CN109379984B - Apple picking device with mechanical separation structure - Google Patents
Apple picking device with mechanical separation structure Download PDFInfo
- Publication number
- CN109379984B CN109379984B CN201710665117.5A CN201710665117A CN109379984B CN 109379984 B CN109379984 B CN 109379984B CN 201710665117 A CN201710665117 A CN 201710665117A CN 109379984 B CN109379984 B CN 109379984B
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- China
- Prior art keywords
- apple
- picking
- picking head
- clamping arm
- rod
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- 238000000926 separation method Methods 0.000 title claims abstract description 7
- 241000220225 Malus Species 0.000 claims abstract description 83
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 28
- 239000010959 steel Substances 0.000 claims abstract description 28
- 235000021016 apples Nutrition 0.000 claims description 26
- 238000009434 installation Methods 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The apple picking head comprises three parts, namely apple separation, angle adjustment of the picking head and apple fixation; the whole of the apple fixing device is in a slender rod shape, the front end of the apple fixing device is provided with a picking head, the rear end of the apple fixing device is provided with a tail section capable of swinging an angle, a handle for driving the apple fixing device to open and close is arranged on the tail section, and a handle capable of sliding back and forth on the rod is arranged in the middle of the rod. The apple separating device is a core of the invention, and is provided with an inner clamping arm and an outer clamping arm which are respectively in a right angle shape, and the tail end of each clamping arm is provided with a cylindrical clamping rod which is perpendicular to the direction of the clamping arm; the outer clamping arm is provided with a dovetail groove, and the inner clamping arm can slide on the outer clamping arm along the dovetail groove; the two outer clamping arms of the front end separating device of the picking head are respectively provided with a gear on the rotating shaft, a double-sided rack plate is arranged between the two gears and is respectively meshed with the two gears, the upper end of the rack plate is provided with a transverse baffle, and the lower end of the rack plate is provided with a spring; when the separating handle is pinched to pull the steel wire downwards, the separating device at the front end of the picking head is firstly closed to clamp the apple stem, and when the handle is continuously pinched, the inner clamping arm slides downwards along the outer layer arm, so that the apple stem is disconnected from the branches.
Description
Technical Field
The invention relates to an apple picker with a mechanical separation structure, which can simulate manual picking actions to efficiently and quickly finish picking high apples.
Background
The best picking method is manual picking, so that the apples are not damaged and are ensured to be intact. However, manual picking is inefficient and the height of the applers at the higher positions is not directly accessible.
Principle of the invention
The basic idea of the invention is to simulate the action of picking apples by both hands manually.
The action of manually picking apples, one hand holds the apples to ensure that the apples cannot fall off after being picked, the other hand holds the branches, and the front end of the thumb is pushed by the reverse force along the growth direction of the apple stalks, so that the joints of the apple stalks and the branches are broken (the fruits have a natural falling trend in a period close to maturity and are broken most easily), and the broken branches or the tearing branches can be prevented.
In order to simulate the action of manually picking apples, the invention uses four clamping rods which are arranged in a double-layer manner in design, and the clamping rods are controlled by a handle through a steel wire with a sleeve outside. The inner two clamping sticks can clamp the apple handle, the outer two clamping sticks push against the branches, and the inner two clamping sticks pull the apple handle downwards by one time.
In order to ensure that picked apples do not fall off, the invention designs a four-claw clamping device controlled by the left hand, so that the picked apples are held by the device.
Because the apple growth angles are different, the tail part of the picking rod is designed to be of a swinging structure, and the angle of the picking head is controlled through the guide wheel and the steel wire to be adjusted to be the most suitable picking angle.
In order to adapt to apples growing at different heights, the right-hand operated handle is arranged on the sleeve which can freely slide on the picking rod.
Disclosure of Invention
The invention aims to provide an apple picker with a mechanical separation structure. The invention can be used for rapidly and perfectly picking apples at higher positions on the tree, and is used for simulating manual picking so as to ensure that the quality of the apples is intact.
The invention comprises an apple separating device, a picking head angle adjusting device and an apple fixing device.
The apple separating device comprises: the picking head comprises a picking head base plate, double-sided rack plates, an outer clamping arm, an inner clamping arm, a driving steel wire and a handle. The double-sided rack plate is provided with a transverse baffle positioning shaft, a double-sided rack plate spring, a transverse baffle and a spring; the outer clamping arm is provided with an outer clamping arm gear and an outer clamping rod; the inner clamping arm is provided with an inner clamping rod and an inner clamping arm return spring.
