get the back when the fruit is got by the clamp, loosen and press the button, reset spring and connecting spring's answer elasticity acts on the connecting rope simultaneously, the connecting rope acts on the connecting pulley, make and press the button answer normal position, can also pack up the blade of tailorring and cutting the device and hide when the user expandes the picking manipulator through pressing the button, after the fruit was snatched, loosen and press the button, picking manipulator answer normal position, two are tailor the blade of tailorring of cutting the device and tailor the root of fruit simultaneously under connecting spring's answer elasticity effect.
(III) advantageous effects
The invention provides a picking device for picking agricultural fruits. The method has the following beneficial effects:
(1) the invention is characterized in that a control cylinder, a hollow connecting rod, a picking manipulator, a reset connecting structure, a protective base, a cutting device, a connecting rope, a limit connecting device and a connection regulating device are arranged and matched with each other, when the device is used, a pressing button of the limit connecting device is pressed and acts on the connecting pulley through a movable connecting rod, so that the connecting pulley pushes and compresses the connecting rope, the connecting rope is limited through two positioning pulleys, the connecting rope is tensioned and contracted, the connecting rope pulls the reset rope through a circular connecting ring, the circular connecting ring moves downwards, the reset rope pulls a sliding groove block, the sliding groove block pulls the picking rope, the picking rope pulls a rectangular push-pull block, the rectangular push-pull block acts on a connecting spring, the connecting spring is compressed, and when movable balls at the top and the bottom of the rectangular push-pull block move in a ball sliding groove, until the movable ball moves to one end of the inner side of the ball sliding groove, the cutting blade is retracted to the inner side of the rectangular groove by the rectangular push-pull block at the moment, the cutting blade is prevented from touching and damaging the surface of a fruit, the rectangular push-pull block is limited, the left picking claw and the right picking claw are pulled towards two sides under the pulling of the picking rope, the picking manipulator is unfolded to grab the fruit, when the fruit is clamped, the pressing button is loosened, the restoring elastic force of the reset spring and the connecting spring simultaneously acts on the connecting rope, the connecting rope acts on the connecting pulley to restore the original position of the pressing button, the cutting blade of the cutting device can be folded and hidden when a user unfolds the picking manipulator through the pressing button, after the fruit is grabbed, the pressing button is loosened to restore the original position of the picking manipulator, the cutting blades of the two cutting devices simultaneously cut the root of the fruit under the restoring elastic force of the connecting spring, effectual picking the fruit, protect the surface of fruit simultaneously, same power supply acts on simultaneously picking manipulator and tailors and cut the device, and the operator of being convenient for uses the harvesting of fruit.
(2) The invention is provided with the control cylinder, the limit connecting device and the connection regulating device which are mutually matched, when equipment is used, the size of the fruit can be picked as required or the size of the root of the fruit is picked, the opening size of the top of the picking manipulator is adjusted, the adjusting bolt is rotated, the adjusting bolt drives the universal connecting ball head to move downwards through the adjusting thread block, the universal connecting ball head acts on the adjusting pull ring, the adjusting pull ring pulls the connecting rope downwards, the connecting rope is limited by the two positioning pulleys and the connecting pulley, the stability of rope adjustment is ensured, the connecting rope pulls the picking claw and the right picking claw to the left side and the right side through the reset connecting structure and the cutting and cutting device, the opening of the top of the picking manipulator is increased, a user can press the pressing button when the picking equipment is used, and the labor intensity of the user is reduced.
(3) According to the invention, the control barrel and the limiting connecting device are matched with each other, when the device is used, the pressing button presses in the pressing groove, the pressing button acts on the connecting pulley through the movable connecting rod, the connecting pulley moves towards the left side, the connecting pulley and the C-shaped connecting sheet are matched with each other to prevent the connecting rope from deviating, the connecting pulley pushes the connecting rope to move towards the right side, the two positioning pulleys and the C-shaped limiting sheet both limit the connecting rope, the contraction length of the connecting rope push is increased, the connecting rope can conveniently act on the picking manipulator to be unfolded through the reset connecting structure and the cutting device, and the pressing distance of an operator when the device is used is reduced.
