CN109548480A - A kind of wearable scalable picking mechanical arm - Google Patents
A kind of wearable scalable picking mechanical arm Download PDFInfo
- Publication number
- CN109548480A CN109548480A CN201811586988.9A CN201811586988A CN109548480A CN 109548480 A CN109548480 A CN 109548480A CN 201811586988 A CN201811586988 A CN 201811586988A CN 109548480 A CN109548480 A CN 109548480A
- Authority
- CN
- China
- Prior art keywords
- traction rope
- telescopic rod
- buffering
- wearable
- manipulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 40
- 230000003139 buffering effect Effects 0.000 claims abstract description 26
- 210000000078 claw Anatomy 0.000 claims abstract description 14
- 239000000872 buffer Substances 0.000 claims description 5
- 230000006978 adaptation Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- A01D46/22—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
- A01D46/243—Accessories specially adapted for manual picking, e.g. ladders, carts
-
- 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)
Abstract
A kind of wearable scalable picking mechanical arm, there is adjustable telescopic rod that can stretch, the rear portion of telescopic rod is equipped with control structure, which includes control line ratchet and traction rope support, telescopic rod front sequence is equipped with traction rope, curved knife pawl seat and arc cutter claw；Curved knife pawl seat connects downwards the flexible shedding channel an of tubular, and shedding channel is arranged below buffering and connects fruit vehicle；The lower part of handle structure is sequentially equipped with manipulation and hamulas handle and fixing belt, which is fixed on whole device on arm by fixing belt, grasps manipulation and hamulas handle, can operate arc cutter claw and carry out plucking fruit operation；It is made into, is worn on arm by light material, it is easy to wear, physical strength is saved, it is continuous to pick, meet the operational requirements of multi-angle, length, height, structure is simple, and easy to operate, use is laborsaving, can be good at improving picking quality, reduces bad fruit rate.
Description
Technical field
The present invention relates to the device that field is fruit-picking, especially a kind of wearable scalable picking mechanical arms.
Technical background
In fruit picking, picking relies primarily on manpower progress in occupation of the amount of labour most in production process at present,
Labour cost height, low efficiency, also have risk when carrying out eminence picking；The correlation of existing artificial picking auxiliary instrument is specially
Benefit has: in a kind of such product picking process of fruit picking apparatus (such as patent No. 201710903307.6), fruit is cut up whereabouts
It will cause fruit damage without any buffering by a straight barrel type fruit bag；A kind of electronic fruit picking apparatus that can continuously pick
(such as patent No. 201420469671.8) such product needs double devices to support and does significantly pendulum motion just without fixed mechanism
Fruit can be clamped, is more consumed one's strength in picking process, operating process is unstable, and also there are cumbersome, faults easily to make
The problems such as being damaged at fruit；The such product of rod-shaped hemispherical fruits picking mechanical device (such as patent No. 201810751630.0) makes
Picking process is simple and convenient, but the fruit picked can only be contained in hemispherical cavity, semi-spherical cavity limited volume, in practical fortune
It needs to be repeated several times during and pick, to reduce efficiency；Above-mentioned patent, not only causes high effort in picking process, can also
It causes fruit to damage, still there is very big problem, there is presently no very good solution methods.
Summary of the invention
The problem of in order to overcome picking efficiency existing in the prior art low, laborious, also will cause fruit damage, the present invention
A kind of wearable scalable picking mechanical arm is provided, not only fruit-picking saves physical strength to the arm, also solves and picked
The problem of fruit is damaged in journey, substantially increases picking efficiency.
The technical solution adopted by the present invention to solve the technical problems is: a kind of wearable scalable picking mechanical arm,
Arc cutter claw, curved knife pawl seat, telescopic rod, traction rope, traction rope support, control structure, control line ratchet, fixing belt, manipulation are hamulaed
, buffering connect fruit vehicle, shedding channel, buffering supporting plate, buffering sponge；The arm has one can stretch and adjustable flexible
The rear portion of bar, telescopic rod is equipped with control structure, which is equipped with control line ratchet and draws rope support, before telescopic rod
Portion is sequentially equipped with traction rope, curved knife pawl seat and arc cutter claw；Curved knife pawl seat connects downwards the flexible shedding an of tubular
Channel, shedding channel are arranged below buffering and connect fruit vehicle；The lower part of control structure is sequentially equipped with manipulation and hamulas handle and fixing belt,
The mechanical arm is fixed on arm by fixing belt, is grasped manipulation and is hamulaed handle, can operate arc cutter claw, carry out
Pluck fruit operation；The buffering connects fruit vehicle, and face shedding channel lower end is placed, and buffering, which connects, is equipped with an elastic buffer support in fruit vehicle
Plate can play the role of a support and buffering to the fruit of whereabouts, connect one buffering sponge of bottom tiling of fruit vehicle, work as water
Fruit will not damage when falling along inclination supporting plate；Control line ratchet is the Kong Xian mechanism for controlling traction rope length, when telescopic rod changes
It is elongated in short-term, the length of traction rope normal adaptation can be adjusted by adjusting control line ratchet；Traction rope support is a small semicircle
The both sides of plate are separately installed with small directive wheel, and traction rope tightly leads to both sides close to directive wheel, between two small directive wheels
Traction rope on, there is a control lever to be connected to manipulation and hamula handle, when pulling this, manipulate the gib head for handle of hamulaing, just can pass through
Pull rod pulls downward on traction rope, so that arc cutter claw be driven to close up, plucks fruit operation.
