CN109089545B

CN109089545B - Spherical fruit picking device

Info

Publication number: CN109089545B
Application number: CN201811078833.4A
Authority: CN
Inventors: 杨海杰; 张玮玮; 安建鹏; 赵宝旭
Original assignee: Anyang Institute of Technology
Current assignee: Anyang Institute of Technology
Priority date: 2018-09-17
Filing date: 2018-09-17
Publication date: 2021-04-16
Anticipated expiration: 2038-09-17
Also published as: CN109089545A

Abstract

The application discloses a spherical fruit picking device, an inner rod body, a multi-groove loop bar, a sliding block loop bar, a clamping finger, a sleeve drag, a nylon sleeve, a fixed inner sleeve, a rotary driving device, a sliding block loop bar, a clamping driving device, a clamping device and a clamping device, the front and back positions of the spherical body can be adjusted, and spherical fruits with different diameters can be picked.

Description

Spherical fruit picking device

Technical Field

The invention designs a fruit picking device, and particularly relates to a spherical fruit picking device.

Background

At present, the mode of picking fruits manually is generally adopted for harvesting fruits, and the labor intensity is higher. Moreover, since a few fruits are located at a high place or have a lot of branches, picking personnel often need to climb trees or climb ladders to pick the fruits and avoid the branches, and the whole picking process has certain danger. In addition, although the existing fruit picking device can pick off fruits, the picking force is difficult to control in the picking process, the fruits are often damaged, and the picking is neither flexible nor convenient.

Disclosure of Invention

In order to solve the problem that the existing fruit picking device is not easy to pick fruits with various branches and easily causes fruit damage, the technical scheme of the application carries out theoretical analysis, data collection and arrangement and experimental research, and provides a twisting and pulling type spherical fruit picking device.

The technical scheme adopted by the invention for solving the technical problem is as follows: a spherical fruit picking device comprises an inner rod body 1, a sleeve support 2, a multi-groove sleeve rod 3, a moving sleeve 4 and a fixed outer sleeve 5, wherein the inner rod body 1, the multi-groove sleeve rod 3, the moving sleeve 4 and the fixed outer sleeve 5 are all of a hollow structure, the front end of the inner rod body 1 is fixed at the rear end of the sleeve support 2, the front end of the sleeve support 2 is provided with an annular bulge, the inner side of the annular bulge is in clearance fit with the rear end of a spherical body 202, the rear end of the spherical body 202 is fixedly connected with the front end of a sliding block sleeve rod 201, the sliding block sleeve rod 201 is in sliding connection with the inner hole of the inner rod body 1 along the front-back direction, a radial through groove 209 arranged at the rear end of the spherical body 202 is fixedly connected with a moving block 402, the moving block 402 is fixedly connected with the inner rod body 1, the moving block 402 is in sliding connection with the multi-groove sleeve rod 3 along the front-back direction, the radial end, the fixed position of the movable sleeve 4 on the inner rod body 1 can be adjusted, and the inner rod body 1 is in sliding fit with the multi-groove sleeve rod 3 along the front and back directions;

one end of a clamping finger 208 is hinged with the rear end of the sleeve puller 2, a nylon sleeve 205 is sleeved on the inner rod body 1 in a clearance fit manner and is fixed at the front end of the multi-groove sleeve rod 3, the front end of an outer spring rod 206 is hinged with the middle of the clamping finger 208, the rear end of an inner spring rod 207 is hinged with the nylon sleeve 205, the front part of the inner spring rod 207 is in sliding fit with the outer spring rod 206, long springs 204 are arranged among the outer spring rod 207, the inner spring rod 207, the clamping finger 208 and the long springs 204, and the three long springs are uniformly distributed along the circumferential direction of the inner rod body 1;

the fixed outer sleeve 5 is connected with the fixed inner sleeve 501 in a rotating mode, the fixed inner sleeve 501 is fixed at the radial end portion of the fixed block 502, the fixed block 502 fixes the inner rod body 1, the fixed block 502 is in sliding fit with the multi-groove sleeve rod along the front-back direction, and the fixed inner sleeve 501 is provided with a fixing device for the multi-groove sleeve rod 3;

the rear end of the multi-groove loop bar 3 is provided with a front-back moving push-pull device, and the rear end of the inner bar body 1 is provided with a rotary driving device.

