CN108848911A - A kind of Portable electric fruit picker - Google Patents
A kind of Portable electric fruit picker Download PDFInfo
- Publication number
- CN108848911A CN108848911A CN201810940077.5A CN201810940077A CN108848911A CN 108848911 A CN108848911 A CN 108848911A CN 201810940077 A CN201810940077 A CN 201810940077A CN 108848911 A CN108848911 A CN 108848911A
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- China
- Prior art keywords
- scissors
- fruit
- grabbing
- crawl
- joining beam
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Classifications
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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
- A01D46/20—Platforms with lifting and lowering devices
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
-
- 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
Abstract
The invention discloses a kind of Portable electric fruit pickers, including driving device, picker, transmission device collection device and grabbing device.The driving device is mainly made of lithium battery, driving plate, microcontroller and battery frame etc.；The picker is mainly made of telescopic rod, curved formula scissors, scissors joining beam, stepper motor, nut push plate, motor box and miniature webcam；The transmission device mainly closes circle, buffer subsystem and ending rope by long net cover, aluminium and constitutes；The collection device is mainly made of feed inlet, discharge port, roller and foam-rubber cushion；The grabbing device is mainly made of grabbing claw, crawl joining beam, partial gear, bevel gear, bevel gear shaft.The Portable electric fruit picker proposed through the invention can be realized semi-automation, pick after first crawl positioning, control circumgyration incision, fruit branch separation, transmission and the sorting function of cutter, the final picking and collection for realizing fruit.
Description
Technical field
The present invention relates to agricultural machinery control fields, refer to a kind of semi-automatic portable fruit picker, are suitable for
Pick citrus fruit.
Background technique
As people's lives level is continuously improved, people's fruit picking increasing to the demand of fruit, current
Equipment just changes towards the trend of mechanical intelligent, and mechanical picking device gradually eliminates traditional Softening, and
The fruit picker of mechanical intelligent has bigger market potential because the fruit picking of mechanization have it is high-efficient,
Lightly, portable feature is easy to get the consistent approval of people.
The Softening of citrus fruit mainly has at present：Artificial picking and mechanical picking.But both Softenings are still
So there is respective insufficient place.Still there are labour heavy workloads for traditional artificial picking, time-consuming and laborious, are easy fatigue and adopt
The deficiencies of plucking low efficiency, general fruit tree is relatively high, and orchard worker, which needs to climb up eminence by tools such as ladders, to pick, and there are huge
Big security risk.The Costco Wholesale of mechanical picking is expensive, and major mechanical is easy to cause a degree of damage to fruit, causes
Picking efficiency is low.The present invention proposes that a kind of electrician is portable aiming at the problem that current citrus fruit encounters in picking process
Formula fruit picker, the advantage of the device are semi-automatic devices, use silk screw rod stepper motor first to control crawl in device
Pawl limit crawl movement, then make curved formula scissors and cut back and forth, it slows down to the fatigue strength for cutting carpopodium, first crawl positioning is again
Picking, to improve picking efficiency；Meanwhile device is light and handy, structure is simple, easy to carry, the material price of process units is cheap,
Cost is relatively low, is suitble to be promoted and applied in agricultural mechanical field.
Summary of the invention
Current citrus fruit is directed in problem encountered during tradition picking and mechanical picking in the present invention, is mentioned
A kind of Portable electric fruit picker is gone out, the semi-automatic device of introduction manually controls grasping mechanism limit movement and clamps water
Fruit is accurately cooked limit shearing movement afterwards and cuts carpopodium, and miniature webcam can be realized positioning function, pick hidden at higher position
Fruit, and preliminary sorting can be carried out to the fruit of picking excessively.
Portable electric fruit picker is by driving device, picker, transmission device, collection device and gripper
Structure composition.The driving device is opened by lithium battery, driving plate, stc12 Series of MCU, battery frame, positive and negative anodes
It closes, spring electric wire composition；The picker is walked by buckle-type telescopic rod, curved formula scissors, two connecting rod of scissors and silk screw rod
Into motor, nut push plate, support base, motor box, slide to bearing, stepped cylindrical, miniature webcam, assist handle and mobile phone branch
Frame is constituted；The transmission device is to close circle, short buffer subsystem band, ending rope structure by the long string bag, support round rod, four lightweight aluminiums
At；The collection device is made of feed inlet, discharge port, support plate, roller, foam-rubber cushion；The grabbing device be by
Two grabbing claws, two joining beams of crawl, two partial gears, vertical bevel gear, bevel gear shaft, crawl platform and crawl support board group
At.
