CN109618665A - A kind of fruit picking apparatus - Google Patents
A kind of fruit picking apparatus Download PDFInfo
- Publication number
- CN109618665A CN109618665A CN201910049448.5A CN201910049448A CN109618665A CN 109618665 A CN109618665 A CN 109618665A CN 201910049448 A CN201910049448 A CN 201910049448A CN 109618665 A CN109618665 A CN 109618665A
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- fruit
- manipulator
- mobile jib
- picking
- driving
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 112
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000010008 shearing Methods 0.000 claims description 14
- 239000002420 orchard Substances 0.000 abstract description 11
- 241001672694 Citrus reticulata Species 0.000 description 10
- 238000005520 cutting process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241001061264 Astragalus Species 0.000 description 1
- 241000207199 Citrus Species 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000020971 citrus fruits Nutrition 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000003860 storage Methods 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
This application provides a kind of fruit picking apparatus, wherein, it include: mobile jib, manipulator, driving mechanism and receipts fruit bag, the top of the mobile jib is arranged in the manipulator, the lower part of the mobile jib is arranged in the driving mechanism, the driving mechanism drives the mobile jib stretching motion and drives the manipulator open and close movement, and the downside received fruit bag and the manipulator is arranged in, the receipts fruit bag is for collecting the fruit that the manipulator is taken.Fruit picking apparatus provided by the present application solves orchard workers Gao Shu and plucks that fruit is inconvenient, picking efficiency is low, large labor intensity, there is technical issues that.
Description
Technical field
The present invention relates to agricultural mechanical fields, more particularly to a kind of fruit picking apparatus.
Background technique
In recent years, China's fruit industry is grown rapidly, including application, fruit process industry etc. have quick hair
Exhibition.People need also to increase to mandarin orange fruit, to the picking of mandarin orange also at a big problem, usually manually go to pick, mandarin orange
Fruit weight, win it is very inconvenient, due to mandarin orange often it is long aloft, or at the top of fruit tree, or other be unfavorable for picking
Position makes orchard worker be difficult smoothly to be taken fruit with hand or existing picker, thus have to climb tree or using fork ladder into
Row picking, not only picking efficiency is low, large labor intensity；And there are security risk, especially typhoon, citrus needs all through the night
Get the harvest in quickly, so in order to solve the problems, such as that this is class, we be badly in need of it is a kind of can day and night fruit picking apparatus.It is high to solve orchard workers
Tree plucks fruit inconvenience, and picking efficiency is low, large labor intensity, there is technical issues that.
Summary of the invention
The object of the present invention is to provide a kind of fruit picking apparatus, solve orchard workers Gao Shu and pluck fruit inconvenience, picking efficiency
Low, large labor intensity there is technical issues that.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of fruit picking apparatus, wherein include: mobile jib, manipulator, driving mechanism and receipts fruit bag, the manipulator setting
On the top of the mobile jib, the lower part of the mobile jib is arranged in the driving mechanism, and the driving mechanism drives the mobile jib to stretch
Contracting moves and drives the manipulator open and close movement, the downside received fruit bag and the manipulator is arranged in, and the receipts fruit bag is used
In the fruit that the collection manipulator is taken.
Further, the manipulator includes gripping-type picking mechanism, the gripping-type picking mechanism include supporting plate and
It is oppositely arranged on the supporting plate two sides and mutually matched left handgrip and right handgrip, the left handgrip and the right handgrip includes
A pair of of steering engine pawl and the multiple branch's pawls being distributed between a pair of of steering engine pawl, the steering engine pawl and branch's pawl pass through connecting shaft
It is connected as one.
Further, the steering engine pawl includes arch pawl body and the gear part for being connected to the arch pawl body lower end, institute
State the gear part intermeshing of the gear part of a pair of of steering engine pawl of left handgrip and a pair of of steering engine pawl of the right handgrip, the supporting plate
Inside it is provided with the motor for driving the gear part movement.