The fixing device for fixing the multi-groove loop bar 3 on the fixing inner sleeve 501 has the following structure: the cantilever that the fixed endotheca 501 front end stretches out is provided with the pinhole, fastening pin 504 and pinhole sliding fit, be provided with spring 505 between the outside end of fastening pin 504 and the cantilever, when fixed endotheca 501 slides the two 305 rear end extreme positions in the cover pole groove that set up on the multislot loop bar, the position of cover pole hole 302 and fastening pin 504 that set up on the multislot loop bar 3 suit, be used for pressing down fastening pin 504, the inner insert in the pinhole of fastening pin 504, realize interior body of rod 1, the fixed between multislot loop bar 3.

The adjustable structure of the fixed position of the moving sleeve 4 on the inner rod body 1 is as follows: the front end of the movable sleeve 4 is provided with a movable sleeve threaded hole, the butterfly bolt 403 is screwed in the movable sleeve threaded hole at the front end of the movable sleeve 4, the inner rod body 1 is provided with two inner rod body threaded holes 1003 along the front-back direction, the multi-groove loop bar 3 is provided with a loop bar groove III 303 for avoiding the butterfly bolt 403, the end part of the butterfly bolt 403 is screwed in one hole in the inner rod body threaded hole 1003 for fixing the movable sleeve 4 and the sliding block loop bar 201 on the inner rod body 1, and the fixed position of the movable sleeve 4 on the inner rod body 1 is adjustable.

The structure that the rear end of the inner rod body 1 is provided with a rotary driving device is as follows: the front end of a spiral guide rail 101 is fixed at the rear end of an inner rod body 1, the outer ring of a bearing 102 is fixed at the rear end of a ribbed sleeve rod 6, the ribbed sleeve rod 6 is in sliding fit with the rear part of a multi-groove sleeve rod 3 along the front-rear direction, the inner hole of the bearing 102 is fixed at the front end of a link 701, the spiral guide rail 101 is positioned at the inner sides of the ribbed sleeve rod 6, the link 701, an outer rod body 7 and a rotary sleeve 104, the inner diameters of the ribbed sleeve rod 6 and the outer rod body 7 are larger than the outer diameter of the spiral guide rail 101, a spiral groove matched with the spiral guide rail 101 is arranged in the rotary sleeve 103, the rotary sleeve 103 is fixed at the front end of the outer rod body 7, the inner diameter of the rotary sleeve 104 is in clearance fit and rotary connection with the outer diameter of the rotary sleeve 103, the rotary sleeve 104 can move back and forth in the rotary sleeve 103, the rear ends of the rotary sleeve 104 and the rotary sleeve 103 are respectively provided with an upper ratchet 1041, the spiral guide rail 101 is driven to rotate, the outer rod body 7 moves downwards, the upper ratchet 1041 and the lower ratchet 1031 are separated, the rotating sleeve 104 moves forwards, and the spiral guide rail 101 cannot be driven to rotate.

The structure that the ribbed loop bar 6 is in sliding fit with the rear part of the multi-groove loop bar 3 along the front and rear directions is as follows: three rib plates 6001 uniformly distributed in the circumferential direction and arranged in the inner hole of the ribbed sleeve rod 6 are in sliding fit with the first three sleeve rod grooves 301 arranged at the rear end of the multi-groove sleeve rod 3.

The rear end of the multi-groove loop bar 3 is provided with a front-back moving push-pull device, and the structure is as follows: the front end of the first loop bar groove 301 is of a closed structure, and the front ends of the first loop bar groove 301 are tightly propped against the front ends of the three rib plates 6001 so as to enable the multi-groove loop bar 3 to move forwards;

the front end parts of the three rib plates 6001 are provided with annular convex blocks 6002, the front ends of the first sleeve rod grooves 301 are provided with annular grooves 306 matched with the annular convex blocks 6002, and when the ribbed sleeve rod 6 moves forwards to the front end parts of the three rib plates 6001 to be attached to the front end part of the first sleeve rod groove 301, the ribbed sleeve rod 6 is rotated to enable the annular convex blocks 6002 to be embedded into the annular grooves 306, the ribbed sleeve rod 6 is moved backwards, and the multi-groove sleeve rod 3 is pulled backwards.

The rear end of the multi-groove loop bar 3 is provided with a first loop bar groove 301, a second loop bar groove 305 is arranged close to the rear end, the middle of the multi-groove loop bar 3 is provided with a fourth loop bar groove 304, the front part of the multi-groove loop bar 3 is provided with a third loop bar groove 303, a loop bar hole 302 is arranged in the front part of the second loop bar groove 305, the moving block 402 is in sliding connection with the fourth loop bar groove 304 along the front-back direction, and the fixing block 502 is in sliding fit with the second loop bar groove 305 along the front-back direction.