The picking head angle adjusting device comprises: picking head base plate and picking rod. The picking head base plate is provided with a traction pin, a spring and a picking head mounting shaft; the picking rod is provided with a steel wire, a guide wheel, a picking rod tail section and a picking rod tail section installation shaft.
The apple fixing device includes: the device comprises an upper platform, a lower platform, clamping claws, steel wires and a handle. The upper platform is provided with a hollow shaft and a spring.
The working process of the invention
1. The apple separating principle is that, as shown in fig. 3, the front end of the picking head is an apple separating device which can be opened and closed, the device is provided with four clamping arms, the tail end of each arm is provided with a cylindrical clamping rod which is perpendicular to the direction of the arm, the device can be divided into an inner layer and an outer layer, each layer is provided with two arms, the inner side of the outer clamping arm a3 is provided with a dovetail groove, so that the inner clamping arm a4 can slide outside the outer clamping arm a3 as a track. The rotating shafts of the two outer clamping arms a3 of the picking head front end separating device are respectively provided with a gear a31, a double-sided rack plate a2 is arranged between the two gears and is respectively meshed with the two gears a31, the upper end of the rack plate a2 is provided with a transverse baffle a23, the lower end of the rack plate a2 is provided with a spring a22, a spring a24 is arranged between the rack plate a2 and the transverse baffle a23, and a driving steel wire a5 is arranged on the transverse baffle a 23. When the breaking handle a6 is pinched to draw the driving steel wire a5 downwards, the transverse baffle a23 enables the rack plate a2 to move downwards through the spring a24, the two gears a31 are driven to rotate relatively, the gears drive the outer clamping arm a3 to move inwards, and the clamping rod a32 is used for completing the clamping action of the apple handle. When the handle a6 is continuously pinched, the outer clamping arm clamping rod a32 is blocked by the apple stem, the gear a31 cannot continuously move, meanwhile, the rack plate a2 cannot continuously move, at the moment, the spring a24 between the transverse baffle a23 and the rack plate a2 is stressed and compressed, the transverse baffle a23 continuously moves downwards, and two ends of the transverse baffle a23 just clamp the inner bending part of the inner clamping arm a4, so that the inner clamping arm a4 is driven to slide downwards along the outer clamping arm a3, and the connection between the apple stem and an apple branch is disconnected.
2. The principle of angle adjustment of the picking head is shown in fig. 4, a steel wire b12 is respectively arranged on the pulling pins b11 of the picking head base plates at two sides of the picking head base plate b1, two small holes are respectively arranged at the front end and the rear end of the picking rod b2, two steel wires b21 of the picking head respectively penetrate through the front small hole and the rear small hole of the picking rod b2 and penetrate through the whole picking rod, and as the picking rod b2 is divided into two sections, a guide wheel b22 is arranged at the joint between the two sections, when the picking rod tail section b23 is pulled, the steel wires b21 at two sides of the guide wheel b22 move in opposite directions along two sides of the guide wheel b22, which is equivalent to the extension of one steel wire at one side and the shortening of the other steel wire, and the movement of the steel wire is transmitted to the picking head through the small holes at the front end of the picking rod b2, so that the picking head base plate b1 swings. In order to enable the picking head to return automatically, two springs b12 are arranged at the connection point of the picking head and the steel wire and in a small space at the front end of the picking rod.
3. The apple fixing principle is that, as shown in fig. 5, the four-claw clamping device is provided with an upper platform and a lower platform, wherein the upper platform c1 is a fixed platform and is connected with the picking head through a hollow shaft c 11; the lower platform c2 is a movable platform, a steel wire c4 is connected to the lower platform c2, the steel wire c4 is pulled to move downwards when the handle c5 is pinched, and the steel wire c4 drives the lower platform c2 to move downwards; four claws c3 are equidistantly arranged between the two platforms, and the downward movement of the lower platform c2 drives the four claws c3 to move outwards to open; when the handle is released, the spring c12 is arranged between the lower platform c2 and the picking head, the spring c12 compressed in the previous action generates resilience force to push the lower platform c2 to move upwards, and the four clamping jaws c3 move inwards to be closed, so that apples are fixed.
The invention has the beneficial effects that:
1. the labor intensity is reduced, the labor efficiency is improved, and the working quality is ensured.
2. The operation is simple, and the pulling action of clamping the apple stalks and perpendicular to the direction of the branches is completed by pinching the same handle in one step.
3. The head of the apple picker can be rotated to adapt to apples growing in different directions.
4. The handle for applying force during picking can slide on the picking rod so as to adapt to apples growing at different positions.