The fixed link of buckle-type telescopic rod in picker described further passes through pin connection type and adjustment
Bar connection, and fixed link holds sleeve and adjustment bar and completes to position by detent slot.
Fixed link described further holds sleeve and fixed link is fixed by self friction, and assist handle and fixed link
It is fixed also by self friction.
The adjustment bar of the further picker is fixed on stepped cylindrical by the connection type of fastening screw
Together, stepped cylindrical is fixed together with motor box by fastening screw, and stepped cylindrical and support base come also by fastening
It is fixed together, and motor frame is fixed together with silk screw rod stepper motor by fastening screw connection type.
The camera support bottom end of the further picker twists connection type by ball with support base and is connected to
Together, and camera support upper end and miniature webcam are attached together by what magnet consolidated, slide to bearing and support base is logical
It crosses pin connection mode to link together, slides to the rotation of rolling bearing stabilization filament screw rod, and guarantee nut push plate on silk screw rod
Linear round-trip linear motion is done, nut push plate both ends are linked together with two scissor linkages by pin connection type respectively, and two
Scissors connection is linked together in centre by pin connection type with two curved formula scissors, is realized through such a connection manner curved
The function of formula scissors lateral shear carpopodium.
The battery box of driving device described further is fixed in fixed link lower end by fastening screw connection type
Together, the lithium battery in battery frame is linked together by hot melt adhesive and driving plate, stc12 Series of MCU, lithium battery
It is linked together by electric wire and switch and silk screw rod stepper motor, spring electric wire is scalable inside fixed link and adjustment bar.
Handset bracket folder described further and fixed link are linked together by clamping mode, and miniature webcam can be free
Rotation adjusts suitable angle, and the hidden carpopodium position in high-altitude can be accurately positioned in cell phone application.
2.5 meters of net covers of transmission device described further close circle equalization by four lightweight aluminiums and are superimposed together, top aluminium
It closes to enclose to pass through with short round bar bar and be hingedly connected together, guarantee that top aluminium closes the level of circle, short round bar and adjustment bar pass through pin connection
Together, and each aluminium closes circle and is assigned short and small buffer subsystem, net cover bottom interlocking ending rope, and fruit is made to arrive safely collection
Device.
The feed inlet and ending rope of collection device described further are embedded together, and support plate exists from high to low splicing
Together, and roller width arrives big increase from childhood, and roller has rollability, guarantees that different size of fruit rolls into corresponding four
Discharge port, four discharge ports are bonded together with foam-rubber cushion by double-sided adhesive.
The lower section of grabbing device installation picker described further, grabs the affixed grabbing device in one end of support plate
It grabs below platform, other end crawl support plate is fixed in the detent slot of support base, and drive bevel gear is fixed in a screw rod
End engages into vertical bevel gear group, vertical bevel gear group space spacious among picking cutting mechanism with driven wheel of differential
Position, bevel gear shaft pass through the centre of support base square groove, and driven wheel of differential passes through bevel gear shaft and active partial gear
Link together, active partial gear and driven partial gear are intermeshed, in-between hole with grab it is small above platform
Circular shaft cooperation is corresponding together, and the hole of the extended end of active partial gear and the end aperture of No.1 grabbing claw play screw by plug
It links together, the extension stomidium of symmetrical driven partial gear is played screw by plug with the end aperture of No. two grabbing claws and connect
Together, there are a semi cuts below the front end of No.1 grabbing claw, there are a semi cuts above the front end of No. two grabbing claws, grabbing claw can
Intersection limit movement is done, different size of fruit is conveniently clamped.
One end interstitial hole of the crawl joining beam of No.1 up and down of grabbing device described further and the position of No.1 grabbing claw
Hole plays screw by plug and links together, and the other end interstitial hole of upper and lower No.1 crawl joining beam and the head end hole of crawl platform pass through
Plug plays screw and links together, and symmetrical No. two crawl joining beam both ends connection types grab joining beam, this grasping mechanism knot with No.1
Structure has symmetry, and structure is simple, laborsaving.