The rear portion of the inner rod body 1 is provided with a first inner rod body groove 1001, the middle portion of the inner rod body 1 is provided with a second inner rod body groove 1002, two inner rod body threaded holes 1003 are formed in the middle portion and located on the front side of the second inner rod body groove 1002, the moving block 402 is fixedly connected with the second inner rod body groove 1002, and the first inner rod body groove 1001 of the inner rod body 1 is fixed by the fixing block 502.

The backward sliding extreme position of the multi-groove loop bar 3 is that the rear end is parallel and level with the rear end of the inner bar body 1.

The front end of the spherical body 202 is provided with an inwards concave spherical surface for adapting to the appearance of the spherical fruit.

The beneficial effect of this application:

1. by means of the matching of the spiral guide rail and the rotary sleeve and the mutual meshing of the ratchets between the rotary sleeve and the rotary outer sleeve, the rotary outer sleeve is fixed on the outer rod body, so that the synchronous rotation of the spiral guide rail, the inner rod body, the spherical body and the clamping fingers can be realized by pushing the outer rod body, and the rotary picking of spherical fruits is realized.

2. The spherical body can move forwards through the forward moving sleeve, and the tail end positions of the clamping fingers are fixed all the time, so that the size of the picked spherical apples can be reduced. The rubber sleeve is arranged on the clamping finger, so that the peel is not damaged in the fruit picking process.

3. The structural design of the multi-groove loop bar can not only enable the moving sleeve to move back and forth through a specific groove so as to realize the position of the spherical body, but also can realize the forward movement of the ribbed loop bar through three elongated grooves which are uniformly distributed at the rear end of the loop bar, and the ribbed loop bar is provided with three corresponding ribs, so that the clamping fingers are driven to contract by the forward movement of the ribbed loop bar.

4. The structure design of the fixed inner sleeve enables the multi-groove sleeve rod, the inner rod body and the fixed block to be connected together and cannot rotate relatively, the multi-groove sleeve rod can only move back and forth relative to the inner rod body and the fixed block, after the multi-groove sleeve rod moves forwards to a designated position, the forward moving distance is constant because the groove height of the multi-groove sleeve rod at the position of the fixed block is limited, the fastening pin on the fixed sleeve can fix the position of the multi-groove sleeve rod, the contraction of the clamping finger is finished, and preparation is made for the next rotary picking.

5. The picker can pick dwarfed orchard which is slightly high in position, complex in environment and not suitable for picking by hands.

6. The device can pick spherical fruits such as apples, pears, pomegranates and the like.

7. Novel structure, good appearance, simple operation, and applicability to tourists in picking garden.

Drawings

Fig. 1 is a general structure diagram I of a picking device for spherical fruits.

Fig. 2 is a schematic structural view of a multi-groove loop bar.

Fig. 3 is a schematic structural view of the inner rod body.

Fig. 4 is a general structure diagram of a picking device for spherical fruits.

Fig. 5 is a third general structure diagram of a picking device for spherical fruits.

Fig. 6 is a schematic view of a connecting structure of a slide bar sleeve and a spherical body.

Fig. 7 is a structural section view of the connection of the sleeve puller and the slide block sleeve rod.

Fig. 8 is a first structural section view of the combination of the moving sleeve and the slide block sleeve rod.

Fig. 9 is a sectional view showing the structure of the combination of the moving sleeve and the slide block sleeve rod.

FIG. 10 is a sectional view showing the structure of a multi-groove loop bar with a fixed inner sleeve.

FIG. 11 is a second sectional view of the multi-grooved rod with a fixed inner sleeve.

Fig. 12 is a sectional view showing the structure of the inner rod body provided with the spiral guide.

Fig. 13 is a sectional view of the drive portion of the spiral guide.

FIG. 14 is a schematic view of the upper end of a ribbed shank with an annular projection.

FIG. 15 is a schematic view of a multi-slotted stem with an annular groove.

FIG. 16 is a cross-sectional view of the ratchet engagement mechanism of the rotating sleeve and the rotating sleeve.

Fig. 17 is a structural view of the upper ratchet arranged at the rear end of the rotary sleeve.

Fig. 18 is a structural view of the lower ratchet arranged in the rear end of the rotating outer sleeve.