Further, the mobile jib includes electric pushrod, and the driving mechanism includes electric controller.
Further, the manipulator includes the shearing picking mechanism that mobile jib upper end is arranged in, the shearing picking
Mechanism includes mounting base, actively cuts and cut with driven, the active cut with it is described it is driven cut be movably arranged on the mounting base before
It holds and cooperates and pick fruit.
Further, the manipulator further includes the pull picking mechanism that mobile jib side is arranged in, the pull
Picking mechanism includes pull-type picking head and branch blade, and the pull-type picking head is in horn-like, the front end tool of the pull-type picking head
There are several equally distributed necking blades, the branch blade is embedded in the gap between two neighboring necking blade.
Further, the driving mechanism includes personal control, and the personal control includes drive seat, driving line
It shakes hands with driving, the side of the mobile jib is arranged in the drive seat, and the driving knob is movably arranged on the drive seat
Side, the cavity of resorption that one end of the driving line passes through the drive seat is connected with driving knob, described to drive the another of line
End is connected to the lower end that the active is cut.
Further, the balance baffle top of the driving knob is articulated in the movable chamber of the drive seat by pin shaft
Interior, the lower part of the balance baffle has connection sheet, and the connection sheet is connect by extension spring with the cavity of resorption of the drive seat.
Further, the fruit picking apparatus further includes the headlamp that the mobile jib side is arranged in, the headlamp packet
Including rack and the movable lamp cap being connected in the rack.
Further, the mobile jib includes mechanical-stretching bar.
It can be seen from above-mentioned technical proposal the invention has the following advantages:
1, manipulator is set on the top of mobile jib due to the present invention, thus by mobile jib stretching motion cooperative mechanical hand, it can
High-altitude fruit is picked.
2, since the manipulator includes shearing picking mechanism and pull picking mechanism, orchard worker can be met to high-altitude water
The different picking demands of fruit and low latitude fruit, flexible and convenient to use, raising fruit picking efficiency.
3, due to the headlamp in the mobile jib side, orchard worker can be met at the use demand for day and night getting the harvest in quickly fruit, night
In can also normal use.
4, due to being connected with one section of hose in the upper end of the mechanical-stretching bar, be arranged the hose broken it is traditional rigid
Property structure shear direction is adjusted so that the shearing picking mechanism can reach 0 ° -360 ° of angle change, picking is different
The fruit in direction, it is flexible and convenient to use.
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the schematic perspective view of the embodiment of the present invention one.
Fig. 2 is the left view of the embodiment of the present invention one.
Fig. 3 is the main view of the embodiment of the present invention one.
Fig. 4 is the local structural graph of Fig. 2 of the invention.
Fig. 5 is the schematic perspective view of the manipulator of the embodiment of the present invention one.
Fig. 6 is the local structural graph of Fig. 3 of the invention.
Fig. 7 is the main view of the embodiment of the present invention two.
Fig. 8 is the left view of the embodiment of the present invention two.
Fig. 9 is the schematic perspective view of the embodiment of the present invention two.
Figure 10 is the schematic perspective view of mounting base of the invention.
Figure 11 is the schematic perspective view of active shear structure of the invention.
Figure 12 is the structural schematic diagram of pull picking mechanism of the invention.
Figure 13 is the top view of Figure 12 of the invention.
Figure 14 is the structural schematic diagram of personal control of the invention.
Figure 15 is the structural schematic diagram of driving knob of the invention.
Figure 16 is the structural schematic diagram of drive seat of the invention.
