CN117480938A - Pineapple picking mechanical arm - Google Patents
Pineapple picking mechanical arm Download PDFInfo
- Publication number
- CN117480938A CN117480938A CN202311761202.3A CN202311761202A CN117480938A CN 117480938 A CN117480938 A CN 117480938A CN 202311761202 A CN202311761202 A CN 202311761202A CN 117480938 A CN117480938 A CN 117480938A
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- Prior art keywords
- frame
- pineapple
- picking
- support frame
- sliding
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- 241000234671 Ananas Species 0.000 title claims abstract description 90
- 235000007119 Ananas comosus Nutrition 0.000 title claims abstract description 89
- 210000000078 claw Anatomy 0.000 claims abstract description 42
- 241001272720 Medialuna californiensis Species 0.000 claims description 15
- 238000001125 extrusion Methods 0.000 claims description 7
- 230000006978 adaptation Effects 0.000 claims description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 239000011521 glass Substances 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005476 soldering Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention relates to the field of agricultural machinery, in particular to a pineapple picking mechanical arm. The invention provides a pineapple picking mechanical arm which comprises a support frame and picking claws, wherein the front side and the rear side of the left part of the support frame are respectively and rotatably connected with the picking claws; the upper parts of the picking claws are welded with the connecting frames; the top of the support frame is connected with the guide sleeve through a screw; the sliding frame is connected in the guide sleeve in a sliding manner, and the left part of the sliding frame is movably connected with the connecting frame. According to the invention, the output shaft of the servo motor is controlled to work, so that the blades are automatically moved out to cut off the branches of the pineapple rapidly, and the pineapple can be automatically pushed out when the pineapple is taken out, thereby accelerating picking speed and reducing picking difficulty.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a pineapple picking mechanical arm.
Background
Many people prefer pineapple, when farmers plant pineapple, the farmers use open places to plant a large number of pineapple in large area, and each time the pineapple is picked, the farmers use a mechanical arm specially used for picking pineapple to pick the pineapple.
Patent publication No. CN109104999B discloses a pineapple picker, which comprises a rod body, wherein one end of the rod body is provided with a clamping handle, the other end of the rod body is sheathed and fixed with a connecting rod, and the connecting rod is externally connected with a fixing plate; a clamping tube is sleeved and fixed on the rod body at a distance from the connecting rod to the rear end, an electric soldering iron is arranged on the clamping tube in an extending way towards the front end, and a heating blade is arranged on the electric soldering iron towards the front end; a hollowed-out part is arranged in the middle of the heating blade; the common cutting knife controlled by the clamping handle is arranged right in front of the connecting rod, the heating blade and the common cutting knife are combined, and the cutting action can be completed by the relative movement of the heating blade and the common cutting knife.
When the pineapple picking device is used for picking pineapples, the guide frame is firstly arranged on the outer side of the pineapples, then the cutter body is used for picking the pineapples by pulling the driving arm, so that the pineapples can be picked only by driving the driving arm manually, if the pineapple branches are very hard, the pineapples are difficult to pick by manpower, and the pineapple picking mechanical arm which is small in difficulty and fast in pineapple picking is developed.
Disclosure of Invention
In order to overcome the defects of high difficulty and low picking speed of the existing pineapple picker, the technical problem of the invention is that: the pineapple picking mechanical arm is small in difficulty and high in speed in pineapple picking.
The technical scheme of the invention is as follows: a pineapple picking mechanical arm, comprising:
the picking device comprises a support frame and picking claws, wherein the front side and the rear side of the left part of the support frame are both rotationally connected with the picking claws;
the upper parts of the picking claws are welded with the connecting frames;
the top of the support frame is connected with the guide sleeve through a screw;
the sliding frame is connected in the guide sleeve in a sliding manner, and the left part of the sliding frame is movably connected with the connecting frame;
the rotary frame is rotatably connected to the right rear part of the support frame, and the rotary frame is movably connected with the right part of the push-pull frame;
the first spring is connected between the left part of the guide sleeve and the left part of the push-pull frame and is wound on the push-pull frame;
the breaking mechanism is arranged at the left lower part of the support frame and is controlled to automatically and rapidly break off the branches of the pineapple;
the pushing mechanism is arranged on the supporting frame, and the pineapple is automatically and rapidly pushed out while being released.