Reference numerals: 1 inner rod, 2 sets of drags, 3 multi-groove rods, 4 moving sleeves, 5 fixed sleeves, 6 ribbed rods, 7 outer rods, 101 helical rails, 102 bearings, 103 rotating sleeves, 104 rotating sleeves, 105 pins, 1001 inner rod groove I, 1002 inner rod groove II, 1003 inner rod threaded hole, 201 slider rods, 202 spherical body, 203 articulated shaft, 204 long spring, 205 nylon sleeve, 206 outer spring rod, 207 inner spring rod, 208 clamping finger, 209 radial through groove, 2031 articulated shaft I, 2032 articulated shaft II, 2033 articulated shaft III, 301 rod groove I, 302 rod hole, 303 rod groove III, 304 rod groove IV, 305 rod groove II, 306 annular groove, 401 moving sleeve clamping ring, 402 moving block, 403 butterfly bolt, 501 fixed inner sleeve, 502, fixed block 503 fixed sleeve clamping ring, 504 fastening pin, 505 spring, 602 long bar column, 6001 ribbed plate, 6002 annular lug, 701 link.

Detailed Description

Referring to fig. 1-18, a spherical fruit picking device includes an inner rod 1, a sleeve holder 2, a multi-groove sleeve rod 3, a movable sleeve 4, a fixed outer sleeve 5, a ribbed sleeve rod 6, an outer rod 7, a spiral guide rail 101, a bearing 102, a rotary outer sleeve 103, a rotary sleeve 104, a connecting pin 105, a slider sleeve rod 201, a spherical body 202, a first hinge shaft 2031, a second hinge shaft 2032, a third hinge shaft 2033, a long spring 204, a nylon sleeve 205, an outer spring rod 206, an inner spring rod 207, a clamping finger 208, a movable sleeve clamp ring 401, a movable block 402, a butterfly bolt 403, a fixed inner sleeve 501, a fixed block 502, a fixed sleeve clamp ring 503, a fastening pin 504, a spring 505, a long column 602, and a link 701.

The front part of the inner rod body 1 is of a hollow structure, the rear end of the inner rod body is of a solid structure, the front end of the inner rod body is fixed at the rear end of the sleeve drags 2, the front end of the sleeve drags 2 is provided with an annular bulge, the inner side of the annular bulge is in clearance fit with the rear end of the spherical body 202, the front end of the spherical body 202 is provided with an inwards concave spherical surface which is used for adapting to the appearance of spherical fruits, the rear end of the spherical body 202 is fixedly connected with the front end of a sliding block sleeve rod 201, the sliding block sleeve rod 201 is in sliding connection with the inner part of the inner rod body 1 along the front-back direction, a moving block 402 which radially penetrates through a groove 209 and is arranged at the rear end of the spherical body 202 is fixedly connected with a second inner rod groove 1002, the moving block 402 is in sliding connection with a fourth sleeve rod groove 304 along the front-back direction, a moving sleeve 4 is fixed at, on the other hand, the spherical body 202 and the moving sleeve 4 are kept moving synchronously, and the rear end of the inner rod 1 is fixed to the front end of the spiral guide 101.

The multi-groove loop bar 3 is of a hollow structure, a first loop bar groove 301 is formed in the rear end of the multi-groove loop bar 3, a second loop bar groove 305 is formed in the position close to the rear end of the multi-groove loop bar 3, a fourth loop bar groove 304 is formed in the middle of the multi-groove loop bar, a third loop bar groove 303 is formed in the front portion of the multi-groove loop bar 3, and a loop bar hole 302 is formed in the front portion, located in the second loop bar groove 305, of.

The rear portion of the inner rod body 1 is provided with an inner rod body groove I1001, the middle portion of the inner rod body 1 is provided with an inner rod body groove II 1002, and two inner rod body threaded holes 1003 are formed in the middle portion and located on the front side of the inner rod body groove II 1002.

One end of the clamping finger 208 is hinged with the rear end of the sleeve puller 2 through a hinge shaft III 2033, the nylon sleeve 205 is sleeved on the inner rod body 1 through clearance fit and is fixed at the front end of the multi-groove loop bar 3, the front end of the outer spring rod 206 is hinged with the middle of the clamping finger 208 through a hinge shaft I2031, the rear end of the inner spring rod 207 is hinged with the nylon sleeve 205 through a hinge shaft II 2032, the front end of the inner spring rod 207 is in sliding fit with the outer spring rod 206, a long spring 204 is arranged between the front end of the inner spring rod 207 and the outer spring rod 206, and when the multi-groove loop bar 3 moves back and forth, the clamping finger 208 can contract. The outer spring rod 206, the inner spring rod 207, the clamping fingers 208, the long spring 204, the first hinge shaft 2031, the second hinge shaft 2032 and the third hinge shaft 2033 are all three and are uniformly distributed along the circumferential direction of the inner rod body 1.