Specifically, the course of work of the invention is：
When the Portable electric fruit picker proposed through the invention carries out picking fruit, according to the height of fruit tree, adjust
The detent slot card that fixed link holds sleeve then is gone out to adjust the phase of bar by the telescopic rod of picker if necessary to extend by hand
Answer position.Then start driving device, drive vertical bevel gear group and partial gear drive to grab by silk screw rod stepper motor
It takes pawl to do crawl spaced motion, synchronizes and nut push plate is driven to push scissors ouble bar link back and forth, so that scissors be made to cut the standard of carpopodium
Standby work.Start miniature webcam, miniature webcam is adjusted into suitable angle, fruit is accurately positioned in cell phone application, carries out fruit
Real picking, the fruit picked are fallen into transmission device.Collection device, fruit are arrived at by a series of high-altitude baffle safeties
Itself corresponding size falls into different discharge port slots.The Portable electric fruit picker proposed through the invention can be realized
The picking of fruit and the purpose collected.
Beneficial effects of the present invention are as follows：
A kind of Portable electric fruit picker proposed through the invention is grown in the fruit on fruit tree to citrus and carries out
When picking, the fatigue strength manually picked can be slowed down and reduce its risk, time saving and energy saving, reduction fruit damage ratio and mention
High picking efficiency.
A kind of Portable electric fruit picker proposed by the present invention is light and handy with device, structure is simple, convenient for taking
The material price of band, process units is cheap, lower-cost advantage, is conducive to promote and apply in agricultural mechanical field.
Presently used traditional fruit picker mainly carries out part to fruit in such a way that waddy or net hook
Picking, modern fruit picker mainly carry out whole picking to fruit by way of mechanical oscillation, but are all easy to pair
Fruit and fruit tree cause to damage, while having the fragile branch on a small amount of fruit tree and being also easy to mix inside fruit, are easy
The epidermis of fruit is scratched, picking fruit efficiency is reduced, and a kind of Portable electric fruit picker proposed by the present invention is pair
Fruit carries out the picking of accurate positioning part, will not infiltrate and carry out branch, overcome the damage to fruit, can adequately protect fruit
Quality.
Detailed description of the invention：
Fig. 1 is the general structure schematic diagram of Portable electric fruit picker according to an embodiment of the invention.
Fig. 2 is picker structural schematic diagram according to an embodiment of the invention.
Fig. 3 is the schematic top plan view of picking cutting mechanism according to an embodiment of the invention.
Fig. 4 is the structural schematic diagram of driving device according to an embodiment of the invention.
Fig. 6 is the structural schematic diagram of telescopic rod according to an embodiment of the invention.
Fig. 5 is the explosion isometric view of driving internal circuit according to an embodiment of the invention.
Fig. 9 is the structural schematic diagram of grabbing device according to an embodiment of the invention.
Fig. 8 is the structural schematic diagram of collection device according to an embodiment of the invention.
Fig. 7 is the structural schematic diagram of transmission device according to an embodiment of the invention.
Fig. 8 is the structural schematic diagram of collection device according to an embodiment of the invention.
Fig. 9 is the structural schematic diagram of grabbing device according to an embodiment of the invention.
Description of symbols：
1, picker；2, transmission device；3, driving device；4, collection device；5, telescopic rod；6, grabbing device；7, curved formula is cut
Knife 1；8, curved formula scissors 2；9, scissors joining beam 1；10, scissors joining beam 2；11, nut push plate；12, silk screw rod；13, silk screw rod stepping
Motor；14, bearing is slided to；15, support base；16, stepped cylindrical；17, motor box；18, camera support；19, miniature video camera
Head；20, fastening screw；21, battery frame；22, positive and negative anodes switch；23, spring electric wire；24, stc12 Series of MCU；25,
Lithium battery；26, driving plate；27, fixed link；28, bar is adjusted；29, fixed rod sleeve；30, assist handle；31, support round rod；
32, lightweight aluminium closes circle；33, short buffer subsystem band；34, the long string bag；35, ending rope；36, feed inlet；37, support plate；38, roller；
39, discharge port；40, foam-rubber cushion；41, handrail；42, power switch；43, drive bevel gear；44, driven wheel of differential；45, actively
Partial gear；46, platform is grabbed；47, joining beam 1 is grabbed；48, grabbing claw 1；49, grabbing claw 2；50, joining beam 2 is grabbed；51, from
Dynamic partial gear；52, bevel gear shaft；53, support plate is grabbed；54, plug plays screw.