5. The picked apples are fixed by the five-claw clamping device by means of the clamping force of the springs, so that the apples cannot fall down or be damaged due to too strong force.
Drawings
FIG. 1 is a schematic perspective view of an assembled structure
FIG. 2 is an exploded perspective view
FIG. 3 is a schematic diagram of apple separation
FIG. 4 is a schematic view of angle adjustment of picking head
FIG. 5 is a schematic diagram of apple attachment
Detailed Description
As shown in figure 1, the apple picker is of an elongated rod-shaped structure, the front end of the apple picker is provided with a picking head, the rear end of the apple picker is provided with a tail section capable of swinging an angle, a handle for driving an apple clamping device to open and close is arranged on the tail section, the middle of the apple picker is provided with a handle capable of sliding back and forth on the apple, and the apple and branch separating device is driven to move through a steel wire.
As shown in fig. 2, the apple picker comprises an apple separating device, a picking head angle adjusting device and an apple fixing device, wherein the apple separating device is the core of the invention.
As shown in fig. 3, the apple separating apparatus includes: picking head base plate a1, double-sided rack plate a2, outer clamping arm a3, inner clamping arm a4, driving steel wire a5 and handle a6; the rack plate a2 is provided with a transverse baffle positioning shaft a21, a double-sided rack plate spring a22, a transverse baffle a23 and a spring a24; the outer clamping arm a3 is provided with an outer clamping arm gear a31 and an outer clamping rod a32; the inner arm a4 is provided with an inner clamping rod a41 and an inner arm return spring a42.
Wherein the two outer clamping arms a3 and the two inner clamping arms a4 are respectively in a right angle shape, the tail end of the inner clamping arm 4 is provided with a clamping rod a41 which is vertical to the clamping arm direction, and the tail end of the outer clamping arm a3 is provided with a clamping rod a32 which is vertical to the clamping arm direction; the outer clamping arm a3 is provided with a dovetail groove, and the inner clamping arm a4 can slide on the outer clamping arm a3 along the dovetail groove; the rotating shafts of the two outer clamping arms a3 of the front end separating device of the picking head are respectively provided with a gear a31, a double-sided rack plate a2 is arranged between the two gears and is respectively meshed with the two gears, the upper end of the rack plate is provided with a transverse baffle a23, and the lower end of the rack plate is provided with a spring a24; when the separating handle a6 is pinched to pull the steel wire a5 downwards, the separating device at the front end of the picking head is firstly closed to clamp the apple stems, and when the handle is continuously pinched, the inner clamping arms slide downwards along the outer layer arms, so that the apple stems are disconnected from the branches.
As shown in fig. 4, the picking head angle adjusting device includes: picking head base plate b1 and picking rod b2; the base plate b1 is provided with a picking head base plate traction pin b11, a spring b12 and a picking head installation shaft b13; the picking rod b2 is provided with a steel wire b21, a guide wheel b22, a picking rod tail section b23 and a picking rod tail section installation shaft b24. The angle adjusting device of the picking head transmits the motion force to the picking head in front of the picking rod through the guide wheel and the steel wire by the transverse swing of the tail joint of the picking rod, so that the picking head generates transverse rotation to be consistent with the growth direction of apples.
As shown in fig. 5, the apple fixing apparatus includes: an upper platform c1, a lower platform c2, a claw c3, a steel wire c4 and a handle c5; the upper platform c1 is provided with a hollow shaft c11 and a spring c12; apple fixing device, four-jaw clamping, through the power that the handle on the pole produced of picking, after the steel wire conduction, control this four-jaw clamping device's opening, rely on four-jaw clamping mechanism's spring to realize automatic closure.
Working procedure of this embodiment
The two-hand holding type operation is carried out, the tail of the picking rod is pulled by the left hand to adjust the angle of the picking head to be consistent with the growth direction of apples, then the handle arranged at the tail of the picking rod is held, the four-jaw clamping device is opened, the handle is loosened, apples are clamped by the clamping force of the spring, the handle arranged at the front end of the picking rod is pinched by the right hand, the inner clamping arm and the outer clamping arm of the crab claw shape are closed together, the clamping rod of the upper roller structure clamps the position of the apple handle close to the branch, the handle is continuously pinched, the clamping rod fixed at the lower layer can clamp the apple handle with larger force, the handle is continuously pinched, the lower layer clamping rod can move downwards, the lower layer clamping rod can clamp the apple handle to be pulled downwards because the upper layer clamping rod can roll, the branch is blocked by the upper layer clamping rod and can not move downwards, the cut off at the joint of the apple handle and the branch, and the picked apples are held by the four-jaw clamping device and cannot fall.