The fixed outer sleeve 5 is sleeved outside the multi-groove sleeve rod 3, three rib plates 6001 uniformly distributed in the circumferential direction and arranged in an inner hole of the ribbed sleeve rod 6 are in sliding fit with three sleeve rod grooves 301 arranged at the rear end of the multi-groove sleeve rod 3, the rear end of the ribbed sleeve rod is rotatably connected with the link rod 701 through the bearing 102, the front end of the outer rod body 7 is fixed by the link rod 701, and the spiral guide rail 101 is arranged inside the ribbed sleeve rod 6 and the outer rod body 7.

The multi-groove loop bar 3 is in clearance fit with the inner bar body 1 and the movable sleeve 4, the rear end of the sliding block loop bar 201 is in clearance fit with the inner bar body 1, the front end of the movable sleeve clamping ring 401 is nested at the rear end of the movable sleeve 4 through interference fit to prevent the movable sleeve 4 from falling off, the front end of the movable sleeve 4 is provided with a movable sleeve threaded hole, a butterfly bolt 403 is screwed in the movable sleeve threaded hole at the front end of the movable sleeve 4, two inner bar body threaded holes 1003 are formed in the inner bar body 1 in the front-back direction, a loop bar groove III 303 is formed in the multi-groove loop bar 3 and used for avoiding the butterfly bolt 403, the movable sleeve 4 is moved back and forth, the end of the butterfly bolt 403 is screwed in one hole in the inner bar body threaded hole, and the movable sleeve 4 and the sliding block loop bar 201 are fixed on the inner bar body 1 through screwing the butterfly bolt 1003, so that fruits with.

The fixed outer sleeve 5 is rotatably connected with the fixed inner sleeve 501, the fixed outer sleeve 5 can relatively rotate relative to the fixed inner sleeve 501, the fixed inner sleeve 501 is sleeved on the multi-groove loop bar 3 through clearance fit, the front end of the fixed loop clamping ring 503 is fixed with the rear end of the inner sleeve 501 to prevent the fixed outer sleeve 5 from falling off, the fixed inner sleeve 501 is fixed at the radial end part of the fixed block 502, the fixed block 502 is fixed with the first inner rod groove 1001 of the inner rod body 1, the fixed block 502 is in sliding fit with the second loop bar groove 305 along the front-back direction to realize that the multi-groove loop bar 3 can slide back and forth relative to the fixed block 502, a cantilever extending out of the front end of the fixed inner sleeve 501 is provided with a pin hole, a fastening pin 504 is in sliding fit with the pin hole, a spring 505 is arranged between the outer end part of the fastening pin 504 and the cantilever, when the fixed inner sleeve 501 slides to the limit position, when the fastening pin 504 is pressed down, the fastening pin 504 is inserted into the pin hole, so that the positions of the inner rod body 1, the multi-groove sleeve rod 3 and the fixing outer sleeve 501 are relatively fixed, the fastening pin 504 is loosened, the fastening pin 504 is reset under the reset action of the spring 505, and the inner rod body 1 and the multi-groove sleeve rod 3 can slide relatively.