Specific embodiment
The feature in embodiment and embodiment in the present invention can be combined with each other.Below with reference to the accompanying drawings and combine implementation
Example is next, and the present invention will be described in detail.
Fig. 1 to Fig. 8 is illustrated according to some embodiments of the present invention.
Referring to Figure 1, Portable electric fruit picker of the invention includes picker 1, transmission device 2, driving
Device 3, collection device 4, telescopic rod 5, grabbing device 6.
In conjunction with referring to Fig. 6, the telescopic rod 5 include fixed link 27, adjustment bar 28, fixed rod sleeve 29, assist handle 30,
Fastening screw 20 and handrail 41, the fixation rod sleeve 29 are fixed in the surface of cylinder fixed link 27 by fastening screw 20
On, and the detent slot of buckle-type sleeve 29 is stuck on adjustment bar 28 with holes by round pin, makes adjustment bar 28 can be according to picking water
Fruit height is stuck in detent round pin on the contraposition circular hole of adjustment bar 28 to adjust length, and the assist handle 30 is logical
The bottom end that self friction is fixed in fixed link 27 is crossed, the operation fatigue level of artificial wrist can be slowed down, the handrail 41 passes through fastening
20 side of screw is mounted on the surface among fixed link 27, tiltable certain angle control picking and curved formula scissors orientation, essence
Really alignment carpopodium completes picking operation.
In conjunction with referring to Fig. 2, the picker 1 shears driving mechanism, telescopic rod 5, nut push plate 11, silk spiral shell by picking
Bar 12, silk screw rod stepper motor 13, slide to bearing 14, support base 15, stepped cylindrical 16, motor box 17, camera support 18,
Miniature webcam 19 and fastening screw 20, each structure can be combined with each other, compact not loosen.
Referring to Fig. 3, the picking shearing driving mechanism includes that No.1 curved formula scissors 7, No. two curved formula scissors 8, No.1s are cut
9, No. two scissors joining beams 10 of knife joining beam and plug play screw 6.The silk screw rod 12 of silk screw rod stepper motor 13 encloses special nut push plate
11,11 left and right ends of special nut push plate play screw 6 by two plugs and are respectively articulated with the respective of scissors joining beam 9 and scissors joining beam 10
End holes, respective another end holes of two scissors joining beams 9 and 10 beat the respective end of the hinged curved formula scissors 7 and 8 of screw 6 by plug
Hole, the curved middle position of formula scissors 7 and 8 hole play screw 6 by plug and link together, and realize that curved formula scissors is without hindrance in middle position hole
The shear action of power completion opening and closing.
In one embodiment, which is rotated by silk screw rod 12 drives nut push plate 11 online in silk screw rod 12
Property straight line back and forth movement, two curved formula scissors of driving be in the horizontal plane unfolded state and it is linear receive between overlapping state toward complex transformation,
In unfolded state, water supply fruit branch stalk enters sheared edge, cuts carpopodium in linear receipts overlapping state, fruit falls into safely transmission
Device.
Wherein, the outside wall surface of the stepped cylindrical 16 and the inner wall of the adjustment bar 28 of telescopic rod 5 are combined together, and are led to
It crosses fastening screw 20 to be fixed together, stepped cylindrical 16 is connect with motor box 17 by fastening screw 20, support base 15 and platform
Rank cylinder 16 is connected by fastening screw 20, and motor box 17 is connect with silk screw rod stepper motor 13 by fastening screw 20, sliding
To the left and right ends of bearing 14 by two fastening screws 20 and support base 15 it is affixed, the external screw thread of silk screw rod 12 with slide to bearing
14 inner hole together, prevents a screw rod from swinging.Power supply, which is provided, by spring electric wire 23 by lithium battery 25 drives silk
Screw rod stepper motor 13 rotates, and the nut push plate 11 on silk screw rod 12 pushes two curved formula scissors 7 and 8 of hinged two joining beam 9 and 10
To realize that picking acts.
The camera support 18 and the hollow round column of 15 right side of support base are linked together by flexural pivot, camera branch
Seat 18 is attached together with miniature webcam 19 by ferromagnetism magnet, and the power supply for starting cell phone application and miniature webcam 19 is opened
It closes, the front visual angle positioning of rotation flexural pivot adjustment miniature webcam 19, in cell phone application it may be clearly seen that the water in high-altitude shelter
Fruit branch stalk.