Description of symbols: mobile jib -1, electric pushrod -11, mechanical-stretching bar -12, hose -13, manipulator -2, a left side are grabbed
Hand -21, steering engine pawl -211, branch's pawl -212, connecting shaft -213, right handgrip -22, gear part -2111, arch pawl body -2112, support
Plate -23, actively cut -24, scissors bit -241, scissors body -242, blade -243, hook portion -244, it is driven cut -25, mounting base -26,
Side plate -261, installation cavity -262, hollow pipe -263, driving mechanism -3, electric controller -31, driving line -32, drive seat -33,
Movable chamber -331, pin shaft -333, fixing sleeve -34, driving knob -35, balance baffle -351, cantilever arm -352, connects cavity of resorption -332
Fruit bag -4, pull picking mechanism -5, pull-type picking head -51, necking blade -511, gap -512, disconnected branch knife are received in contact pin -353
Piece -53, linking arm -54, mounting rod -55, headlamp -6, rack -61, movable lamp cap -62.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
Embodiment one:
The application is described further below with reference to Fig. 1 to Fig. 6, a kind of fruit picking apparatus as shown in Figure 1, comprising:
Mobile jib 1, manipulator 2, driving mechanism 3 and receipts fruit bag 4, the top of the mobile jib 1, the driving machine is arranged in the manipulator 2
The lower part of the mobile jib 1 is arranged in structure 3, and the driving mechanism 3 drives 1 stretching motion of mobile jib and drives the manipulator 2
Open and close movement, the downside received fruit bag 4 and the manipulator 2 is arranged in, the receipts fruit bag 4 are plucked for collecting the manipulator 2
Under fruit, the present invention can be directed to the growing height of fruit, carry out high low latitude motorized adjustment, the manipulator to fruit picking apparatus
2 by opening and closing come fruit-picking, it is very easy to use, avoid orchard worker and offer sb. a chance to remedy a fault gracefully the security risk of picking.
As shown in Fig. 3, Fig. 4 and Fig. 5, the manipulator 2 includes gripping-type picking mechanism, the gripping-type picking mechanism packet
It includes supporting plate 23 and is oppositely arranged on 23 two sides of supporting plate and mutually matched left handgrip 21 and right handgrip 22, the left side are grabbed
Hand 21 and the right handgrip 22 include multiple branch's pawls that a pair of of steering engine pawl 211 and is distributed between a pair of of steering engine pawl 211
212, the steering engine pawl 211 and branch's pawl 212 are connected as one by connecting shaft 213.
As shown in Figure 5 and Figure 6, the steering engine pawl 211 includes arch pawl body 2112 and is connected to the arch pawl body 2112
The gear part 2111 of lower end, the gear part 2111 of a pair of of steering engine pawl 211 of the left handgrip 21 and a pair of the right handgrip 22
The gear part 2111 of steering engine pawl 211 is intermeshed, and the motor for driving the gear part 2111 to move is provided in the supporting plate 23.
Branch's pawl 212 is domed, and the bending of the bending direction of branch's pawl 212 and the arch pawl body 2112
Direction is identical, and the inside of the arch pawl body 2112 and branch's pawl 212 all has waveform indentation, left 21 He of handgrip
The right handgrip 22 forms elliposoidal structure after being closed, convenient for crawl fruit.
As depicted in figs. 1 and 2, the mobile jib 1 includes electric pushrod 11, and the electric pushrod 11 is electric telescopic rod, institute
11 full extension of electric pushrod is stated, can achieve 2 meters to 3 meters of height, the driving mechanism 3 includes electric controller 31, is led to
It crosses and manipulates the electric controller 31 electric pushrod 11 can control to carry out stretching motion, and control left 21 He of handgrip
Right handgrip 22 opens or closure, by controlling the stretching motion of the electric pushrod 11, the height of fruit-picking is adjusted, for station
It stands orchard worker on bottom surface and picks high aerial fruit and provide convenience, by controlling opening for the left handgrip 21 and right handgrip 22
It is right, different size of fruit can be picked.
Specifically, the upper end of the electric pushrod 11 is connected with extension pipe, between the manipulator 2 and the extension pipe
Increase flexible hose, it can be achieved that the manipulator 2 360 degree rotation and free extension, and combine the flexible of electric pushrod 11
Movement reaches objective fruit height, realizes any concealed location fruit picking.