(4) According to the fruit cutting device, the cutting device and the reset connecting structure are matched with each other, when the equipment is used, the reset connecting structure is connected with the cutting device through the picking rope for driving, the reset connecting structure transmits pressing force applied to an operator through the connecting rope, the picking rope is pulled by the sliding groove block, the picking rope pulls the cutting device to contract, the cutting blade is collected into the inner side of the rectangular groove through the rectangular push-pull block to prevent the cutting blade from damaging the surface of a fruit, after the reset connecting structure returns to the original position, the restoring elastic force of the connecting spring acts on the rectangular push-pull block, so that the rectangular push-pull block pushes the cutting blade to cut the root of the fruit, the two cutting blades are distributed in a staggered mode to be beneficial to cutting the root of the fruit, and the fruit is picked more effectively.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic view of the connection structure of the manipulation cylinder and the hollow connecting rod according to the present invention;
FIG. 4 is a schematic view of the connection between the manipulation barrel and the limiting connection device according to the present invention;
FIG. 5 is a schematic view of the connection between the manipulation barrel and the connection control device according to the present invention;
FIG. 6 is a schematic view of the connection structure of the picking manipulator and the hollow connecting rod of the present invention;
FIG. 7 is a schematic view of the reset connection structure of the present invention;
fig. 8 is an enlarged view of fig. 6 at a.
In the figure: 1 control cylinder, 2 hollow connecting rods, 3 picking manipulator, 31 fixed base, 32 left picking claw, 33 right picking claw, 34 rope guide groove, 4 reset connecting structure, 41 transverse connecting bottom plate, 42 transverse sliding groove, 43 connecting through hole, 44 sliding groove block, 45 limit baffle plate, 46 reset spring, 47 reset rope, 48 circular connecting ring, 49 picking rope, 5 protective base, 6 cutting device, 61 rectangular groove, 62 ball sliding groove, 63 rectangular push-pull block, 64 movable ball, 65 connecting spring, 66 cutting blade, 7 connecting rope, 8 limit connecting device, 81 transverse fixing rod, 82 positioning pulley, 83C type limit sheet, 84 fixing ring, 85 pressing groove, 86 pressing button, 87 movable connecting rod, 88 connecting pulley, 89C type connecting sheet, 9 connection regulating device, 91 regulating thread block, 92 regulating bolt, 93 universal connecting ball head, 94 adjust the tab.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 8, the present invention provides a technical solution: a picking device for picking agricultural fruits comprises a control barrel 1, a hollow connecting rod 2 is fixedly connected to the top of the control barrel 1, a picking manipulator 3 is fixedly connected to one end, far away from the control barrel 1, of the hollow connecting rod 2, the picking manipulator 3 comprises a fixed base 31, a left picking claw 32, a right picking claw 33 and a rope guide groove 34, the picking manipulator 3 is fixedly connected to one end, far away from the control barrel 1, of the hollow connecting rod 2, the fixed base 31 is fixedly connected to one end, far away from the control barrel 1, of the hollow connecting rod 2, the left picking claw 32 and the right picking claw 33 are movably connected to the left side and the right side of the fixed base 31 respectively through pin shafts, the rope guide groove 34 is formed in the side face, back to back, of the left picking claw 32 and the right picking claw 33, a protective pad is fixedly connected to the side face of the left picking claw 32 and the right picking claw, the connection between the protective pad and the left picking claw 32 and the right picking claw 33 is bonding.