The beneficial effects of the present invention are: a kind of wearable scalable picking mechanical arm, is made by light material, is worn on
It is easy to wear on arm, physical strength is saved, it is continuous to pick, meet the operational requirements of multi-angle, length, height, structure is simple,
Easy to operate, use is laborsaving, can be good at improving picking quality, reduces bad fruit rate.
Detailed description of the invention
The present invention is described further with embodiment with reference to the accompanying drawing.
Fig. 1 is structure of the invention schematic illustration.
In figure: 1. arc cutter claws, 2. curved knife pawl seats, 3. telescopic rods, 4. traction ropes, 5. traction rope supports, 6. control structures,
7. control line ratchet, 8. fixing belts, 9. manipulation hamula, 10. buffering connect fruit vehicle, 11. shedding channels, 12. buffering supporting plates, 13.
Buffer sponge.
Specific embodiment
A kind of wearable scalable picking mechanical arm, comprising: arc cutter claw 1, curved knife pawl seat 2, telescopic rod 3, traction
Rope 4, traction rope support 5, control structure 6, control line ratchet 7, fixing belt 8, manipulation, which are hamulaed, connects fruit vehicle 10, shedding channel 9, buffering
11, supporting plate 12, buffering sponge 13 are buffered；Its structure feature is: a kind of wearable scalable picking mechanical arm, the arm have
One adjustable telescopic rod 3 that can stretch, the rear portion of telescopic rod 3 are equipped with control structure 6,6 rear portion of control structure installation
There are control line ratchet 7 and traction rope support 5,3 front of telescopic rod is sequentially equipped with traction rope 4, curved knife pawl seat 2 and arc cutter claw 1；
Curved knife pawl seat 2 connects downwards the flexible shedding channel 11 of a tubular, and shedding channel 11 is arranged below buffering and connects fruit vehicle 10；Behaviour
The lower part of vertical structure 6, is sequentially equipped with manipulation and hamulas 9 and fixing belt 8, which fixes whole device by fixing belt 8
On arm, grasps manipulation and hamula 9, arc cutter claw 1 can be operated and carry out plucking fruit operation.The buffering connects fruit vehicle
10,11 lower end of face shedding channel is placed, and buffering, which connects, is equipped with an elastic buffer supporting plate 12 in fruit vehicle 10, can be to whereabouts
Fruit plays the role of a support and buffering, and the bottom that buffering connects fruit vehicle 10 is tiled a buffering sponge 13, when fruit along
Buffering supporting plate 12 will not damage when falling.
The control line ratchet 7 is the Kong Xian mechanism for controlling 4 length of traction rope in the figure, grows in short-term, leads to when telescopic rod 3 changes
The length of 4 normal adaptation of traction rope can be adjusted by overregulating control line ratchet 7.
The traction rope support 5 is that the both sides of a smaller part plectane are separately installed with small directive wheel in the figure, and traction rope 4 is tight
It is close to directive wheel and leads to both sides, on the traction rope between two small directive wheels, has a control lever to be connected to manipulation and hamula 9,
When pulling this, the gib head hamulaed 9 is manipulated, just traction rope 4 can be pulled downward on, by pull rod to drive arc
Cutter claw 1 is closed up, and fruit operation is plucked.
Claims (4)
1. a kind of wearable scalable picking mechanical arm, comprising: arc cutter claw (1), curved knife pawl seat (2), telescopic rod (3),
Traction rope (4), traction rope support (5), control structure (6), control line ratchet (7), fixing belt (8), manipulation hamula (9), connect fruit vehicle
(10), shedding channel (11), buffering supporting plate (12), buffering sponge (13)；It is characterized in that: have one can stretch it is adjustable
Telescopic rod (3), the rear portion of telescopic rod (3) are equipped with control structure (6), control structure (6) rear portion include control line ratchet (7) and
It draws rope support (5), telescopic rod (3) front sequence is equipped with traction rope (4), curved knife pawl seat (2) and arc cutter claw (1)；Arc
Cutter claw seat (2) connects downwards the flexible shedding channel (11) of a tubular, and shedding channel (11) are arranged below buffering and connect fruit vehicle
(10)；The lower part of handle structure (6) is sequentially equipped with manipulation and hamulas (9) and fixing belt (8), which passes through fixing belt (8)
Whole device is fixed on arm, manipulation is grasped and hamulas (9).
