CN109392456B

CN109392456B - Fruit picking device

Info

Publication number: CN109392456B
Application number: CN201811529780.3A
Authority: CN
Inventors: 程国标; 许谢吉
Original assignee: Zhijiang College of Zhejiang University of Technology
Current assignee: Zhijiang College of Zhejiang University of Technology
Priority date: 2018-12-14
Filing date: 2018-12-14
Publication date: 2024-12-17
Anticipated expiration: 2038-12-14
Also published as: CN109392456A

Abstract

The invention discloses a fruit picker which comprises a telescopic rod (15), wherein a pitching motor (9), a first screw nut mechanism (8) and a tail end grabbing mechanism are arranged on the telescopic rod (15), the tail end grabbing mechanism comprises a support shell (5), a grabbing motor (23) and at least 3 claws (19), a second screw nut mechanism (21) is further arranged on the support shell (5), a motor shaft of the grabbing motor (23) is connected with a screw rod of the second screw nut mechanism (21), a lantern ring (22) is arranged between a nut of the second screw nut mechanism (21) and each claw (19), and the claws (19) are hinged on the support shell (5) of the tail end grabbing mechanism. The fruit picker can automatically pick and collect fruits with different sizes and different fruit stem lengths, and has high picking efficiency and small labor intensity.

Description

Fruit picking device

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a fruit picker.

Background

With the rapid entry of modern technology into agricultural production and development, a large amount of agricultural machinery is used, so that the planting amount is increased year by year, the economic benefits of fruit farmers are increased, and the consumption capability of people is also improved continuously. China is the largest apple producing country and consuming country in the world, and the apple planting area and yield account for more than 40% of the total world, and plays an important role in the world apple industry. The apple consumer market mainly comprises fresh fruits and processed products, the proportion of fresh foods is up to 90%, and the processed products only account for about 10%. In order to ensure the quality of apples, timely picking is a great importance of apple industry in China. For fruit farmers, harvesting of crop fruits is a job faced by farmers each year, most of fruit picking mainly uses manual picking, a lot of manpower, material resources and time are consumed, time and labor are wasted, cost is increased, and for some higher fruit picking, the fruit picking can be realized by means of some ascending tools, so that the picking efficiency is low and the danger is high, and therefore, the traditional fruit picking method can not meet the large-batch fruit picking requirements, and the large-scale development of the forest and fruit industry and the planting industry is limited. Therefore, some picking devices are gradually appeared, but most of the existing picking devices are large-scale picking machines, and machines capable of picking in large batches are huge and expensive, and are not suitable for picking in some hills or remote areas in China. In addition, in the picking process, the situation of dropping and damaging fruits is easy to occur, and the use is inconvenient. Many fruit pickers on the market are either too simple, bringing unnecessary labor time, or too complex to be suitable for fruit farmers to operate. Through investigation and analysis to fruit farmers' picking fruit demand, designed a telescopic fruit picker that generic nature is strong, can single carry the operation, can be used to the fruit type scope of picking extensively, bad fruit rate is low, and it is efficient to pick, possesses low cost and high generic nature.

Disclosure of Invention

The invention provides a fruit picker aiming at the defects in the prior art.

In order to solve the technical problems, the invention is solved by the following technical scheme:

The utility model provides a fruit picker, includes the telescopic link, be equipped with every single move motor, first lead screw nut mechanism and terminal mechanism of snatching on the telescopic link, terminal mechanism of snatching articulates at the telescopic link top, every single move motor drives the lead screw rotation in the first lead screw nut mechanism, nut in the first lead screw nut mechanism and terminal snatch and be connected with first steel wire between the mechanism, terminal mechanism of snatching include support housing, snatch motor and 3 at least hand claws, still be equipped with the second lead screw nut mechanism on the support housing, the motor shaft of snatch motor is connected with the lead screw of second lead screw nut mechanism, is equipped with the lantern ring between the nut of second lead screw nut mechanism and each hand claw, the hand claw articulate on the support housing of terminal mechanism of snatching. According to the fruit picking machine, the single chip microcomputer is used for controlling the grabbing motor, three claws are used for grabbing fruits and rotating after grabbing, the blades can be used for shearing the pedicles to pick the fruits, meanwhile, the rotation can also enable the pedicles to twist to generate a twisting effect, so that the fruit picking reliability is extremely high, the tail end grabbing mechanism with centering and buffering functions can effectively prevent the fruit peel from being damaged, and even when the fruits are located next to each other, the fruit peel can be effectively protected. Under the control of the singlechip, the fruit picking action can be automatically and continuously finished, and a user can finish fruit picking by pressing one button.