The inner bottom of the picking manipulator 3 is fixedly connected with a reset connecting structure 4, the reset connecting structure 4 comprises a transverse connecting bottom plate 41, a transverse sliding groove 42, a connecting through hole 43, a sliding groove block 44, a limiting partition plate 45, a reset spring 46, a reset rope 47, a circular connecting ring 48 and a picking rope 49, the inner bottom of the picking manipulator 3 is fixedly connected with the reset connecting structure 4, the reset connecting structure 4 is fixedly connected at the middle position of the upper surface of the fixed base 31, the inner bottom of the picking manipulator 3 is fixedly connected with the transverse connecting bottom plate 41, the upper surface of the transverse connecting bottom plate 41 is provided with the transverse sliding groove 42, the middle position of the inner bottom of the transverse sliding groove 42 is provided with the connecting through hole 43, the sliding groove block 44 is movably connected in the transverse sliding groove 42, the inner side of the transverse sliding groove 42 is fixedly connected with two limiting blocks opposite to the sliding groove block 44, the limiting blocks are used for limiting the transverse position limits of the sliding groove blocks 44 at the two ends of the inner side of the transverse sliding groove 42, the two sliding groove blocks 44 are arranged in bilateral symmetry about the center of the transverse sliding groove 42, the two limiting partition plates 45 are fixedly connected to the inner side of the transverse sliding groove 42, the two limiting partition plates 45 are arranged in bilateral symmetry about the center of the transverse sliding groove 42, the two limiting partition plates 45 are respectively arranged in one-to-one correspondence with the two sliding groove blocks 44, rope connecting through holes are formed in the opposite side surfaces of the limiting partition plates 45, return springs 46 are fixedly connected between the mutually corresponding limiting partition plates 45 and the sliding groove blocks 44, when the picking manipulator 3D is in a closed state, the return springs 46 are in a compressed state, picking ropes 49 are fixedly connected to the opposite side surfaces of the two sliding groove blocks 44, the picking ropes 49 can be made of flexible metal ropes, and the return, the reset ropes 47 can be flexible metal ropes, and one ends of the two reset ropes 47 far away from the chute block 44 respectively penetrate through the two rope connecting through holes and are fixedly connected with circular connecting rings 48, and the circular connecting rings 48 are positioned right above the connecting through holes 43.
The top of the reset connecting structure 4 is fixedly connected with a protective base 5, the protective base 5 is made of flexible rubber materials, the bottom of picked fruits is protected by the protective base 5, the fruits are prevented from being bruised by the inner wall of the picking manipulator 3, the top of the picking manipulator 3 is provided with a cutting device 6, the cutting device 6 comprises a rectangular groove 61, a ball sliding groove 62, a rectangular push-pull block 63, a movable ball 64, a connecting spring 65 and a cutting blade 66, the top of the picking manipulator 3 is provided with the cutting device 6, the opposite sides of the tops of the left picking claw 32 and the right picking claw 33 are respectively provided with the rectangular groove 61, the tops and the bottoms of the two rectangular grooves 61 are respectively provided with the ball sliding groove 62, the inner sides of the two rectangular grooves 61 are respectively provided with the rectangular push-pull block 63, the tops and the bottoms of the rectangular push-pull blocks 63 are respectively and movably connected with the movable ball 64, and the movable balls, the ball sliding groove 62 also plays a role in limiting the rectangular push-pull block 63, the side surface of the rectangular push-pull block 63 is fixedly connected with a connecting spring 65, one end of the connecting spring 65 far away from the rectangular push-pull block 63 is fixedly connected with the inner side wall of the rectangular groove 61, the side surface of the rectangular push-pull block 63 far away from the connecting spring 65 is fixedly connected with a cutting blade 66, the original state of the connecting spring 65 in the rectangular groove 61 is a compressed state, the return elastic force of the connecting spring 65 after being compressed when the device is used is increased, the cutting of fruit rootstocks by the cutting blade 66 is facilitated, two corresponding cutting blades 66 on the two rectangular push-pull blocks 63 are distributed in a staggered mode, the original state of the cutting blades 66 is that one end far away from the rectangular push-pull block 64 extends to the inner side 3-4 mm opposite to the rectangular groove 61, the two cutting blades 66 are matched with each other to cut the, the picking rope 49 extends out of the inner side of the transverse sliding chute 42 at one end far away from the sliding chute block 44, then penetrates through the through hole of the inner side wall of the fixed base 31, the rope guide groove 34 and the inner side of the rectangular groove 61 and is fixedly connected to the side surface of the rectangular push-pull block 63.