The front end of the spiral guide rail 101 is fixed at the rear end of the inner rod body 1 through a connecting pin 105, the spiral guide rail 101 and the outer rod body 7 rotate relatively without falling off, the outer ring of the bearing 102 is fixed at the rear end of the ribbed sleeve rod through interference fit, the inner hole of the bearing 102 is used for fixing the front end of a link 701, the ribbed sleeve rod 6 and the outer rod body 7 can rotate relatively without falling off, the spiral guide rail 101 is fixed at the inner side of the ribbed sleeve rod 6, the link 701, the outer rod body 7 and the rotary sleeve 104, the inner diameter of the ribbed sleeve rod 6 and the outer rod body 7 is larger than the outer diameter of the spiral guide rail 101, a spiral groove matched with the spiral guide rail 101 is arranged in the rotary sleeve 103, the rotary sleeve 103 is fixed at the front end of the outer rod body 7 through interference fit, the inner diameter of the rotary sleeve 104 is rotatably connected with the outer diameter of the rotary sleeve 103 through clearance fit, the rotary sleeve 104 can move back and forth in the rotary sleeve 103, ratchet, Lower ratchet 1031, when can making outer rod body 7 move up, go up ratchet 1041, lower ratchet 1031 combines, it is rotatory to drive spiral guide 101, outer rod body moves down, go up ratchet 1041, lower ratchet 1031 breaks away from, swivel sleeve 104 drunkenness forward, can not drive spiral guide 101 rotatory, can make multislot loop bar 3 back-and-forth movement through push-and-pull ribbed loop bar 6, drive the shrink and the expansion of centre gripping finger, can make spiral guide 101 rotatory through promoting outer rod body 7, thereby the rotation of the interior rod body 1 of drive, cover mop 2 and centre gripping finger 208.

The front end parts of the three rib plates 6001 are provided with annular convex blocks 6002, the front ends of the sleeve rod grooves one 301 are provided with annular grooves 306 matched with the annular convex blocks 6002, and when the ribbed sleeve rod 6 moves forwards to the front end parts of the three rib plates 6001 and the sleeve rod grooves one 301 to be attached, the ribbed sleeve rod 6 is rotated to enable the annular convex blocks 6002 to be embedded into the annular grooves 306, the ribbed sleeve rod 6 moves backwards, the multi-groove sleeve rod 3 is pulled backwards, and the multi-groove sleeve rod 3 moves backwards relative to the inner sleeve rod 1.

The number of the long spring 204, the outer spring rod 206, the inner spring rod 207 and the clamping finger 208 is 3.

The lifting distance of the moving sleeve 4 and the spherical body 202 is 14mm, so that fruits with different sizes can be picked in an adjustable way.

The multi-groove loop bar 3 is provided with a specific groove, after the movable sleeve 4 is fixed, the multi-groove loop bar 3 can move up by 69mm to realize the contraction and expansion of clamping fingers, and fruits with variable diameters can be picked due to different compression amounts of the long spring 204.

Taking picking apples as an example, when a user picks apples on a tree, the size range of the picked apples is determined, if the apples are too small, the user needs to move the movable sleeve 4 forwards by hand to drive the spherical body 202 to move upwards, the inner rod body threaded holes 1003 on the front side are screwed with the butterfly bolts 403 in the two inner rod body threaded holes 1003 to adjust the size of the picked apples, then one hand holds the fixed outer sleeve 5, the other hand pushes the ribbed sleeve rod 6 forwards, the front ends of the three ribbed plates 6001 on the ribbed sleeve rod 6 tightly push the front ends of the three sleeve rod grooves one 301 to drive the multi-groove sleeve rod 3 to move upwards, the upward moving speed when approaching the apples is controlled, because the spherical body 202 rotates in the upward moving process, the rotation speed of the spherical body does not influence the alignment, the multi-groove sleeve rod 3 pushes the nylon sleeve 205, the nylon sleeve 205 pushes the inner spring rod 207, the inner spring rod 207 compresses the long spring 204, the long spring 204 is applied to the outer spring rod 206 again, the outer spring rod 206 pushes the clamping fingers to enable the clamping fingers 208 to contract and clamp the apple, the fastening pin 504 is pressed down by a hand on the fixing sleeve, the apple is clamped by the clamping fingers at the moment, then the outer rod 7 is repeatedly pushed and pulled by the other hand, the spiral guide rail 101 and the inner rod 1 rotate due to the forward and backward movement of the outer rod 7, the spherical surface 202 and the clamping fingers 208 are driven to rotate, then the apple is rotatably picked, when the front end parts of the three ribbed plates 6001 are attached to the front end part of the sleeve groove I301 by pushing the outer rod 7 with force, the ribbed sleeve rod 6 is rotated to enable the annular convex block 6002 to be embedded into the annular groove 306, the fastening pin 502 is loosened, the ribbed sleeve rod 6 is moved backwards, the multi-groove sleeve rod 3 is pulled backwards, the multi-groove sleeve rod 3 moves backwards relative to the inner sleeve rod 1, the clamping fingers 208 are clamped, and the fruit falls into a container prepared in advance, repeating the steps to pick the apples.

The long spring 204 is used for picking the same kind of fruits with small diameter change, for example, the change range is 20cm, and the front and back positions of the movable sleeve 4 are adjusted to realize the use of different kinds of fruits with large diameter change.