Preferably, the disconnecting mechanism includes:
the left lower part of the support frame is connected with the support shell through a screw;
the servo motor is arranged at the front part of the supporting shell;
the rear part of the output shaft of the servo motor is connected with a chain wheel;
the chain is wound on the outer side of the chain wheel, and the lower part of the chain penetrates through the inner side of the supporting shell;
the lower part in the supporting shell is connected with the blade in a sliding way, and the upper part of the blade is connected with the lower part of the chain.
Preferably, the pushing mechanism includes:
the pushing frame is connected with the left lower part in the supporting frame in a sliding way;
the right upper part of the pushing frame is connected with a first rack which is connected with the supporting frame in a sliding way;
the upper left part of the support frame is rotatably connected with a gear which is meshed with the first rack;
the left lower part of the push-pull frame is welded with a second rack which is meshed with the gear.
Preferably, the device also comprises a labor-saving mechanism, and the labor-saving mechanism comprises:
the right part of the support frame is connected with a connecting rod in a sliding manner;
the right part of the connecting rod is rotatably connected with the sliding block;
the right part of the sliding block is connected with the exoskeleton vest in a sliding way.
Preferably, the pineapple seedling raising device also comprises an adapting mechanism for adapting to pineapples of different sizes, and the adapting mechanism comprises:
the left parts of the inner sides of the picking claws are respectively connected with the radial arms in a rotating way;
torsion springs are connected between the upper side and the lower side of the rotating arm and the picking claw;
the upper side and the lower side of the rotating arm are both rotatably connected with the contact wheel.
Preferably, the device further comprises a slowing mechanism for slowing down the left-right movement speed of the support frame, and the slowing mechanism comprises:
the middle lower part of the inner part of the support frame is welded with the half moon piece, and the middle lower part of the inner part of the support frame is uniformly provided with air outlets;
the lower part in the middle of the supporting frame is connected with the adjusting frame in a sliding manner, the adjusting frame is positioned below the half moon piece, and the adjusting frame is in contact fit with the half moon piece.
Preferably, the device also comprises an adjusting mechanism, and the adjusting mechanism comprises:
the left front part of the sliding block is connected with a limiting block;
the right front part of the connecting rod is rotationally connected with the Q-shaped ring, and the protruding position of the lower part of the Q-shaped ring is in extrusion fit with the limiting block;
the screw thread type fixing screw is connected to the upper portion of the Q-shaped ring, and the lower portion of the fixing screw is in extrusion fit with the connecting rod.
Preferably, the method further comprises the following steps:
and a second spring is connected between the left upper part of the exoskeleton vest and the top of the sliding block.
The beneficial effects are as follows: 1. according to the invention, the output shaft of the servo motor is controlled to work, so that the blades are automatically moved out to cut off the branches of the pineapple rapidly, and the pineapple can be automatically pushed out when the pineapple is taken out, thereby accelerating picking speed and reducing picking difficulty.
2. The exoskeleton vest is arranged and used for being worn on the body of a person, so that the person can conveniently control the grabbing position of the picking claw, and the pineapple picking device is convenient to carry and saves more time and labor when picking the pineapple.
3. According to the invention, the force of the torsion spring enables the radial arm and the contact wheel to be attached to the outer surface of the glass, so that the grabbing of the glass can be enhanced, and pineapples with different sizes can be picked conveniently.
4. According to the invention, the gap between the adjusting frame and the half moon piece is adjusted by adjusting the adjusting frame, so that the moving speed of the supporting frame can be slowed down or accelerated according to people with different forces, the use of people is more convenient, and the pineapple picking is faster.
5. According to the invention, after the rotation angle of the Q-shaped ring is regulated, the pineapple picking machine can be suitable for people with different heights under the extrusion fit between the limiting block and the Q-shaped ring, so that the pineapple picking machine is convenient for people with different heights to pick pineapple.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of a partial perspective structure of the present invention.
Fig. 3 is a schematic perspective view of a disconnecting mechanism of the present invention.
Fig. 4 is a cross-sectional view of the disconnect mechanism of the present invention.
Fig. 5 is a schematic perspective view of the pushing mechanism of the present invention.
Fig. 6 is an enlarged view of the invention at a.
Fig. 7 is a schematic perspective view of a labor-saving mechanism of the present invention.
Fig. 8 is a schematic perspective view of an adaptation mechanism of the present invention.
Fig. 9 is a schematic perspective view of a damping mechanism according to the present invention.
Fig. 10 is an enlarged view of the invention at B.
Fig. 11 is a schematic perspective view of an adjusting mechanism of the present invention.