Referring to fig. 4, inventive drive means 3 include battery frame 21, positive and negative anodes switch 22, spring electric wire 23, stc12
Series of MCU 24, lithium battery 25 and driving plate 26.
The spring electric wire 23 is located at 5 inside of telescopic rod and is connected with lithium battery 25 and silk screw rod stepper motor 13, spring
Electric wire 23 has elasticity, can change with the adjusting bar-length of the adjustment bar 28 of telescopic rod 5.
Wherein, the driving device 3 is mounted on above the assist handle 30 of fixed link 27, and up and down the two of battery box 21
End is fixed in fixed link surface by fastening screw 20.
Referring to Fig. 5, there is positive and negative anodes switch 22 on the vertical plane of the battery box 21, upwards, stirs difference downwards
Representative starts, stop button, startup power supply switch 42, and when the beginning key for pressing upper positive and negative anodes switch 22, Portable electric is picked
Device starts operation, and lithium battery 25 is powered to silk screw rod stepper motor 13, and the chip of stc12 Series of MCU 24 starts work
Make, driving plate 26 is started to work, and silk screw rod stepper motor 13 drives silk screw rod 12 to rotate by driving device 3,12 band of silk screw rod
Linear reciprocal movement is done in dynamic nut push plate 11, and the chip of stc12 Series of MCU 24 can adjust program according to the size of power
The work of screw rod stepper motor 13 is controlled, after driving the curved formula scissors of picking cutting mechanism to fold and hold together to cut off carpopodium, picking
Person can gently move and slowly put down telescopic rod 5, press stop button, and the chip of stc12 Series of MCU 24 can control a screw rod
Stepper motor 13 stops, and fruit can be simultaneously put into the specified string bag, completes the process of a picking fruit.
The voltage of the lithium battery 25 is ten second of the three ten-day periods of the hot season of direct current etc. depending on 13 operating voltage of silk screw rod stepper motor, can
Charging, lightweight and convenient, as long as the voltage of lithium battery and the voltage of silk screw rod stepper motor match, there will be no any influence
's.
Referring to Fig. 7, the transmission device 2 includes support round rod 31, lightweight aluminium conjunction circle 32, short buffer subsystem band 33, fourdrinier wire
Pocket 34 and ending rope 35, support round rod 31 close circle with top lightweight aluminium and are connect by revolute pair, support round rod 31 and adjustment bar
28 is horizontal affixed by fastening screw 20, and the every section of the long string bag 34 of two meter of four laminar is equipped with buffer unit, and four section lightweight aluminiums are arranged
It circle 32 is closed, encloses the short buffer subsystem band 33 of embedded tape splicing ending rope 35, ending rope 35 can slow down by adjusting the size of diameter
The speed that fruit is fallen, diameter aperture efficiency fruit is bigger, plays buffer function, arrives safely collection device 4.
Referring to Fig. 8, the collection device 4 includes feed inlet 36, support plate 37, roller 38, discharge port 39 and sponge
Pad 40, use are for different size of fruit of classifying.
The feed inlet end 36 is connected with long 34 bottom of the string bag, and setting is unit spliced into band one with lightweight support plate 37
Corresponding spacing is arranged above and arrives big roller 38 from childhood for the square duct of grade, four different in width discharge ports 39, and fruit is fallen
It to the square duct for thering is certain slope to be lined with foam-rubber cushion 40, falls at roller 38, roller 38 rotates, and increases fruited sliding speed
Degree avoids fruit because different size shape is stuck between roller 38, causes certain damage, then fruit falls into corresponding diameter
The discharge port 39 of size.
Referring to Fig. 9, the grabbing device 6 includes drive bevel gear 43, driven wheel of differential 44, active partial gear
45, platform 46, No.1 crawl joining beam 47, No.1 grabbing claw 48,49, No. two crawl joining beams 50 of grabbing claw, driven incomplete is grabbed
Gear 51, bevel gear shaft 52, crawl support plate 53 and plug play screw 54, are used to realize the semi-automation for first grabbing and picking afterwards
Operation.