Claims

1. The utility model provides a device is picked to globular fruit, drags (2), multislot loop bar (3), removes cover (4), fixed overcoat (5) including interior body of rod (1), cover, its characterized in that: the inner rod body (1), the multi-groove loop bar (3), the moving sleeve (4) and the fixed outer sleeve (5) are all of a hollow structure, the rear end of a loop drag (2) is fixed at the front end of the inner rod body (1), an annular bulge is arranged at the front end of the loop drag (2), the inner side of the annular bulge is in sliding fit with the rear end of the spherical body (202) along the front-back direction, the rear end of the spherical body (202) is fixedly connected with the front end of a sliding block loop bar (201), the sliding block loop bar (201) is in sliding connection with the inner hole of the inner rod body (1) along the front-back direction, a radial through groove (209) arranged at the rear end of the spherical body (202) is fixedly connected with the moving block (402), the moving block (402) is fixedly connected with the inner rod body (1), the moving block (402) is in sliding connection with the multi-groove loop bar (3) along the front-back direction, the radial end of the moving block (402) is fixed with the moving sleeve (4, the fixed position of the movable sleeve (4) on the inner rod body (1) can be adjusted, and the inner rod body (1) is in sliding fit with the multi-groove sleeve rod (3) along the front and back directions;

one end of each clamping finger (208) is hinged with the rear end of the sleeve support (2), a nylon sleeve (205) is sleeved on the inner rod body (1) in a clearance fit mode and fixed at the front end of the multi-groove sleeve rod (3), the front end of the outer spring rod (206) is hinged with the middle of the clamping finger (208), the rear end of the inner spring rod (207) is hinged with the nylon sleeve (205), the front portion of the inner spring rod (207) is in sliding fit with the outer spring rod (206), long springs (204) are arranged among the inner spring rod and the outer spring rod, and the number of the outer spring rods (206), the number of the inner spring rod (207), the number of the clamping fingers (208) and the number of the long springs (204) are three and are uniformly distributed along the circumferential direction of the inner rod body (1);

the fixed outer sleeve (5) is connected with the fixed inner sleeve (501) in a rotating mode, the fixed inner sleeve (501) is fixed at the radial end portion of the fixed block (502), the fixed block (502) fixes the inner rod body (1), the fixed block (502) is in sliding fit with the multi-groove sleeve rod along the front-back direction, and a fixing device of the multi-groove sleeve rod (3) is arranged on the fixed inner sleeve (501);

the rear end of the multi-groove loop bar (3) is provided with a front-back moving push-pull device, and the rear end of the inner bar body (1) is provided with a rotary driving device.

2. The spherical fruit picking device according to claim 1, wherein: the structure of the fixing device arranged on the fixed inner sleeve (501) and connected with the multi-groove loop bar (3) is as follows: the cantilever that fixed endotheca (501) front end stretches out is provided with the pinhole, fastening pin (504) and pinhole sliding fit, be provided with spring (505) between the outside end of fastening pin (504) and cantilever, when fixed endotheca (501) slided the extreme position of the second (305) rear end in the cover rod groove that sets up on the multislot loop bar, the position of cover rod hole (302) and fastening pin (504) that set up on multislot loop bar (3) suit, be used for pressing fastening pin (504), fastening pin (504) inner inserts in the pinhole, realize interior body of rod (1), fixed between multislot loop bar (3).

3. The spherical fruit picking device according to claim 2, wherein: the structure that the fixed position of the movable sleeve (4) on the inner rod body (1) can be adjusted is as follows: the front end of the movable sleeve (4) is provided with a movable sleeve threaded hole, a butterfly bolt (403) is screwed in the movable sleeve threaded hole at the front end of the movable sleeve (4), two inner rod threaded holes (1003) are formed in the inner rod body (1) along the front-back direction, a sleeve rod groove III (303) is formed in the multi-groove sleeve rod (3) and used for avoiding the butterfly bolt (403), one hole in the inner rod threaded hole (1003) is screwed in the end portion of the butterfly bolt (403) to achieve the purpose that the movable sleeve (4) and the sliding block sleeve rod (201) are fixed on the inner rod body (1), and the fixed position of the movable sleeve (4) on the inner rod body (1) is adjustable.