Minitype speed reducing motor is provided on the electric pushrod 11, the inside of the electric pushrod 11 is equipped with astragal device, side
Just the stretching motion of the electric pushrod 11, the electric controller 31 and the motor for driving the gear part 2111 to move are driven
Electrical connection facilitates the driving left handgrip 21 and right handgrip 22 opens or closing motion.
The present invention increases single-chip microcontroller, voltage reduction module, 24v battery power, composition one on the basis of electric pushrod 11
A push rod group, forms the dynamical element of semi-automatic fruit picking device, and the dynamical element is a kind of rotary motion by motor
Be changed into the power-driven gear of the straight reciprocating motion of the electric pushrod 11, with realize far distance control, centralized control or
It automatically controls, is quick on the draw, kinematic accuracy is high, easy to maintain.
The manipulator 2 cooperates single-chip microcontroller to carry out the crawl to fruit, guarantees crawl strength in place.The manipulator 2
Control PWM principle: control mode is exactly to control the on-off of inverter circuit switching device, obtains output end a series of
The equal pulse of amplitude replaces sine wave or required waveform with these pulses.Namely at half week of output waveform
It is interim to generate multiple pulses, so that the equal threshold voltages of each pulse is positive string waveform, output smoothing obtained and low-order harmonic is few.It presses
Certain rule is modulated the width of each pulse, i.e., output also can be changed in the size of changeable inverter circuit output voltage
Frequency.
Fruit picking apparatus provided by the invention can grab the fruit of eminence, once pick all fruits on a branch
In fact, picking efficiency is effectively improved；It is especially suitable suitable for carrying out high altitude operation to all kinds of fruit trees for being knotted large and medium-sized fruit
It is used to help orchard worker to pluck receipts fruit or pick wild fruit into mountain, improves artificial picking efficiency.
Fruit picking apparatus structure provided by the invention is simple, and operation is easy, by preliminary alignment target fruit, described in pressing
The button of electric controller 31, the button realized the elongation of electric pushrod 11, then press the electric controller 31 again,
So that the left handgrip 21 and right handgrip 22 is closed, fruit is grabbed, then the fruit strip of bunchiness is got off along the direction of branch,
Trees will not be not only injured, but also greatly improves and plucks fruit efficiency.
Fruit picking apparatus provided by the invention uses storage battery power supply, battery can be also replaced whenever and wherever possible, when to use
It provides very big portable.
Embodiment two:
A kind of fruit picking apparatus as shown in Fig. 7 to Figure 16, comprising: mobile jib 1, manipulator 2, driving mechanism 3 and receipts fruit bag
4, the top of the mobile jib 1 is arranged in the manipulator 2, and the lower part of the mobile jib 1, the drive is arranged in the driving mechanism 3
Motivation structure 3 drives 1 stretching motion of mobile jib and drives 2 open and close movement of manipulator, and the receipts fruit bag 4 is arranged in the machine
The downside of tool hand 2, the receipts fruit bag 4 are stretched for collecting the fruit that the manipulator 2 is taken, the present invention by the mobile jib 1
Contracting movement, so that manipulator 2 can pick the fruit of height different height.
As shown in Figure 8 and Figure 9, the manipulator 2 includes the shearing picking mechanism that 1 upper end of mobile jib is arranged in, described to cut
Cut type picking mechanism include mounting base 26, actively cut 24 and it is driven cut 25, it is described actively to cut 24 and described driven cut 25 activities and set
Set the mounting base 26 front end and mutual cooperation pick fruit, the shearing picking mechanism can cut branch and carpopodium
It cuts out, shearing branch protects the integrated degree of fruit to greatest extent, directly cuts out to repair and avoids secondary repairerment, and when operation is suitable for high-altitude
Refine mandarin orange.