Fig. 12 is a schematic perspective view of a portion of an adjusting mechanism according to the present invention.
Meaning of reference numerals in the drawings: 1. the device comprises a supporting frame, 2, picking claws, 3, a connecting frame, 4, a push-pull frame, 5, a first spring, 6, a guide sleeve, 7, a rotating frame, 8, a disconnecting mechanism, 81, a supporting shell, 82, a servo motor, 83, a chain wheel, 84, a chain, 85, a blade, 9, a push-out mechanism, 91, a pushing frame, 92, a first rack, 93, a gear, 94, a second rack, 10, a labor-saving mechanism, 101, an exoskeleton vest, 102, a sliding block, 103, a connecting rod, 104, a second spring, 11, an adapting mechanism, 111, a rotating arm, 112, a contact wheel, 113, a torsion spring, 12, a slowing mechanism, 121, a half moon piece, 122, an adjusting frame, 13, an adjusting mechanism, 131, a limiting block, 132, a Q-shaped ring, 133 and a fixing screw.
Detailed Description
The invention will now be described in more detail with reference to the drawings and specific examples, which are not intended to limit the invention thereto.
Example 1
The utility model provides a pineapple picking mechanical arm, as shown in fig. 1-2, including support frame 1, pick claw 2, link 3, push-pull frame 4, first spring 5, guide pin bushing 6, swivel mount 7, disconnect mechanism 8 and ejecting mechanism 9, the front and back both sides of support frame 1 left portion all rotate and be connected with pick claw 2, pick claw 2 upper portion and all weld link 3, support frame 1 top has guide pin bushing 6 through the screw connection, sliding connection has push-pull frame 4 in the guide pin bushing 6, push-pull frame 4 left portion and link 3 movable connection, support frame 1 right rear portion rotates and is connected with swivel mount 7, be connected with between swivel mount 7 and push-pull frame 4 right part movable connection, be connected with around the first spring 5 of establishing on push-pull frame 4 between guide pin bushing 6 left portion and the push-pull frame 4 left portion, support frame 1 left lower part is equipped with disconnect mechanism 8, be equipped with ejecting mechanism 9 on the support frame 1.
As shown in fig. 1, 3 and 4, the disconnecting mechanism 8 comprises a supporting shell 81, a servo motor 82, a chain wheel 83, a chain 84 and a blade 85, wherein the supporting shell 81 is connected to the left lower portion of the supporting frame 1 through screws, the servo motor 82 is arranged at the front portion of the supporting shell 81, the chain wheel 83 is connected to the rear portion of an output shaft of the servo motor 82, the chain 84 is wound on the outer side of the chain wheel 83, the lower portion of the chain 84 is penetrated inside the supporting shell 81, the blade 85 is connected to the inner lower portion of the supporting shell 81 in a sliding mode, and the upper portion of the blade 85 is connected to the lower portion of the chain 84.
As shown in fig. 1, 5 and 6, the push-out mechanism 9 comprises a push frame 91, a first rack 92, a gear 93 and a second rack 94, wherein the push frame 91 is slidably connected to the lower left part in the support frame 1, the first rack 92 is slidably connected to the upper right part of the push frame 91, the gear 93 is rotatably connected to the upper left part of the support frame 1, the gear 93 is meshed with the first rack 92, the second rack 94 is welded to the lower left part of the push-pull frame 4, and the second rack 94 is meshed with the gear 93.
