CN201167486Y - String-shaped fruits picking mechanical hand - Google Patents
String-shaped fruits picking mechanical hand Download PDFInfo
- Publication number
- CN201167486Y CN201167486Y CNU2008200436627U CN200820043662U CN201167486Y CN 201167486 Y CN201167486 Y CN 201167486Y CN U2008200436627 U CNU2008200436627 U CN U2008200436627U CN 200820043662 U CN200820043662 U CN 200820043662U CN 201167486 Y CN201167486 Y CN 201167486Y
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- fuselage
- drive
- motor
- cutter
- mechanical arm
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Abstract
The utility model relates to a string-shaped fruit picking manipulator, comprising a body, a power device arranged at the bottom of the body to provide power for the body, a manipulator arranged at the front end of the body to clamp the stalk of string-shaped fruit, and a cutter driving device arranged at the top of the body to cut the stalk portion of the string-shaped fruit. The power device comprises a first feeding mechanism to drive the whole body to move; the manipulator comprises a mechanical arm, an interlocking mechanism connecting the mechanical arm to drive the mechanical arm to spread or contract; a cutter driving mechanism comprises a second feeding mechanism to drive the cutter to move and a cutting mechanism to drive the cutter to rotate. The string-shaped fruit picking manipulator has high efficiency and high quality, and can effectively reduce mechanical damage of fruit picking.
Description
Technical field
The utility model relates to a kind of fruit picking device, relates in particular to a kind of string shape fruit picking machinery hand.
Background technology
At present, the cultivated area of serial fruit is extremely extensive, but the harvesting of serial fruit still rests on the level of artificial harvesting at present, the artificial amount of labour of plucking is big, also can cause the fruit mechanical injury big, have a strong impact on the quality and the speed of plucking, be unfavorable for the fresh-keeping of fruit and store, and human body has been had damaging action (it is too big to bear a heavy burden) when manually plucking.Yet the machinery relevant for serial fruit automation harvesting aspect is very little, and relevant serial fruit picking machinery hand does not yet occur, and this does not satisfy the plantation demand for development of serial fruit far away.
The utility model content
At the shortcoming of prior art, the string shape fruit picking of mechanical damage machinery hand when the purpose of this utility model provides a kind of picking efficiency height, quality height and can effectively reduce fruit picking.
For achieving the above object, the technical solution of the utility model is: a kind of string shape fruit picking machinery hand, comprise fuselage, be positioned at fuselage bottom and the power set of power are provided to fuselage, be located at front fuselage and be used to clamp serial fruit shank manipulator and be located at the fuselage top and be used to cut off the cutter drives mechanism of the shank of serial fruit, these power set comprise first feed mechanism that the whole fuselage of drive moves, this manipulator comprises mechanical arm, connect mechanical arm and be used to drive the link gear that mechanical arm struts or shrinks, this cutter drives mechanism comprises second feed mechanism that the drive cutter moves and the shut-off mechanism that drives the cutter rotation.
First, second feed mechanism includes motor and rotatablely moving of motor is converted into the secondary mechanism/cam drive of straight-line worm drive/rack and pinion drive mechanism/crank block transmission mechanism, and shut-off mechanism comprises motor and the cutter that links to each other with motor.
The secondary mechanism of the worm drive of first feed mechanism comprises the screw rod that is connected with the output shaft of motor and is sheathed on swivel nut on the screw rod, swivel nut also is connected to the cross bar of being located on the fuselage, the secondary mechanism of the worm drive of second feed mechanism comprises the screw rod that is connected with the output shaft of motor and is sheathed on swivel nut on the screw rod that swivel nut also is connected to motor by screw rod.
Link gear comprises the touching strut that moves with cross bar, the spring of being located at the baffle plate on the fuselage, the connecting rod that connects mechanical arm and touching strut and drive mechanical arm clamping fruit shank, one end of this touching strut is touched mutually with baffle plate when fuselage retreats, and the other end is connected to mechanical arm by connecting rod respectively and controls it and struts or shrink.
One end of this spring connects mechanical arm, and the other end is connected on the support of fuselage.
The rear of the direction of motion of cross bar is provided with the touching switch of a control motor stop motion.
Be equipped with slide block under the screw rod, slide block set is contained on the slide bar of being located at fuselage.
The end surface that manipulator is used to clamp the fruit handle is provided with some nails.
This cutter is a circular cutter.
Manipulator drives the rising or the decline of manipulator by the elevating mechanism that is connected with base.
Compared with prior art, the utility model by being located at front fuselage manipulator and the tool feeding mechanism at top, finish two actions of clamping and cut-out of fruit carpopodium, realize plucking the complete mechanical operation of serial fruit, the effect of mechanical damage when having reached picking efficiency height, quality height and can effectively reduce fruit picking.And the division of labor of each structure of the utility model is careful, and drive mechanism connects firm, and each structure branch is reasonable, and quality of fit is better.