As shown in figure 11, described actively to cut 24 and driven to cut 25 include scissors body 242 and being connected with the scissors body 242
The scissors bit 241 connect, the side of the scissors bit 241 have blade 243, and the side of the scissors body 242 has hook portion 244,
24 blade 243 and driven 25 blade 243 cut actively cut can cooperate, and fruit handle is cut.
As shown in Figure 10, the upper end tool of the mounting base 26 has installation there are two side plate 261 between two side plates 261
Chamber 262, the scissors body 242 for actively cutting 24 and the driven 25 scissors body 242 cut are installed in the installation cavity 262
It is interior, and the scissors body 242 for actively cutting 24 and the driven 25 scissors body 242 cut pass through the same screw and the installation
Seat 26 connects, and the lower end of the mounting base 26 has the hollow pipe 263 being connected with two side plates 261.
As shown in Fig. 7, Figure 12 and Figure 13, the manipulator 2 further includes the pull picking mechanism that 1 side of mobile jib is arranged in
5, the pull picking mechanism 5 includes pull-type picking head 51 and branch blade 53, and the pull-type picking head 51 is described in horn-like
The front end of pull-type picking head 51 has several equally distributed necking blades 511, and the branch blade 53 is embedded two neighboring
In gap 512 between necking blade 511, the pull picking mechanism 5 can to low latitude fruit carry out batch picking, after make again
The independent fruit in high-altitude is individually trimmed with the shearing picking mechanism, working efficiency is greatly improved, for different height
The fruit of degree uses different picking mechanisms, and the division of labor is clear, can effectively save labour, improve efficiency.
Branch is not hurt in the pruning of branch blade 53, can be cut about 1.5cm branch, not hurt fruit, not fall fruit, the pull-type picking head 51
About 6 jin of big fruits can be steadily clamped, press from both sides fruit on the outside of the pull-type 51 medial segment branch of picking head, the branch blade 53 is sturdy and durable, cutting edge of a knife or a sword
Sharp coating cutter head, is not easy to get rusty, easy manipulation, is very suitable to a small amount of type mandarin orange pickings.
The rear end received fruit bag 4 and be connected to the pull-type picking head 51, the water that the pull-type picking head 51 picks
Fruit falls directly into the receipts fruit bag 4.
The side of the pull-type picking head 51 is fixed with mounting rod 55 by linking arm 54, and the side of the mobile jib 1 has
The pull-type picking head 51 can be fixed on the mobile jib 1 by the mounting rod 55 by the fixture for clamping the mounting rod 55
Side.
As shown in Figure 14, Figure 15 and Figure 16, the driving mechanism 3 includes personal control, and the personal control includes
The side of the mobile jib 1, the driving knob is arranged in drive seat 33, driving line 32 and driving knob 35, the drive seat 33
35 are movably arranged on the side of the drive seat 33, one end of the driving line 32 pass through the cavity of resorption 332 of the drive seat 33 with
The driving knob 35 is connected, and the other end of the driving line 32 is connected in the hook portion 244 of the lower end for actively cutting 24, leads to
Cross manually control it is described driving knob 35, it can be achieved that it is described actively cut 24 and it is driven cut 25 shearing work, it is easy to use, control
Flexibly.
351 top of balance baffle of the driving knob 35 is articulated in the movable chamber of the drive seat 33 by pin shaft 333
In 331, the lower part of the balance baffle 351 has connection sheet 353, and the connection sheet 353 passes through extension spring and the driving
The cavity of resorption 332 of seat 33 connects, and the reset that the extension spring is easy for the driving knob 35 is arranged.
The driving knob 35 further includes the cantilever arm 352 for being connected to balance 351 side of baffle, in use, holding
The cantilever arm 352, so that the cantilever arm 352 is close at a distance from the mobile jib 1, the balance baffle 351 can be around described
Pin shaft 333 rotates, so that the driving line 32 pulls back, drives and described actively cut 24 and driven cut 25 cooperations cutting water with described
Carpopodium.