When people need to pick the pineapple, the supporting frame 1 can be held by hand, the rotating frame 7 rotates, the rotating frame 7 drives the push-pull frame 4 to move rightwards, the first spring 5 is compressed, the push-pull frame 4 drives the connecting frame 3 to rotate, the connecting frame 3 drives the picking claw 2 to rotate outwards to open, then the picking claw 2 is sleeved at the outer side of the pineapple, then the rotating frame 7 is loosened, under the action of the first spring 5, the push-pull frame 4 is driven to move leftwards, the push-pull frame 4 drives the picking claw 2 to rotate and reset to clamp the pineapple, then the output shaft of the servo motor 82 is controlled to rotate anticlockwise, the sprocket 83 is driven to rotate anticlockwise, the sprocket 83 drives the blade 85 to push out leftwards and downwards through the chain 84, the blade 85 cuts off the branch of the pineapple rapidly, then the output shaft of the servo motor 82 is controlled to rotate clockwise and reset, the sprocket 83 is driven to rotate clockwise to reset, the blades 85 are further moved to reset, the rotating frame 7 is rotated again, the push-pull frame 4 is moved rightwards again, the picking claw 2 automatically loosens pineapple, the push-pull frame 4 moves rightwards to drive the second rack 94 to move rightwards, the second rack 94 drives the first rack 92 to move leftwards through the gear 93, the first rack 92 drives the pushing frame 91 to move leftwards, the pushing frame 91 automatically pushes picked pineapple leftwards, people can be assisted to push and collect picked pineapple, the pineapple leaves are prevented from being blocked on the picking claw 2 and cannot fall, the second rack 94 is driven to move leftwards to reset when the push-pull frame 4 moves leftwards to reset, and the gear 93 drives the first rack 92 and the pushing frame 91 to move rightwards to reset; the pineapple picking machine can automatically cut off the branches of the pineapple rapidly by repeating the above operation, and can automatically push out and collect the pineapple when the pineapple is taken down, so that the difficulty of picking the pineapple can be reduced, and meanwhile, the picking speed is increased.
Example 2
On the basis of the embodiment 1, as shown in fig. 1 and 7, the device further comprises a labor-saving mechanism 10, the labor-saving mechanism 10 comprises an exoskeleton vest 101, a slide block 102, a connecting rod 103 and a second spring 104, the right part of the support frame 1 is connected with the connecting rod 103 in a sliding manner, the right part of the connecting rod 103 is connected with the slide block 102 in a rotating manner, the right part of the slide block 102 is connected with the exoskeleton vest 101 in a sliding manner, and the second spring 104 is connected between the left upper part of the exoskeleton vest 101 and the top of the slide block 102.
When the pineapple picking mechanical arm is used, the exoskeleton vest 101 can be worn on the body of a person, the picking claw 2 faces the front of the person, then the person can hold the support frame 1 by two hands, then the height of the support frame 1 and the picking claw 2 is adjusted up and down according to the height of the pineapple, the support frame 1 and the picking claw 2 move up and down, the connecting rod 103 and the sliding block 102 are driven to move up and down, the second spring 104 is adaptively deformed, the support frame 1 and the picking claw 2 can be driven to adjust left and right, the support frame 1 slides on the connecting rod 103, the picking claw 2 grabbing position can be adjusted according to the distance between the pineapples, in addition, the connecting rod 103 can be rotated clockwise or anticlockwise, the picking claw 2 grabbing angle can be adjusted, the pineapple with different heights can be picked conveniently, and the pineapple picking mechanical arm can be carried in a wearing mode, so that the pineapple picking mechanical arm is more labor-saving.
As shown in fig. 1 and 8, the pineapple picking device further comprises an adaptation mechanism 11 for adapting to pineapples of different sizes, the adaptation mechanism 11 comprises a radial arm 111, a contact wheel 112 and a torsion spring 113, the radial arm 111 is rotatably connected to the left part of the inner side of the picking claw 2, the torsion spring 113 is connected between the upper side and the lower side of the radial arm 111 and the picking claw 2, and the contact wheel 112 is rotatably connected to the upper side and the lower side of the radial arm 111.
When snatching the pineapple, contact wheel 112 and radial arm 111 can contact with the pineapple earlier, and contact wheel 112 rolls at the pineapple outer wall, and radial arm 111 can the adaptive emergence rotation, and torsional spring 113 is twisted, under torsional spring 113's reaction force, can make radial arm 111 and contact wheel 112 closely laminate on the outer wall of pineapple, so can grasp the pineapple of equidimension not, make things convenient for people to snatch the pineapple of equidimension not like this to the picking pineapple is accelerated.
As shown in fig. 1, 9 and 10, the device further comprises a slowing mechanism 12 for slowing down the left-right movement speed of the support frame 1, the slowing mechanism 12 comprises a half-moon piece 121 and an adjusting frame 122, the half-moon piece 121 is welded at the middle lower part in the support frame 1, air outlet holes are uniformly formed at the middle lower part in the support frame 1, the adjusting frame 122 is connected at the middle lower part in the support frame 1 in a sliding manner, the adjusting frame 122 is positioned below the half-moon piece 121, and the adjusting frame 122 is in contact fit with the half-moon piece 121.