The grabbing device 6 installs the lower section of picker 1, grabs the affixed grabbing device 6 in one end of support plate 53
46 lower section of platform is grabbed, other end crawl support plate 53 is fixed in the detent slot of support base 15, and drive bevel gear 43 is fixed in
The end of silk screw rod 12 engages into vertical bevel gear group with driven wheel of differential 44, and vertical bevel gear group is in picking cutting mechanism
Between spacious spatial position, bevel gear shaft 52 passes through the centre of 15 square groove of support base, and driven wheel of differential 44 passes through bevel gear
Axis 52 links together with active partial gear 45, and active partial gear 45 and driven partial gear 51 are intermeshed,
In-between hole and the small circular shaft cooperation of 46 top of crawl platform are corresponding together, the hole of the extended end of active partial gear 45 and
The end aperture of No.1 grabbing claw 48 plays screw 54 by plug and links together, the extended end of symmetrical driven partial gear 51
The end aperture of hole and No. two grabbing claws 49 plays screw 54 by plug and links together, and has half below the front end of No.1 grabbing claw 48
There are a semi cuts in notch, the front end top of No. two grabbing claws 49, and grabbing claw can do intersection limit movement, conveniently clamp different size
Fruit.
One end interstitial hole of the crawl joining beam 47 of No.1 up and down and the location hole of No.1 grabbing claw 48 beats spiral shell by plug
Nail 54 links together, and spiral shell is beaten by plug in the other end interstitial hole of upper and lower No.1 crawl joining beam 47 and the head end hole of crawl platform 46
Nail 54 links together, and symmetrical 50 both ends connection type of No. two crawls joining beam grabs joining beam 47, this grasping mechanism knot with No.1
Structure has symmetry, and structure is simple, laborsaving.
The silk screw rod stepper motor 13 of the picker starts, and silk screw rod 12 rotates, and manually controls nut push plate 11
Drive scissors joining beam temporarily not, silk screw rod 12 drives 43 synchronous rotary of drive bevel gear, and drive bevel gear 43 drives from mantle
52 counter-rotating of gear 44 and bevel gear shaft, bevel gear shaft 52 drives 45 synchronous rotary of active partial gear, driven incomplete
51 counter-rotating of gear drives No.1 grabbing claw 48 and No. two grabbing claws 49, while No.1 crawl joining beam 47 and No. two crawl connection
Bar 50 draws respective grabbing claw over to one's side, keeps crawl movement more laborsaving.
The No.1 grabbing claw 48 and No. two grabbing claws 49 do symmetrical crawl spaced motion, fruit are clamped, nut pushes away
The Forward spaced motion of plate 11 drives No.1 scissors joining beam 9 and No. two scissors joining beams 10 to move, makes the curved formula scissors 7 of No.1 and No. two
Curved formula scissors 8 does shearing motion and cuts carpopodium, after completing picking operations, gives 13 1 signals of silk screw rod stepper motor, silk spiral shell
Bar stepper motor 13 inverts, and nut push plate 11 moves back spaced motion, the curved formula scissors 7 of No.1 and No. two curved formula scissors 8 in expansion shape
State, while active partial gear 45 and the reversion of driven partial gear 51 are unclamped, No.1 grabbing claw 48 and No. two grabbing claws 49
Expansion is recycled into next picking.
It says above and has solved structure of the invention, specification is specifically described as implementation embodiments of the present invention, is described
Be for the purpose of illustrating rule of the invention, content described in the embodiment of proposition is only realization to inventive concept
Form is enumerated.