The inner side of the hollow connecting rod 2 is provided with a connecting rope 7, the connecting rope 7 can be a flexible metal rope, the inner side wall of the control cylinder 1 is provided with a limiting connecting device 8, the limiting connecting device 8 comprises a transverse fixing rod 81, a positioning pulley 82, a C-shaped limiting sheet 83, a fixing ring 84, a pressing groove 85, a pressing button 86, a movable connecting rod 87, a connecting pulley 88 and a C-shaped connecting sheet 89, the inner side wall of the control cylinder 1 is provided with the limiting connecting device 8, the inner side wall of the left side of the control cylinder 1 is fixedly connected with the fixing ring 84, the inner side wall of the left side of the control cylinder 1 is fixedly connected with two transverse fixing rods 81, the fixing ring 84 is positioned below the two transverse fixing rods 81, one ends of the two transverse fixing rods 81 far away from the control cylinder 1 are movably connected with the positioning pulley 82 through pin shafts, the pin shafts on the two positioning pulleys 82 are fixedly connected, prevent to connect rope 7 and produce the activity off normal, two positioning pulley 82 are mutual parallel arrangement, it presses down recess 85 to have seted up on the right side of controlling a section of thick bamboo 1, the inside wall swing joint who presses down recess 85 presses button 86, press down the left surface intermediate position fixedly connected with swing joint pole 87 of button 86, swing joint pole 87 runs through the inside wall that presses recess 85 and extends to the inboard of controlling a section of thick bamboo 1 keeping away from the one end of pressing button 86, swing joint pole 87 has connection pulley 88 through round pin axle swing joint, the epaxial round pin axle fixedly connected with C type connection piece 89 of connection pulley 88, C type connection piece 89 is mutually supported with connection pulley 88 and is carried on spacingly to connecting rope 7, prevent to connect rope 7 and produce the activity skew, it is located between two positioning pulley 82 to.
The bottom of the inner side of the control cylinder 1 is provided with a connection regulation device 9, the connection regulation device 9 comprises an adjusting thread block 91, an adjusting bolt 92, a universal connecting ball head 93 and an adjusting pull ring 94, the bottom of the inner side of the control cylinder 1 is provided with the connection regulation device 9, the bottom of the control cylinder 1 is fixedly connected with the adjusting thread block 91, the adjusting thread block 91 is provided with a thread through hole, the bottom of the control cylinder 1 is provided with a through hole communicated with the thread through hole, the inner wall of the thread through hole on the adjusting thread block 91 is in thread connection with the adjusting bolt 92, the adjusting bolt 92 penetrates through the thread through hole and the through hole and extends to the inner ring of the control cylinder 1, one end of the adjusting bolt 92 at the inner ring of the control cylinder 1 is fixedly connected with the universal connecting ball head 93, the universal connecting ball head 93 is fixedly connected with an adjusting pull ring 94, the adjusting pull ring 94 is positioned under the two positioning pulleys 82, one end of, one end of the connecting rope 7 in the inner cavity of the control cylinder 1 sequentially penetrates through the positioning pulley 82, the connecting pulley 88, the positioning pulley 82 and the adjusting pull ring 94 from top to bottom and is fixedly wound on the fixing ring 84, and the other end of the connecting rope 7 penetrates through the top of the inner side of the hollow connecting rod 2 and the fixing base 31 and is fixedly wound on the round connecting ring 48.
The working principle is as follows: when the device is used, the pressing button 86 of the limiting connecting device 8 is pressed, the pressing button 86 acts on the connecting pulley 88 through the movable connecting rod 87, so that the connecting pulley 88 pushes and compresses the connecting rope 7, the connecting rope 7 is limited through the two positioning pulleys 82, so that the connecting rope 7 is tensioned and contracted, the connecting rope 7 pulls the resetting rope 47 through the circular connecting ring 48, the circular connecting ring 48 moves downwards, the resetting rope 47 pulls the chute block 44, the chute block 44 pulls the picking rope 49, the picking rope 49 pulls the rectangular push-pull block 63, the rectangular push-pull block 63 acts on the connecting spring 65, the connecting spring 65 is compressed, when the movable balls 64 at the top and the bottom of the rectangular push-pull block 63 move in the ball chute 62 until the movable balls 64 move to one end of the inner side of the ball chute 62, at the moment, the cutting blade 66 is retracted to the inner side of the rectangular groove 61 by the rectangular push-pull block 63, the cutting blade 66 is prevented from touching and damaging the surface of the fruit, so that the rectangular push-pull block 63 is limited, under the pulling of the picking rope 49, the left picking claw 32 and the right picking claw 33 are pulled to both sides, so that the picking manipulator 3 is unfolded, the fruit is grabbed, when the fruit is grabbed, the pressing button 86 is released, the restoring elastic forces of the return spring 46 and the connecting spring 65 simultaneously act on the connecting rope 7, the connecting rope 7 acts on the connecting pulley 88, so that the pressing button 86 is restored, the cutting blade 66 of the cutting device 6 can be folded and hidden when the picking manipulator 3 is unfolded by the user through pressing the button 86, after the fruit is grabbed, the pressing button 86 is released, the picking manipulator 3 returns to the original position, and the cutting blades 66 of the two cutting and intercepting devices 6 simultaneously cut the root of the fruit under the action of the returning elastic force of the connecting spring 65.