People need to adjust the distance that support frame 1 and picking claw 2 moved about when using this pineapple to pick the arm, but because the hand strength of different people is all different, when adjusting support frame 1 and picking claw 2's left and right movement distance, the power to support frame 1 and picking claw 2 pulling is also different, some people's power is bigger, when pulling support frame 1, the speed that leads to support frame 1 to remove easily is too fast, can make support frame 1 damage like this, so people can pass through rotating adjustment frame 122, and slow down support frame 1 moving speed, can pass through rotation adjustment frame 122, the gap that produces between adjustment frame 122 upper portion and the half moon piece 121 reduces, so in the removal process about support frame 1, the inside gas of support frame 1 can be discharged through gap and venthole that produces between adjustment frame 122 upper portion and the half moon piece 121, so the gap is less, the air discharge speed is just slower, some people's power is slower in addition, but very hard when pulling support frame 1, can be with the adjustment frame upper portion and half moon piece 122 produce, the gap 1 is more laborsaving like this, in the time of using that can be more rapid, people's 1 is discharged.
As shown in fig. 1, 11 and 12, the device further comprises an adjusting mechanism 13, the adjusting mechanism 13 comprises a limiting block 131, a Q-shaped ring 132 and a fixing screw 133, the limiting block 131 is connected to the left front portion of the sliding block 102, the Q-shaped ring 132 is rotatably connected to the right front portion of the connecting rod 103, the protruding position of the lower portion of the Q-shaped ring 132 is in extrusion fit with the limiting block 131, the fixing screw 133 is connected to the upper portion of the Q-shaped ring 132 in a threaded manner, and the lower portion of the fixing screw 133 is in extrusion fit with the connecting rod 103.
When people use the pineapple picking mechanical arm, the rotating position of the Q-shaped ring 132 can be adjusted to adjust the maximum degree of counterclockwise rotation of the connecting rod 103, when people with higher heights use the pineapple picking mechanical arm, the picking claw 2 is required to be adjusted down for picking lower pineapples, so people can rotate and take down the fixing screw 133, then the Q-shaped ring 132 is rotated clockwise, the protruding position at the lower part of the Q-shaped ring 132 is rotated away from the limiting block 131, the larger the clockwise rotating angle of the Q-shaped ring 132 is, the larger the counterclockwise rotating angle of the connecting rod 103 is, the longer the downward swinging distance of the picking claw 2 is, the lower pineapple range can be enlarged, after the Q-shaped ring 132 is adjusted, the fixing screw 133 is reversely reset, the Q-shaped ring 132 is fixed on the connecting rod 103, and therefore, when people regulate the picking claw 2 picking position, the picking claw 2 can swing upwards, the connecting rod 103 can rotate clockwise or anticlockwise, the Q-shaped ring 132 can be driven to rotate anticlockwise when the connecting rod 103 rotates anticlockwise, the protruding position at the lower part of the Q-shaped ring 132 is contacted with the limiting block 131, and the height of the lower part of the connecting rod 132 can be conveniently limited; when people with shorter heights use, the picking claw 2 is required to be heightened more, the pineapple picking claw is used for picking higher pineapples, the operation can be repeated, the Q-shaped ring 132 rotates anticlockwise, the protruding position of the lower part of the Q-shaped ring 132 is close to the limiting block 131, after the Q-shaped ring 132 is adjusted, when people use, the angle of the lower regulating claw 2 is reduced, the angle of the upper regulating claw 2 is increased, so that the pineapples at the higher positions are more convenient for the shorter people to pick, and under the blocking effect of the limiting block 131 on the Q-shaped ring 132, the supporting frame 1 can be prevented from rotating anticlockwise easily due to gravity, and the shorter people are influenced to use.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent modifications made by the appended claims shall be included in the scope of the present invention.
Claims (8)
1. The utility model provides a pineapple picking mechanical arm which is characterized in that includes:
the picking device comprises a supporting frame (1) and picking claws (2), wherein the picking claws (2) are rotatably connected to the front side and the rear side of the left part of the supporting frame (1);
the upper parts of the picking claws (2) are welded with the connecting frames (3);
the top of the supporting frame (1) is connected with the guide sleeve (6) through a screw;
the sliding frame (4) is connected in the guide sleeve (6) in a sliding way, and the left part of the sliding frame (4) is movably connected with the connecting frame (3);
the rotary frame (7) is rotatably connected with the right rear part of the support frame (1), and the rotary frame (7) is movably connected with the right part of the push-pull frame (4);
a first spring (5), a first spring (5) wound on the push-pull frame (4) is connected between the left part of the guide sleeve (6) and the left part of the push-pull frame (4);
the breaking mechanism (8) is arranged at the left lower part of the supporting frame (1), and the branches of the pineapple are automatically and rapidly broken by controlling the breaking mechanism (8);
the pushing mechanism (9) is arranged on the supporting frame (1), and the pineapple is automatically and rapidly pushed out while being released.