When the apples are transported and stacked, the picking heads of the picking rods are placed above the container for receiving the apples, the four-claw clamping devices are opened when the handles at the tail parts of the picking rods are pinched, the apples fall into the container, and the apples are picked.
Claims (1)
1. An apple picker with a mechanical separation structure, which is characterized in that: comprises an apple separating device, a picking head angle adjusting device and an apple fixing device; the apple separating device comprises a picking head base plate, double-sided rack plate springs, a transverse baffle plate positioning shaft, double-sided rack plate springs, outer clamp arms, outer clamp arm gears, outer clamp rods, inner clamp arms, inner clamp rods, inner clamp arm return springs, driving steel wires and handles, wherein the outer clamp arms and the inner clamp arms are respectively in right angles; the picking head angle adjusting device comprises a picking head base plate and a picking rod, wherein the picking head base plate is provided with a picking head base plate traction pin, a spring and a picking head installation shaft, the picking rod is provided with a steel wire, a guide wheel, a picking rod tail joint and a picking rod tail joint installation shaft, and the picking head is enabled to transversely rotate by transmitting the motion force to the picking head in front of the picking rod through the guide wheel and the steel wire through transverse swinging of the picking rod tail joint, so that the picking head is enabled to be consistent with the growth direction of apples.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710665117.5A CN109379984B (en) | 2017-08-07 | 2017-08-07 | Apple picking device with mechanical separation structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710665117.5A CN109379984B (en) | 2017-08-07 | 2017-08-07 | Apple picking device with mechanical separation structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109379984A CN109379984A (en) | 2019-02-26 |
| CN109379984B true CN109379984B (en) | 2024-01-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710665117.5A Active CN109379984B (en) | 2017-08-07 | 2017-08-07 | Apple picking device with mechanical separation structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN109379984B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102424195B1 (en) * | 2020-03-10 | 2022-07-26 | 카고텍 파텐터 에이비 | Device for harvesting palm fruit |
| CN112498802B (en) * | 2020-11-30 | 2022-06-28 | 浙江经贸职业技术学院 | Dragon fruit packing plant |
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| CN206333026U (en) * | 2016-11-11 | 2017-07-18 | 重庆市林业科学研究院 | A kind of easy fruit picking apparatus |
| CN107006218A (en) * | 2017-05-09 | 2017-08-04 | 南京林业大学 | The bionical harvesting of tealeaves refers to |
| CN207505450U (en) * | 2017-08-07 | 2018-06-19 | 长春工业大学 | A kind of apple picking device of the mechanically decoupled structure of band |
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2017
- 2017-08-07 CN CN201710665117.5A patent/CN109379984B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10332973A1 (en) * | 2003-07-21 | 2005-02-10 | Eckhard Behrend | Cutting shears on handle for harvesting of cherries may have pistol grip with trigger on rotary joint on end of telescopic shaft and has shears with hooked fixed knife blade and convex moving blade |
| CN200990792Y (en) * | 2006-12-26 | 2007-12-19 | 沈阳农业大学 | Apple picking device |
| CN202095298U (en) * | 2011-05-26 | 2012-01-04 | 王鹏飞 | Apple picking device |
| CN103947380A (en) * | 2014-04-18 | 2014-07-30 | 金陵科技学院 | Double-arm fruit picking robot and fruit picking method |
| CN204443136U (en) * | 2015-01-26 | 2015-07-08 | 江西农业大学 | A kind of camellia oleifera fruit end effector of picking machine |
| CN204762223U (en) * | 2015-07-14 | 2015-11-18 | 四川农业大学 | Mechanical hand device is plucked to watermelon |
| CN205694361U (en) * | 2016-04-15 | 2016-11-23 | 诸暨市昊森园林有限公司 | A kind of picking fruit equipment |
| CN205671007U (en) * | 2016-05-16 | 2016-11-09 | 陕西科技大学 | Scalable apple-picking device |
| CN206333026U (en) * | 2016-11-11 | 2017-07-18 | 重庆市林业科学研究院 | A kind of easy fruit picking apparatus |
| CN107006218A (en) * | 2017-05-09 | 2017-08-04 | 南京林业大学 | The bionical harvesting of tealeaves refers to |
| CN207505450U (en) * | 2017-08-07 | 2018-06-19 | 长春工业大学 | A kind of apple picking device of the mechanically decoupled structure of band |
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| Publication number | Publication date |
|---|---|
| CN109379984A (en) | 2019-02-26 |
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