Claims (10)
1. a kind of Portable electric fruit picker, including picker（1）, transmission device（2）, driving device（3）, collect
Device（4）, telescopic rod（5）, grabbing device（6）, it is characterised in that：
The telescopic rod 5 includes fixed link（27）, adjustment bar（28）, fixed rod sleeve（29）, assist handle（30）, fastening screw
（20）And handrail（41）, assist handle 30 is fixed in fixed link by self friction（27）Bottom end, handrail（41）Pass through fastening
Screw（20）Side is mounted on fixed link（27）Intermediate surface is affixed；
The picker (1) shears driving mechanism, telescopic rod by picking（5), grabbing device（6）, nut push plate (11), silk
Screw rod (12), silk screw rod stepper motor (13) slide to bearing (14), support base (15), stepped cylindrical (16), motor box
(17）, camera support（18）, miniature webcam（19）And fastening screw（20）, each structure can be combined with each other, compact not loosen；
The driving device（3）Including battery frame（21）, positive and negative anodes switch（22）, spring electric wire（23）, stc12 series
Microcontroller（24）, lithium battery（25）And driving plate（26）, spring electric wire（23）It is located at telescopic rod（5）Internal and lithium battery
（25）With silk screw rod stepper motor（13）It is connected；
The transmission device（2）Including support round rod（31）, lightweight aluminium close circle（32）, short buffer subsystem band（33）, the long string bag
（34）And ending rope（35）, support round rod（31）It closes circle with top lightweight aluminium to connect by revolute pair, support round rod（31）With
Adjust bar（28）Pass through fastening screw（20）It is horizontal affixed；
The collection device（4）Including feed inlet（36）, support plate（37）, roller（38）, discharge port（39）And foam-rubber cushion
（40）, use is for different size of fruit of classifying；
The grabbing device（6）Including drive bevel gear（43）, driven wheel of differential（44）, active partial gear（45）, grab
It makes even platform（46）, crawl joining beam 1（47）, grabbing claw 1（48）, grabbing claw 2（49）, crawl joining beam 2（50）, driven partial gear
（51）, bevel gear shaft（52）, crawl support plate（53）And plug plays screw（54）, it is used to realize half for first grabbing and picking afterwards certainly
Dynamicization operation.
2. Portable electric fruit picker as described in claim 1, it is characterised in that：The fixation rod sleeve（29）
Pass through fastening screw（20）It is fixed in cylinder fixed link（27）Surface on, and buckle-type sleeve（29）Detent slot pass through round pin
It is stuck in adjustment bar with holes（28）On, make to adjust bar（28）Detent round pin can be made to be stuck on detent slot according to fruit-picking height
Adjust bar（28）Contraposition circular hole on adjust length.
3. Portable electric fruit picker as described in claim 1, it is characterised in that：Driving machine is sheared in the picking
Structure includes No. 1 curved formula scissors（7）, No. 2 curved formula scissors（8）, No. 1 scissors joining beam（9）, No. 2 scissors joining beams（10）Screw is played with plug
（54）, silk screw rod stepper motor（13）Silk screw rod（12）Enclose special nut push plate（11）, special nut push plate（11）Left and right
Screw is played by two plugs in both ends（54）It is respectively articulated with scissors joining beam（9）With scissors joining beam（10）Respective end holes, two scissors
Joining beam（9) and respective another end holes of (10) pass through the respective end that plug beats screw (54) hinged curved formula scissors (7) and (8)
Screw (54) connection is played by plug in hole, curved formula scissors (7) and (8) middle position hole.
4. Portable electric fruit picker as claimed in claim 3, it is characterised in that：The picking cutting mechanism is by silk spiral shell
Bar (12) rotation drives nut push plate (11) linear line back and forth movement on silk screw rod (12), drives two curved formula scissors in level
In past complex transformation between unfolded state and linear receipts overlapping state on face.
5. Portable electric fruit picker as described in claim 1, it is characterised in that：The stepped cylindrical (16)
Outside wall surface and the inner wall of the adjustment bar (28) of telescopic rod (5) are combined together, and are fixed together by fastening screw (20), platform
Rank cylinder (16) is connect with motor box (17) by fastening screw (20), and support base (15) and stepped cylindrical (16) pass through fastening
Screw (20) connection, motor box (17) are connect with silk screw rod stepper motor (13) by fastening screw (20), and bearing is slided to
(14) left and right ends by two fastening screws (20) and support base (15) it is affixed, the external screw thread of silk screw rod (12) with slide to axis
Hold the inner hole of (14) together.
6. Portable electric fruit picker as described in claim 1, it is characterised in that：The feed inlet end (36) with
The long string bag (34) bottom is connected, and setting is unit spliced into the square duct with certain slope with lightweight support plate (37), and four
Corresponding spacing is arranged above and arrives big roller (38) from childhood for different in width discharge port (39), and fruit has fallen on certain slope and has been lined with sea
Silk floss pad (40) square duct, fall at roller (38), roller (38) rotation, increase fruited sliding speed, avoid fruit because
It is stuck between roller (38) for different size shape, causes certain damage, then fruit falls into the discharging of corresponding diameter
Mouth (39).