2. A pineapple picking arm as claimed in claim 1, wherein the breaking mechanism (8) comprises:
the left lower part of the support frame (1) is connected with the support shell (81) through a screw;
a servo motor (82), wherein the servo motor (82) is arranged at the front part of the supporting shell (81);
a chain wheel (83), wherein the rear part of an output shaft of the servo motor (82) is connected with the chain wheel (83);
a chain (84), the chain (84) is wound on the outer side of the chain wheel (83), and the lower part of the chain (84) is penetrated on the inner side of the supporting shell (81);
the blade (85) is connected with the blade (85) in a sliding manner at the inner lower part of the supporting shell (81), and the upper part of the blade (85) is connected with the lower part of the chain (84).
3. A pineapple picking arm as claimed in claim 2, wherein the pushing mechanism (9) comprises:
a pushing frame (91), wherein the pushing frame (91) is connected to the left lower part in the supporting frame (1) in a sliding manner;
the right upper part of the pushing frame (91) is connected with a first rack (92), and the first rack (92) is connected with the supporting frame (1) in a sliding way;
the gear (93) is rotatably connected with the upper left part of the support frame (1), and the gear (93) is meshed with the first rack (92);
the second rack (94) is welded at the left lower part of the push-pull frame (4), and the second rack (94) is meshed with the gear (93).
4. A pineapple picking arm as claimed in claim 3, further comprising a labor-saving mechanism (10), the labor-saving mechanism (10) comprising:
the right part of the support frame (1) is connected with the connecting rod (103) in a sliding manner;
the right part of the connecting rod (103) is rotatably connected with the sliding block (102);
the exoskeleton vest (101) is connected with the exoskeleton vest (101) at the right part of the sliding block (102) in a sliding way.
5. A pineapple picking arm as claimed in claim 4, further comprising an adaptation mechanism (11) for adapting to pineapple of different sizes, the adaptation mechanism (11) comprising:
the rotating arms (111) are rotatably connected with the left parts of the inner sides of the picking claws (2);
the torsion springs (113) are connected between the upper side and the lower side of the radial arm (111) and the picking claw (2);
the upper side and the lower side of the radial arm (111) are both rotatably connected with the contact wheel (112).
6. The pineapple picking mechanical arm according to claim 5, further comprising a slowing mechanism (12) for slowing down the left-right movement speed of the support frame (1), wherein the slowing mechanism (12) comprises:
the middle lower part in the support frame (1) is welded with the half moon piece (121), and the middle lower part in the support frame (1) is uniformly provided with air outlets;
the lower part in the middle of the supporting frame (1) is connected with the adjusting frame (122) in a sliding manner, the adjusting frame (122) is positioned below the half-moon piece (121), and the adjusting frame (122) is in contact fit with the half-moon piece (121).
7. A pineapple picking arm as in claim 6, further comprising an adjustment mechanism (13), the adjustment mechanism (13) comprising:
the left front part of the sliding block (102) is connected with the limiting block (131);
the right front part of the connecting rod (103) is rotationally connected with the Q-shaped ring (132), and the lower protruding position of the Q-shaped ring (132) is in extrusion fit with the limiting block (131);
the screw (133) is fixed, and screw (133) is connected with on Q type ring (132) upper portion screw thread formula, and screw (133) lower part and connecting rod (103) extrusion fit.
8. The pineapple picking arm of claim 6, further comprising:
and a second spring (104) is connected between the left upper part of the exoskeleton vest (101) and the top of the sliding block (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311761202.3A CN117480938A (en) | 2023-12-20 | 2023-12-20 | Pineapple picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311761202.3A CN117480938A (en) | 2023-12-20 | 2023-12-20 | Pineapple picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117480938A true CN117480938A (en) | 2024-02-02 |
Family
ID=89669275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311761202.3A Withdrawn CN117480938A (en) | 2023-12-20 | 2023-12-20 | Pineapple picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117480938A (en) |
-
2023
- 2023-12-20 CN CN202311761202.3A patent/CN117480938A/en not_active Withdrawn
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Application publication date: 20240202 |