As long as cooperating shearing picking mechanism, the sharp fruit for cutting fruit in use, gently holding the lower driving knob 35
The base of a fruit, fruit are fallen in the receipts fruit bag 4.The structure of the driving knob 35 meets the natural situation of manpower grip, operation side
Just, securely and reliably.
As shown in figure 8, the fruit picking apparatus further includes the headlamp 6 that 1 side of mobile jib is arranged in, the headlamp
6 include rack 61 and the movable lamp cap 62 being connected in the rack 61, day and night all can be used, and improve production efficiency, the photograph
Voltage of the bright lamp 6 using 3.7V, 4200 milliamperes of electric current.
The headlamp 6 works at night for fruit picking apparatus and provides illumination, can meet the function of day and night dual-purpose, the illumination
Lamp 6 is persistently continued a journey using high capacity cell, and general charge port charges at any time, and heavy rain grade waterproof performance seals waterproof；Using T6LED
Lamp bead, power is strong, the service life is long, brightness is high；Using far and near lamp, auxiliary light can carry out 180 degree adjusting.
The cruise duration of the headlamp 6 can achieve 6 to 8 hours, can ensure that the normal picking work at night, detachably
It is convenient with charge function, to reduce plucking time.
The mobile jib 1 includes mechanical-stretching bar 12, and the mechanical-stretching bar 12 includes an outer tube and covers in the outer tube
Inner tube, and the outer tube is arranged concentrically with said inner tube, and the outer tube and said inner tube are connected by garter spring, it can be achieved that in described
The free flexible and fastening of pipe.
The mechanical-stretching bar 12 is divided to for two section adjustable telescopic parts, according to the quantity punched on the mechanical-stretching bar 12
Realization has grade adjustable.
Pass through on the outer tube equipped with expansion bend adjuster for controlling the elongation and contraction of the mechanical-stretching bar 12
The expansion fit of mechanical-stretching bar 12 can realize high altitude operation, and the length that the mechanical-stretching bar 12 is stretched out completely can achieve
4m；The height of people is such as added, maximum operation range can achieve 5m.Shortest length after the mechanical-stretching bar 12 is shunk is
1.8m, it is easy to carry.
The upper end of the mechanical-stretching bar 12 is connected with one section of hose 13, the hollow pipe 263 of 26 lower end of mounting base with
The hose 13 connects, and the hose 13 is arranged and has broken traditional rigid structure, so that the shearing picking mechanism is reachable
To 0 ° -360 ° of angle change, the hose 13 is adjusted the shear direction of the shearing picking mechanism, can pick not Tongfang
To fruit, can open shop scheduling in allowed limits.
Fruit picking apparatus provided by the invention is a kind of hand-held, light, adopting with compliance-steer coefficient and expansion performance
The picker to pick fruit.
The mobile jib 1 selects electric pushrod 11, and electric pushrod 11 selects DC24V direct current electric putter, load 125N, speed
42/mm, and electric pushrod small volume do not have to another addition motor, not only alleviate weight, but also realize function
The fruit for being sheared formula picking mechanism cutting base of fruit, which is fallen into, to be received in fruit bag 4, is fallen on along the transmission belt received in fruit bag 4
On the damping device of the sponge quality for receiving 4 bottoms of fruit bag, by receiving the damping device in fruit bag 4, reduces mandarin orange and doing
When the movement of falling object, the power potential energy of landing generated in a flash alleviates the surface collision problem of mandarin orange.To protect
The intact degree in the surface of mandarin orange improves the market value of fruit to a certain extent, reduces orchard worker in mandarin orange picking process
Cost allowance brings interests to orchard worker to a greater extent.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of fruit picking apparatus characterized by comprising mobile jib (1), manipulator (2), driving mechanism (3) and receipts fruit bag
(4), on the top of the mobile jib (1), the driving mechanism (3) is arranged under the mobile jib (1) for manipulator (2) setting
Portion, the driving mechanism (3) drive mobile jib (1) stretching motion and drive manipulator (2) open and close movement, the receipts fruit
Bag (4) setting is in the downside of the manipulator (2), and the receipts fruit bag (4) is for collecting the fruit that the manipulator (2) is taken.