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a reference structure" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A harvesting apparatus for agricultural fruit harvesting, comprising a steering cylinder (1), characterized in that: the top of the control cylinder (1) is fixedly connected with a hollow connecting rod (2), one end of the hollow connecting rod (2) far away from the control cylinder (1) is fixedly connected with a picking manipulator (3), the bottom of the inner side of the picking manipulator (3) is fixedly connected with a reset connecting structure (4), the top of the reset connecting structure (4) is fixedly connected with a protective base (5), the top of the picking manipulator (3) is provided with a cutting and cutting device (6), the inner side of the hollow connecting rod (2) is provided with a connecting rope (7), the inner side wall of the control cylinder (1) is provided with a limiting connecting device (8), and the bottom of the inner side of the control cylinder (1) is provided with a connecting and;
the picking manipulator (3) comprises a fixed base (31), a left picking claw (32), a right picking claw (33) and a rope guide groove (34), the picking manipulator (3) is fixedly connected to one end, away from the control cylinder (1), of the hollow connecting rod (2), the fixed base (31) is fixedly connected to one end, away from the control cylinder (1), of the hollow connecting rod (2), the left picking claw (32) and the right picking claw (33) are movably connected to the left side and the right side of the fixed base (31) through pin shafts respectively, and the rope guide groove (34) is formed in the side face, opposite to the left picking claw (32) and the right picking claw (33);
the reset connecting structure (4) comprises a transverse connecting bottom plate (41), a transverse sliding groove (42), connecting through holes (43), sliding groove blocks (44), a limiting partition plate (45), a reset spring (46), a reset rope (47), a circular connecting ring (48) and a picking rope (49), the inner bottom of the picking manipulator (3) is fixedly connected with the reset connecting structure (4), the reset connecting structure (4) is fixedly connected to the middle position of the upper surface of the fixed base (31), the inner bottom of the picking manipulator (3) is fixedly connected with the transverse connecting bottom plate (41), the upper surface of the transverse connecting bottom plate (41) is provided with the transverse sliding groove (42), the middle position of the inner bottom of the transverse sliding groove (42) is provided with the connecting through holes (43), the sliding groove blocks (44) are movably connected in the transverse sliding groove (42), and the two sliding groove blocks (44) are arranged in bilateral symmetry about the center of the transverse sliding, two spacing baffle (45) of inboard fixedly connected with of horizontal spout (42), two spacing baffle (45) set up about the central bilateral symmetry of horizontal spout (42), two spacing baffle (45) set up with two spout piece (44) one-to-one respectively, rope connect the through hole has all been seted up to the side that spacing baffle (45) are relative, fixedly connected with reset spring (46) between spacing baffle (45) and the spout piece (44) that correspond each other, rope (49) are picked to the equal fixed connection in the side that two spout pieces (44) carried on the back mutually, the equal fixedly connected with in the side that two spout pieces (44) are relative resets rope (47), two rope connect the through hole and the circular go-between (48) of fixedly connected with are run through respectively in the one end of keeping away from spout piece (44) to two rope (47) that reset, circular go-between (48) are located connect the through hole (43) directly over.
2. A harvesting apparatus for agricultural fruit harvesting according to claim 1, wherein: the cutting and cutting device (6) comprises rectangular grooves (61), ball sliding grooves (62), rectangular push-pull blocks (63), movable balls (64), connecting springs (65) and cutting blades (66), the cutting and cutting device (6) is arranged at the top of the picking manipulator (3), the rectangular grooves (61) are respectively formed in the opposite sides of the tops of the left picking claw (32) and the right picking claw (33), the ball sliding grooves (62) are respectively formed in the tops and the bottoms of the inner sides of the two rectangular grooves (61), the rectangular push-pull blocks (63) are respectively arranged on the inner sides of the two rectangular grooves (61), the movable balls (64) are respectively movably connected to the tops and the bottoms of the rectangular push-pull blocks (63), the connecting springs (65) are fixedly connected to the inner side walls of the rectangular grooves (61) at the ends far away from the rectangular push-pull blocks (63), the side fixedly connected with of rectangle push-and-pull piece (63) keeping away from coupling spring (65) cuts blade (66), two that correspond on two rectangle push-and-pull pieces (63) cut blade (66) and distribute crisscross each other, pick rope (49) and run through the inboard through-hole of unable adjustment base (31), the inboard and fixed connection of rope guide way (34) and rectangular channel (61) in the side of rectangle push-and-pull piece (63) behind the inboard of horizontal spout (42) is extended to the one end of keeping away from spout piece (44).