Preferably, the nut of the second screw-nut mechanism is provided with a first collar hole, the paw is provided with a second collar hole, and the collar passes through the first collar hole and the second collar hole.

Preferably, the first steel wire is connected to the top end of the supporting shell of the tail end grabbing mechanism, and the paw is connected to the lower end of the tail end grabbing mechanism.

Preferably, the hand claw is further provided with a blade, and the knife edge direction of the blade is perpendicular to the rotation direction of the hand claw.

Preferably, a pipeline is further arranged below the telescopic rod, a pipeline mounting plate is arranged between the pipeline and the telescopic rod, an inlet of the pipeline is positioned below the tail end grabbing mechanism, and a knapsack is arranged at an outlet of the pipeline. The storage net can be placed in the backpack, and the storage net with smaller meshes and certain elasticity can be used for effectively buffering the sheared fruits, so that the fruits are prevented from being directly dropped and damaged.

Preferably, the telescopic rod comprises an inner rod and an outer sleeve, the inner rod moves in the outer sleeve, a fixed pulley is arranged at the top of the outer sleeve, a motor wheel disc is further arranged on the outer sleeve, a second steel wire and a third steel wire are wound on the motor wheel disc in opposite winding directions, the free end of the second steel wire is connected to the inner rod across the fixed pulley, and the free end of the third steel wire is also connected to the inner rod. The fruit grower does not need to borrow the ladder, only needs to control the motor rim plate through the switch and can utilize the wire line to pull the flexible so that this picker can pick the apple of picking different height.

Preferably, the telescopic rod is provided with a hole slot, which penetrates the inner rod and the outer sleeve, and the second steel wire penetrates the hole slot.

Preferably, a linear bearing is arranged between the inner rod and the outer sleeve.

Preferably, the tail end grabbing mechanism comprises a mounting plate, the claws are hinged to the mounting plate, and the grabbing motor drives the mounting plate to rotate.

Due to the adoption of the technical scheme, the fruit picker has the remarkable technical effects that the fruit picker can automatically pick and collect fruits with different sizes and different fruit stem lengths, can effectively prevent the fruit peel from being damaged, and has high picking efficiency and small manual labor intensity.

Drawings

Fig. 1 is a schematic structural diagram of embodiment 1.

Fig. 2 is a top view of fig. 1.

Fig. 3 is a partial schematic view of the direction a in fig. 1.

Fig. 4 is an outline view of the tip grasping mechanism in embodiment 1.

Fig. 5 is a front view of the tip grasping mechanism in embodiment 1.

Fig. 6 is a cross-sectional view taken along the B-B plane of fig. 5.

The parts of the drawing indicated by the numerical references are as follows, 5-supporting shell, 6-pipeline mounting plate, 8-first screw-nut mechanism, 9-pitching motor, 10-fixed pulley, 11-pipeline, 14-knapsack, 15-telescopic link, 16-first steel wire, 17-motor wheel disc, 18-hole slot, 19-paw, 20-blade, 21-second screw-nut mechanism, 22-lantern ring, 23-grabbing motor, 24-mounting plate.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Example 1

The utility model provides a fruit picker, shown in fig. 1, fig. 2, including telescopic link 15, be equipped with every single move motor 9, first lead screw nut mechanism 8 and terminal grabbing mechanism on the telescopic link 15, terminal grabbing mechanism articulates at telescopic link 15 top, every single move motor 9 drives the lead screw rotation in the first lead screw nut mechanism 8, be connected with first steel wire 16 between nut in the first lead screw nut mechanism 8 and the terminal grabbing mechanism, terminal grabbing mechanism include as shown in fig. 3 through fig. 6, including support casing 5, snatch motor 23 and at least 3 hand claws 19, still be equipped with second lead screw nut mechanism 21 on the support casing 5, snatch motor 23's motor shaft and the lead screw connection of second lead screw nut mechanism 21 are equipped with the lantern ring 22 between the nut of second lead screw nut mechanism 21 and each hand claw 19, terminal grabbing mechanism includes the mounting disc, hand claw 19 articulates on the mounting disc, snatch motor 23's motor shaft through the transmission structure drive mounting disc 24 rotates.

The nut of the second screw-nut mechanism 21 is provided with a first collar hole, the paw 19 is provided with a second collar hole, and the collar 22 passes through the first collar hole and the second collar hole.

The first steel wire 16 is connected to the top end of the supporting shell 5 of the end grabbing mechanism, and the paw 19 is connected to the lower end of the end grabbing mechanism.

The hand claw 19 is also provided with a blade 20, and the edge direction of the blade 20 is perpendicular to the rotation direction of the hand claw 19.