2. the wearable scalable picking mechanical arm of one kind according to claim 1, it is characterized in that: buffering connects fruit vehicle
(10), face shedding channel (11) lower end is placed, and it is inner equipped with an elastic buffer supporting plate (12), bottom that buffering connects fruit vehicle (10)
It tiles one and buffers sponge (13).
3. the wearable scalable picking mechanical arm of one kind according to claim 1, it is characterized in that: control line ratchet (7) is
The Kong Xian mechanism for controlling traction rope (4) length, when telescopic rod (3) change length in short-term, controlling line ratchet (7) by adjusting can be adjusted
Save the length of traction rope (4) normal adaptation.
4. the wearable scalable picking mechanical arm of one kind according to claim 1, it is characterized in that: traction rope support (5) is
The both sides of one smaller part plectane are separately installed with small directive wheel, and traction rope (4) tightly leads to both sides close to directive wheel, at two
On traction rope between small directive wheel, there is a control lever to be connected to manipulation and hamula (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586988.9A CN109548480A (en) | 2018-12-25 | 2018-12-25 | A kind of wearable scalable picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586988.9A CN109548480A (en) | 2018-12-25 | 2018-12-25 | A kind of wearable scalable picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109548480A true CN109548480A (en) | 2019-04-02 |
Family
ID=65870954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811586988.9A Pending CN109548480A (en) | 2018-12-25 | 2018-12-25 | A kind of wearable scalable picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109548480A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109924007A (en) * | 2019-04-30 | 2019-06-25 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Scalable portable fruit picking apparatus |
| CN110771350A (en) * | 2019-10-22 | 2020-02-11 | 武汉理工大学 | Wearable fruit picking mechanical arm |
| CN114051836A (en) * | 2020-08-05 | 2022-02-18 | 中山大学 | Wearable labor-saving auxiliary tool |
| CN114271099A (en) * | 2022-01-29 | 2022-04-05 | 南京晓庄学院 | Ridge culture strawberry man-machine cooperation picking system and operation method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4098062A (en) * | 1976-11-19 | 1978-07-04 | Gaubis Alfred E | Hand operated fruit picker, with holder |
| CN206042844U (en) * | 2016-09-23 | 2017-03-29 | 潍坊职业学院 | Multi-functional fruit picker |
| CN107182441A (en) * | 2016-03-15 | 2017-09-22 | 辽东学院 | Movable altitude takes fruit device |
| CN107836203A (en) * | 2017-12-15 | 2018-03-27 | 韩朗煜 | A kind of Portable adjustable multifunctional fruit device for picking |
| CN209449250U (en) * | 2018-12-25 | 2019-10-01 | 中国矿业大学徐海学院 | A kind of wearable scalable picking mechanical arm |
-
2018
- 2018-12-25 CN CN201811586988.9A patent/CN109548480A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4098062A (en) * | 1976-11-19 | 1978-07-04 | Gaubis Alfred E | Hand operated fruit picker, with holder |
| CN107182441A (en) * | 2016-03-15 | 2017-09-22 | 辽东学院 | Movable altitude takes fruit device |
| CN206042844U (en) * | 2016-09-23 | 2017-03-29 | 潍坊职业学院 | Multi-functional fruit picker |
| CN107836203A (en) * | 2017-12-15 | 2018-03-27 | 韩朗煜 | A kind of Portable adjustable multifunctional fruit device for picking |
| CN209449250U (en) * | 2018-12-25 | 2019-10-01 | 中国矿业大学徐海学院 | A kind of wearable scalable picking mechanical arm |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109924007A (en) * | 2019-04-30 | 2019-06-25 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Scalable portable fruit picking apparatus |
| CN109924007B (en) * | 2019-04-30 | 2024-05-28 | 清研(洛阳)先进制造产业研究院 | Telescopic portable fruit picker |
| CN110771350A (en) * | 2019-10-22 | 2020-02-11 | 武汉理工大学 | Wearable fruit picking mechanical arm |
| CN110771350B (en) * | 2019-10-22 | 2020-09-29 | 武汉理工大学 | Wearable fruit picking mechanical arm |
| CN114051836A (en) * | 2020-08-05 | 2022-02-18 | 中山大学 | Wearable labor-saving auxiliary tool |
| CN114271099A (en) * | 2022-01-29 | 2022-04-05 | 南京晓庄学院 | Ridge culture strawberry man-machine cooperation picking system and operation method thereof |
| CN114271099B (en) * | 2022-01-29 | 2022-12-09 | 南京晓庄学院 | Ridge culture strawberry man-machine cooperation picking system and operation method thereof |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190402 |