3. A picking apparatus for agricultural fruit picking according to claim 2, characterised in that: the limiting and connecting device (8) comprises transverse fixing rods (81), positioning pulleys (82), C-shaped limiting sheets (83), fixing rings (84), pressing grooves (85), pressing buttons (86), movable connecting rods (87), connecting pulleys (88) and C-shaped connecting sheets (89), the limiting and connecting device (8) is arranged on the inner side wall of the control barrel (1), the fixing rings (84) are fixedly connected to the inner wall of the left side of the control barrel (1), the two transverse fixing rods (81) are fixedly connected to the inner wall of the left side of the control barrel (1), the fixing rings (84) are positioned below the two transverse fixing rods (81), the positioning pulleys (82) are movably connected to one ends of the two transverse fixing rods (81) far away from the control barrel (1) through pin shafts, the C-shaped limiting sheets (83) are fixedly connected to the pin shafts on the two positioning pulleys (82), and the pressing grooves (85) are formed in the right side, the inside wall swing joint who presses recess (85) has and presses button (86), press left surface intermediate position fixedly connected with swing joint pole (87) of button (86), swing joint pole (87) are running through the inside wall that presses recess (85) and are extending to the inboard of controlling a section of thick bamboo (1) keeping away from the one end of pressing button (86), swing joint pole (87) have connection pulley (88) through round pin axle swing joint, connect round pin axle fixedly connected with C type connection piece (89) on pulley (88), connection pulley (88) are located between two positioning pulley (82).
4. A harvesting apparatus for agricultural fruit harvesting according to claim 3, wherein: the connection regulation and control device (9) comprises an adjusting thread block (91) and an adjusting bolt (92), universal connection bulb (93) and regulation pull ring (94), the inboard bottom of controlling a section of thick bamboo (1) is provided with connects regulation and control device (9), the bottom fixedly connected with regulation screw thread piece (91) of controlling a section of thick bamboo (1), threaded through-hole has been seted up on regulation screw thread piece (91), the through-hole that is linked together with the threaded through-hole is seted up to the bottom of controlling a section of thick bamboo (1), threaded through-hole inner wall threaded connection on regulation screw thread piece (91) has adjusting bolt (92), adjusting bolt (92) run through threaded through-hole and extend to the inner circle of controlling a section of thick bamboo (1), adjusting bolt (92) are controlling one end fixedly connected with universal connection bulb (93) of a section of thick bamboo (1) inner circle, universal connection bulb (93) fixedly connected with regulation pull ring (94), regulation pull ring (94).
5. A harvesting apparatus for agricultural fruit harvesting according to claim 4, wherein: the one end of connecting rope (7) runs through the inboard bottom of hollow connecting rod (2) and the top of controlling a section of thick bamboo (1) and extends to the inner chamber of controlling a section of thick bamboo (1), connect rope (7) and run through in proper order from the top down and be located the locating pulley (82) of top, connect pulley (88) in the one end from the top down of controlling a section of thick bamboo (1) inner chamber, locating pulley (82) and regulation pull ring (94) that are located the below and fixed winding on solid fixed ring (84), the other end of connecting rope (7) runs through the inboard top and unable adjustment base (31) of hollow connecting rod (2) and fixed winding is on circular go-between (48).