7. Portable electric fruit picker as described in claim 1, it is characterised in that：Grabbing device (6) peace
The lower section of picker (1) is filled, support plate is grabbed（53）The affixed grabbing device in one end（6）Crawl platform（46）Lower section, separately
One end grabs support plate（53）It is fixed in support base（15）Detent slot in, drive bevel gear（43）It is fixed in a screw rod（12）'s
End, with driven wheel of differential（44）Vertical bevel gear group is engaged into, vertical bevel gear group is spacious among picking cutting mechanism
Spatial position, bevel gear shaft（52）Across support base（15）The centre of square groove, driven wheel of differential（44）Pass through bevel gear shaft
（52）It links together with active partial gear (45), active partial gear (45) and driven partial gear (51) are mutual
Engagement, in-between hole and crawl platform（46）The small circular shaft cooperation of top is corresponding together, and active partial gear (45) prolong
The hole at long end and grabbing claw 1（48）End aperture by plug play screw（54）It links together, symmetrical driven partial gear
(51) hole of extended end and grabbing claw 2（49）End aperture by plug play screw（54）It links together, grabbing claw 1（48）'s
There are a semi cuts, grabbing claw 2 below front end（49）Front end above have a semi cuts, grabbing claw can do intersection limit movement, side
Just different size of fruit is clamped.
8. Portable electric fruit picker as claimed in claim 7, it is characterised in that：Upper and lower two crawls joining beam 1
（47）One end interstitial hole and grabbing claw 1（48）Location hole by plug play screw（54）It links together, upper and lower two crawls
Joining beam 1（47）Other end interstitial hole and crawl platform（46）Head end hole by plug play screw（54）It links together, symmetrically
Crawl joining beam 2（50）Both ends connection type is the same as crawl joining beam 1（47）, for this grasping mechanism structure with symmetry, structure is simple,
It is laborsaving.
9. Portable electric fruit picker as claimed in claim 7, it is characterised in that：Silk screw rod stepper motor（13）It opens
It is dynamic, silk screw rod（12）Rotation, manually controls nut push plate（11）Drive scissors joining beam temporarily not, silk screw rod（12）It drives actively
Bevel gear（43）Synchronous rotary, drive bevel gear（43）Drive driven wheel of differential（44）And bevel gear shaft（52）Counter-rotating, cone
Gear shaft（52）Drive active partial gear（45）Synchronous rotary, driven partial gear (51) counter-rotating, driving crawl
Pawl 1（48）With grabbing claw 2（49）, while grabbing joining beam 1（47）With crawl joining beam 2（50）It draws respective grabbing claw over to one's side, transports crawl
It moves more laborsaving.
10. Portable electric fruit picker as claimed in claim 7, it is characterised in that：Grabbing claw 1（48）And grabbing claw
2（49）Symmetrical crawl spaced motion is done, fruit is clamped, nut push plate（11）Move forward spaced motion, drives scissors joining beam 1（9）
With scissors joining beam 2（10）Movement, makes curved formula scissors 1（7）Shearing motion is done with curved formula scissors 2 (8) and cuts carpopodium, completes picking behaviour
After work, silk screw rod stepper motor is given（13）One signal, silk screw rod stepper motor（13）Reversion, nut push plate（11）Move back limit
Position movement, curved formula scissors 1（7）It is in unfolded state, while active partial gear with curved formula scissors 2 (8)（45）With it is driven endless
All gear (51) reversion is unclamped, grabbing claw 1（48）With grabbing claw 2（49）Expansion is recycled into next picking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940077.5A CN108848911A (en) | 2018-08-17 | 2018-08-17 | A kind of Portable electric fruit picker |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940077.5A CN108848911A (en) | 2018-08-17 | 2018-08-17 | A kind of Portable electric fruit picker |
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| Publication Number | Publication Date |
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| CN108848911A true CN108848911A (en) | 2018-11-23 |
Family
ID=64318838
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810940077.5A Withdrawn CN108848911A (en) | 2018-08-17 | 2018-08-17 | A kind of Portable electric fruit picker |
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| CN (1) | CN108848911A (en) |
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| CN113021460A (en) * | 2021-02-26 | 2021-06-25 | 江南大学 | Corn girdling and root removing mechanism |
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| CN109729836A (en) * | 2019-02-25 | 2019-05-10 | 广西职业技术学院 | A kind of self-action fruit picking apparatus |
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| WO2022088560A1 (en) * | 2020-10-27 | 2022-05-05 | 张广宾 | Self-adaptive oil palm fruit picking cutter, and picking execution device |
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