Description of drawings
Fig. 1 is the structural representation of string shape fruit picking machinery hand of the present utility model;
Fig. 2 is the structural representation of cutter drives of the present utility model mechanism.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
A kind of string shape fruit picking machinery hand as shown in Figure 1, its general structure can be divided into fuselage, be positioned at fuselage bottom and offer fuselage power power set, be located at front fuselage and be used to clamp the manipulator of serial fruit shank and be located at the fuselage top and be used to cut off the cutter drives mechanism of fruit shank.
These power set comprise first feed mechanism that the whole fuselage of drive moves, and first feed mechanism comprises first motor 8 and rotatablely moving of first motor 8 is converted into the secondary mechanism of straight-line worm drive.
The secondary mechanism of above-mentioned worm drive comprises the screw rod that is connected with the output shaft of first motor 8 and is sheathed on swivel nut on the screw rod that swivel nut also is connected to the cross bar of being located on the fuselage 15.
This manipulator comprises mechanical arm 11, connects mechanical arm 11 and is used to drive the link gear that mechanical arm 11 struts or shrinks.In order to strengthen the clamping dynamics of manipulator to the fruit carpopodium, make carpopodium more stressed, the end surface that manipulator is used to clamp the fruit handle also is provided with some nails 14.
Link gear comprises with the touching strut 10 of cross bar 15 motions, is located at the spring 13 that the baffle plate 9 on the fuselage, the connecting rod 12 that connects mechanical arm 11 and touching strut 10 and drive mechanical arm 11 clamp the fruit shank, one end of this touching strut 10 is touched mutually with baffle plate 9 when fuselage retreats, and the other end is connected to mechanical arm 11 by connecting rod 12 respectively and controls it and struts or shrink.
In the present embodiment, the quantity of this spring 13 is two, and the one end all connects mechanical arm 11, and the other end all is connected on the support of fuselage, and under the effect of two springs, this mechanical arm 11 will shrink clamping.
This cutter drives mechanism comprises second feed mechanism that the drive cutter moves and the shut-off mechanism that drives the cutter rotation.
Second feed mechanism includes second motor 1 and rotatablely moving of second motor 1 is converted into the secondary mechanism of straight-line worm drive, and shut-off mechanism comprises the 3rd motor 6 and the cutter 7 that links to each other with the 3rd motor 6.This cutter 7 is a circular cutter.The secondary mechanism of described worm drive comprises the screw rod 2 that is connected with the output shaft of second motor 1 and is sheathed on swivel nut 4 on the screw rod 2, and swivel nut 4 also is connected to the 3rd motor 6 by screw rod, thus the moving forward and backward of drive shut-off mechanism.
In order to control the displacement that struts angle and fuselage of manipulator better, the rear of the direction of motion of cross bar 15 is provided with the touching switch of a control first motor 8 stop motions.
For the steadiness that improves this string shape fruit picking machinery hand and the accuracy of transmission cutter, be equipped with slide block 5 under each screw rod, and slide block 5 is sleeved on the slide bar 3 of being located at fuselage.
In order to satisfy the harvesting height of various serial fruit, the lifting structure that control machinery rises or descends on hand is installed under the manipulator.
Manipulator drives the rising or the decline of manipulator by the elevating mechanism that is connected with base.
In the utility model, rotatablely moving of motor is converted into the secondary mechanism of straight-line worm drive also has other alternative structure, a kind of as in the mechanisms such as cam drive, rack and pinion drive mechanism or crank block transmission mechanism.
The concrete course of work of the utility model is:
At first, first motor 8 starts, and drives the screw rod rotation, and swivel nut drives cross bar 15, and fuselage is retreated to the direction of first motor 8, and in the fuselage fallback procedures, touching strut 10 touches baffle plate 9, then touches strut 10 and with regard to drivening rod 12 manipulator is strutted.When manipulator struts the angle that is fit to harvesting serial fruit, cross bar 15 will be run into the touching switch, 8 stop motions of first motor, at this moment, manipulator is sought target, when find target localization well after, 8 counter-rotatings of first motor, promote cross bar 15, fuselage is advanced, when the shank of fruit touches touching strut 10, under the elastic force effect of spring 13, manipulator shrinks, and the fruit carpopodium is clamped, and strengthens stressed in the carpopodium of nail 14 bundle water inlet fruits.After the clamping, second motor 1, the 3rd motor 6 start, and second motor 1 promotes cross bar 16, promotes cutter and advances to fruit handle direction, and the 3rd motor 6 makes cutter 7 high speed rotating, and two actions are in conjunction with realizing cutting off the fruit handle.Cutter 7 resets after cutting off, and gets back to original state, and the first motor 8 drive fruit that reverse once more retreats simultaneously, make touching strut 10 touch baffle plate 9, manipulator is strutted, can take off fruit, this moment, manipulator was in the state that struts, and is ready for plucking next time.