2. fruit picking apparatus according to claim 1, which is characterized in that the manipulator (2) includes gripping-type picking machine
Structure, the gripping-type picking mechanism include supporting plate (23) and are oppositely arranged on the supporting plate (23) two sides and mutually matched
Left handgrip (21) and right handgrip (22), the left handgrip (21) and the right handgrip (22) include a pair of of steering engine pawl (211) and
The multiple branch's pawls (212) being distributed between a pair of of steering engine pawl (211), the steering engine pawl (211) and branch's pawl (212) are logical
Connecting shaft (213) is crossed to be connected as one.
3. fruit picking apparatus according to claim 2, which is characterized in that the steering engine pawl (211) includes arch pawl body
(2112) gear part (2111) of arch pawl body (2112) lower end, a pair of of steering engine pawl of the left handgrip (21) are connected to and
(211) gear part (2111) of a pair of of steering engine pawl (211) of gear part (2111) and the right handgrip (22) is intermeshed, institute
State the motor for being provided in supporting plate (23) and driving gear part (2111) movement.
4. fruit picking apparatus according to claim 1, which is characterized in that the mobile jib (1) includes electric pushrod (11), institute
Stating driving mechanism (3) includes electric controller (31).
5. fruit picking apparatus according to claim 1, which is characterized in that the manipulator (2) includes being arranged in mobile jib (1)
The shearing picking mechanism of upper end, the shearing picking mechanism include mounting base (26), actively cut (24) and it is driven cut (25),
(24) are cut in the active and driven cut (25) are movably arranged on the front end of the mounting base (26) and mutual cooperation picks fruit.
6. fruit picking apparatus according to claim 1 or 5, which is characterized in that the manipulator (2) further includes being arranged in master
The pull picking mechanism (5) of bar (1) side, the pull picking mechanism (5) include pull-type picking head (51) and branch blade
(53), the pull-type picking head (51) is in horn-like, the front end of the pull-type picking head (51) have it is equally distributed several
Necking blade (511), the branch blade (53) are embedded in the gap (512) between two neighboring necking blade (511) Nei.
7. fruit picking apparatus according to claim 5, which is characterized in that the driving mechanism (3) includes personal control,
The personal control includes drive seat (33), driving line (32) and driving knob (35), and the drive seat (33) is arranged in institute
The side of mobile jib (1) is stated, the driving knob (35) is movably arranged on the side of the drive seat (33), the driving line (32)
One end pass through the drive seat (33) cavity of resorption (332) and the driving shake hands (35) be connected, it is described to drive the another of line (32)
One end is connected to the lower end that (24) are cut in the active.
8. fruit picking apparatus according to claim 7, which is characterized in that the balance baffle of the driving knob (35)
(351) top is articulated in the movable chamber (331) of the drive seat (33) by pin shaft (333), balance baffle (351)
Lower part has connection sheet (353), and the connection sheet (353) is connected by the cavity of resorption (332) of extension spring and the drive seat (33)
It connects.
9. fruit picking apparatus according to claim 1, which is characterized in that further include being arranged in the mobile jib (1) side
Headlamp (6), the headlamp (6) include rack (61) and the movable lamp cap (62) being connected on the rack (61).
10. fruit picking apparatus according to claim 1, which is characterized in that the mobile jib (1) includes mechanical-stretching bar
(12)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910049448.5A CN109618665A (en) | 2019-01-18 | 2019-01-18 | A kind of fruit picking apparatus |
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