The telescopic rod 15 is characterized in that a pipeline 11 is further arranged below the telescopic rod 15, a pipeline mounting plate is arranged between the pipeline 11 and the telescopic rod 15, an inlet of the pipeline 11 is located below the tail end grabbing mechanism, and a knapsack 14 is arranged at an outlet of the pipeline 11.

The telescopic rod 15 comprises an inner rod and an outer sleeve, the inner rod moves in the outer sleeve, the fixed pulley 10 is arranged at the top of the outer sleeve, the motor wheel disc 17 is further arranged on the outer sleeve, the second steel wire and the third steel wire are wound on the motor wheel disc 17 in opposite winding directions, the free end of the second steel wire spans the fixed pulley 10 and is connected to the inner rod, and the free end of the third steel wire is also connected to the inner rod.

The telescopic rod 15 is provided with a hole groove 18, the hole groove 18 penetrates through the inner rod and the outer sleeve, and the second steel wire penetrates through the hole groove 18.

A linear bearing is arranged between the inner rod and the outer sleeve.

The fruit picking device has the working principle that the telescopic rod 15 stretches out or retracts under the rotation of the motor wheel disc 17 to adapt to fruit picking at different heights, the pitching motor 9 drives nuts in the first screw-nut mechanism 8 to move, so that the angle of the tail end grabbing mechanism is changed through the first steel wire 16, the grabbing motor 23 in the tail end grabbing mechanism drives the claw 19 to grab fruits through the second screw-nut mechanism 21, and the blade 20 on the claw 19 can cut off fruit handles of the fruits. The fruit is picked up and rolled into the tunnel 11 and collected along the tunnel 11 into the backpack 14.

In summary, the foregoing description is only of the preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the invention.

Claims

1. The fruit picker is characterized by comprising a telescopic rod (15), wherein a pitching motor (9), a first screw-nut mechanism (8) and a tail end grabbing mechanism are arranged on the telescopic rod (15), the tail end grabbing mechanism is hinged to the top of the telescopic rod (15), the pitching motor (9) drives a screw rod in the first screw-nut mechanism (8) to rotate, a first steel wire (16) is connected between a nut in the first screw-nut mechanism (8) and the tail end grabbing mechanism, the tail end grabbing mechanism comprises a supporting shell (5), a grabbing motor (23) and at least 3 claws (19), a second screw-nut mechanism (21) is further arranged on the supporting shell (5), a motor shaft of the grabbing motor (23) is connected with a screw rod of the second screw-nut mechanism (21), a lantern ring (22) is arranged between a nut of the second screw-nut mechanism (21) and each claw (19), and the claws (19) are hinged to the supporting shell (5) of the tail end grabbing mechanism;

The telescopic rod (15) comprises an inner rod and an outer sleeve, the inner rod moves in the outer sleeve, a fixed pulley (10) is arranged at the top of the outer sleeve, a motor wheel disc (17) is further arranged on the outer sleeve, a second steel wire and a third steel wire are wound on the motor wheel disc (17), the winding directions of the second steel wire and the third steel wire on the motor wheel disc (17) are opposite, the free end of the second steel wire spans the fixed pulley (10) and is connected to the inner rod, and the free end of the third steel wire is also connected to the inner rod;

The telescopic rod (15) is provided with a hole groove (18), the hole groove (18) penetrates through the inner rod and the outer sleeve, and the second steel wire penetrates through the hole groove (18);

the tail end grabbing mechanism comprises a mounting plate (24), a paw (19) is hinged to the mounting plate (24), and a grabbing motor (23) drives the mounting plate (24) to rotate.

2. Fruit picker according to claim 1, characterized in that the nut of the second screw-nut mechanism (21) is provided with a first collar hole, the gripper (19) is provided with a second collar hole, and the collar (22) passes through the first collar hole and the second collar hole.

3. Fruit picker according to claim 1, characterized in that the first wire (16) is connected to the top end of the support housing (5) of the end gripping means, and the claws (19) are connected to the lower end of the end gripping means.

4. Fruit picker according to claim 1, characterized in that the claws (19) are further provided with blades (20), the cutting edge direction of the blades (20) being perpendicular to the rotation direction of the claws (19).

5. The fruit picker according to claim 1, characterized in that a pipeline (11) is further arranged below the telescopic rod (15), a pipeline mounting plate (6) is arranged between the pipeline (11) and the telescopic rod (15), an inlet of the pipeline (11) is positioned below the tail end grabbing mechanism, and a backpack (14) is arranged at an outlet of the pipeline (11).

6. A fruit picker according to claim 1 wherein a linear bearing is provided between the inner rod and the outer sleeve.