4. The spherical fruit picking device according to claim 3, wherein: the structure that the rear end of the inner rod body (1) is provided with a rotary driving device is as follows: the front end of a spiral guide rail (101) is fixed at the rear end of an inner rod body (1), the outer ring of a bearing (102) is fixed at the rear end of a ribbed sleeve rod (6), the ribbed sleeve rod (6) is in sliding fit with the rear part of a multi-groove sleeve rod (3) along the front-rear direction, the front end of a link rod device (701) is fixed in an inner hole of the bearing (102), the spiral guide rail (101) is positioned at the inner sides of the ribbed sleeve rod (6), the link rod device (701), an outer rod body (7) and a rotary sleeve (104), the inner diameters of the ribbed sleeve rod (6) and the outer rod body (7) are larger than the outer diameter of the spiral guide rail (101), a spiral groove matched with the spiral guide rail (101) is arranged in the rotary sleeve (103), the rotary sleeve (103) is fixed at the front end of the outer rod body (7), the inner diameter of the rotary sleeve (104) is in clearance fit and rotary sleeve (103) in rotating connection, and the rotary sleeve (, the rear ends of the rotating sleeve (104) and the rotating outer sleeve (103) are respectively provided with an upper ratchet (1041) and a lower ratchet (1031) to drive the spiral guide rail (101) to rotate when the outer rod body (7) moves upwards, the upper ratchet (1041) and the lower ratchet (1031) are combined to drive the spiral guide rail (101) to rotate, the outer rod body (7) moves downwards, the upper ratchet (1041) and the lower ratchet (1031) are separated, and the rotating sleeve (104) moves forwards and cannot drive the spiral guide rail (101) to rotate.

5. The spherical fruit picking device according to claim 4, wherein: the structure that the ribbed loop bar (6) is in sliding fit with the rear part of the multi-groove loop bar (3) along the front and rear directions is as follows: three rib plates (6001) which are uniformly distributed in the circumferential direction and are arranged in an inner hole of the ribbed sleeve rod (6) are in sliding fit with three sleeve rod grooves I (301) which are arranged at the rear end of the multi-groove sleeve rod (3).

6. The spherical fruit picking device according to claim 5, wherein: the rear end of the multi-groove loop bar (3) is provided with a back-and-forth moving push-pull device, and the structure is as follows: the front end of the first loop bar groove (301) is of a closed structure, and the front ends of the first loop bar groove (301) are tightly propped against the front ends of the three rib plates (6001) so as to enable the multi-groove loop bar (3) to move forwards;

the front end parts of the three rib plates (6001) are provided with annular convex blocks (6002), the front ends of the sleeve rod grooves (301) are provided with annular grooves (306) matched with the annular convex blocks (6002), and when the ribbed sleeve rod (6) moves forwards to the front end parts of the three rib plates (6001) and the sleeve rod grooves (301) to be attached, the ribbed sleeve rod (6) is rotated to enable the annular convex blocks (6002) to be embedded into the annular grooves (306), the ribbed sleeve rod (6) moves backwards, and the multi-groove sleeve rod (3) is pulled backwards.

7. The spherical fruit picking device according to claim 6, wherein: the rear end of the multi-groove loop bar (3) is provided with a first loop bar groove (301), a second loop bar groove (305) is arranged close to the rear end, a fourth loop bar groove (304) is arranged in the middle, a third loop bar groove (303) is arranged at the front part, located in the second loop bar groove (305), of the multi-groove loop bar (3) and provided with a loop bar hole (302), the moving block (402) is connected with the fourth loop bar groove (304) in a sliding mode along the front-back direction, and the fixing block (502) is in sliding fit with the second loop bar groove (305) along the front-back direction.

8. The spherical fruit picking device according to claim 7, wherein: the rear portion of the inner rod body (1) is provided with a first inner rod body groove (1001), the middle portion of the inner rod body groove is provided with a second inner rod body groove (1002), two inner rod body threaded holes (1003) are formed in the middle portion of the front side of the second inner rod body groove (1002), the moving block (402) is fixedly connected with the second inner rod body groove (1002), and the first inner rod body groove (1001) of the inner rod body (1) is fixed by the fixing block (502).

9. The spherical fruit picking device according to claim 8, wherein: the limit position of the multi-groove loop bar (3) sliding backwards is that the rear end is flush with the rear end of the inner bar body (1).

10. The spherical fruit picking device according to any one of claims 1 to 9, wherein: the front end of the spherical body (202) is provided with an inwards concave spherical surface which is used for adapting to the shape of the spherical fruit.