6. A harvesting apparatus for agricultural fruit harvesting according to claim 5, wherein: the side surfaces of the left picking claw (32) and the right picking claw (33) are fixedly connected with protective pads, the protective pads can adopt flexible rubber pads, and the protective pads are bonded with the left picking claw (32) and the right picking claw (33).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810499074.2A CN108781748B (en) | 2018-05-23 | 2018-05-23 | A pick equipment for agricultural fruit is picked |
| CN202011382827.5A CN112514653A (en) | 2018-05-23 | 2018-05-23 | Picking equipment for picking agricultural fruits and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810499074.2A CN108781748B (en) | 2018-05-23 | 2018-05-23 | A pick equipment for agricultural fruit is picked |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011382827.5A Division CN112514653A (en) | 2018-05-23 | 2018-05-23 | Picking equipment for picking agricultural fruits and using method |
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| Publication Number | Publication Date |
|---|---|
| CN108781748A CN108781748A (en) | 2018-11-13 |
| CN108781748B true CN108781748B (en) | 2021-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011382827.5A Withdrawn CN112514653A (en) | 2018-05-23 | 2018-05-23 | Picking equipment for picking agricultural fruits and using method |
| CN201810499074.2A Active CN108781748B (en) | 2018-05-23 | 2018-05-23 | A pick equipment for agricultural fruit is picked |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011382827.5A Withdrawn CN112514653A (en) | 2018-05-23 | 2018-05-23 | Picking equipment for picking agricultural fruits and using method |
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| CN (2) | CN112514653A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112997692A (en) * | 2021-02-24 | 2021-06-22 | 湖州瑞讯机电设备有限公司 | Pneumatic picking equipment for agricultural fruit picking |
| CN113141869B (en) * | 2021-05-14 | 2022-07-12 | 黑龙江农业经济职业学院 | Automatic fruit picking device for agricultural planting |
| CN113892345B (en) * | 2021-11-04 | 2023-03-21 | 巫溪县碧落农业开发有限公司 | Device is picked to tribute hot pepper |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU643115A1 (en) * | 1977-10-19 | 1979-01-25 | Республиканская Научно-Исследовательская Хмелеводческая Станция | Hop-pinching apparatus |
| SU707541A1 (en) * | 1978-07-10 | 1980-01-05 | Всероссийский Научно-Исследовательский Институт Труда И Управления В Сельском Хозяйстве | Shaker to berry-picking machine |
| CN1051136A (en) * | 1990-07-08 | 1991-05-08 | 陈仁麟 | Hand with extended arm |
| CN104686077A (en) * | 2015-03-26 | 2015-06-10 | 绍兴文理学院 | Handheld torreya grandis fruit picker |
| CN107873247A (en) * | 2017-11-16 | 2018-04-06 | 安徽理工大学 | A kind of scalable fruit picking apparatus |
-
2018
- 2018-05-23 CN CN202011382827.5A patent/CN112514653A/en not_active Withdrawn
- 2018-05-23 CN CN201810499074.2A patent/CN108781748B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU643115A1 (en) * | 1977-10-19 | 1979-01-25 | Республиканская Научно-Исследовательская Хмелеводческая Станция | Hop-pinching apparatus |
| SU707541A1 (en) * | 1978-07-10 | 1980-01-05 | Всероссийский Научно-Исследовательский Институт Труда И Управления В Сельском Хозяйстве | Shaker to berry-picking machine |
| CN1051136A (en) * | 1990-07-08 | 1991-05-08 | 陈仁麟 | Hand with extended arm |
| CN104686077A (en) * | 2015-03-26 | 2015-06-10 | 绍兴文理学院 | Handheld torreya grandis fruit picker |
| CN107873247A (en) * | 2017-11-16 | 2018-04-06 | 安徽理工大学 | A kind of scalable fruit picking apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108781748A (en) | 2018-11-13 |
| CN112514653A (en) | 2021-03-19 |
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Address after: 425000 northern part of Yao Du Avenue, Tuojiang Town, Jiang Hua Economic Development Zone, Yongzhou Yao Autonomous County, Hunan Province, Yongzhou Patentee after: Hunan Golden ant Intelligent Equipment Co.,Ltd. Address before: 425000 northern part of Yao Du Avenue, Tuojiang Town, Jiang Hua Economic Development Zone, Yongzhou Yao Autonomous County, Hunan Province, Yongzhou Patentee before: YONGZHOU GOLDEN ANT NEW ENERGY MACHINERY Co.,Ltd. |
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Denomination of invention: A picking equipment for agricultural fruit picking Effective date of registration: 20211224 Granted publication date: 20210326 Pledgee: Yongzhou branch of China Construction Bank Co.,Ltd. Pledgor: Hunan Golden ant Intelligent Equipment Co.,Ltd. Registration number: Y2021980016215 |
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