Claims (10)
1, a kind of string shape fruit picking machinery hand, it is characterized in that comprising fuselage, be positioned at fuselage bottom and to fuselage provide power power set, be located at front fuselage and be used to clamp serial fruit shank manipulator and be located at the fuselage top and be used to cut off the cutter drives mechanism of the shank of serial fruit
These power set comprise first feed mechanism that the whole fuselage of drive moves,
This manipulator comprises mechanical arm (11), connects mechanical arm (11) and is used to drive the link gear that mechanical arm (11) struts or shrinks,
This cutter drives mechanism comprises second feed mechanism that the drive cutter moves and the shut-off mechanism that drives the cutter rotation.
2, string shape fruit picking machinery hand according to claim 1, it is characterized in that: first, second feed mechanism includes motor (1), (8) and rotatablely moving of motor (1), (8) is converted into the secondary mechanism/cam drive of straight-line worm drive/rack and pinion drive mechanism/crank block transmission mechanism, and shut-off mechanism comprises motor (6) and the cutter (7) that links to each other with motor (6).
3, string shape fruit picking machinery hand according to claim 2, it is characterized in that: the secondary mechanism of the worm drive of first feed mechanism comprises the screw rod that is connected with the output shaft of motor (8) and is sheathed on swivel nut on the screw rod, swivel nut also is connected to the cross bar of being located on the fuselage (15), the secondary mechanism of the worm drive of second feed mechanism comprises the screw rod (2) that is connected with the output shaft of motor (1) and is sheathed on swivel nut (4) on the screw rod (2) that swivel nut (4) also is connected to motor (6) by screw rod.
4, string shape fruit picking machinery hand according to claim 3, it is characterized in that: link gear comprises with the touching strut (10) of cross bar (15) motion, is located at the spring (13) that the baffle plate (9) on the fuselage, the connecting rod (12) that connects mechanical arm (11) and touching strut (10) and drive mechanical arm (11) clamp the fruit shank, one end of this touching strut (10) is touched mutually with baffle plate (9) when fuselage retreats, and the other end is connected to mechanical arm (11) by connecting rod (12) respectively and controls it and struts or shrink.
5, string shape fruit picking machinery hand according to claim 4, it is characterized in that: an end of this spring (13) connects mechanical arm (11), and the other end is connected on the support of fuselage.
6, string shape fruit picking machinery hand according to claim 5, it is characterized in that: the rear of the direction of motion of cross bar (15) is provided with the touching switch of control motor (a 8) stop motion.
7, string shape fruit picking machinery hand according to claim 6, it is characterized in that: be equipped with slide block (5) under the screw rod, slide block (5) is sleeved on the slide bar (3) of being located at fuselage.
8, string shape fruit picking according to claim 1 machinery hand is characterized in that: the end surface that manipulator is used to clamp the fruit handle is provided with some nails (14).
9, string shape fruit picking machinery hand according to claim 1, it is characterized in that: this cutter (7) is a circular cutter.
10, according to each described string shape fruit picking machinery hand of claim 1 to 9, it is characterized in that: manipulator drives the rising or the decline of manipulator by the elevating mechanism that is connected with base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200436627U CN201167486Y (en) | 2008-01-31 | 2008-01-31 | String-shaped fruits picking mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200436627U CN201167486Y (en) | 2008-01-31 | 2008-01-31 | String-shaped fruits picking mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201167486Y true CN201167486Y (en) | 2008-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200436627U Expired - Fee Related CN201167486Y (en) | 2008-01-31 | 2008-01-31 | String-shaped fruits picking mechanical hand |
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| CN (1) | CN201167486Y (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029132A (en) * | 2012-12-18 | 2013-04-10 | 西北农林科技大学 | Tail end executing mechanism and picking method for spherical fruit automatic picker |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN103749086A (en) * | 2014-01-03 | 2014-04-30 | 陕西科技大学 | Pepper picker |
| CN103918408A (en) * | 2014-04-30 | 2014-07-16 | 中国农业大学 | Swinging, combing and brushing type wine grape picking method and mechanism |
| CN105580557A (en) * | 2016-03-09 | 2016-05-18 | 广西大学 | Banana picking mechanism |
| CN106576597A (en) * | 2016-12-06 | 2017-04-26 | 南昌大学 | Fruit and vegetable picking manipulator |
| CN106852224A (en) * | 2016-12-23 | 2017-06-16 | 东莞理工学院 | A kind of automatic information collecting device based on wine-growing |
| CN107750636A (en) * | 2017-11-30 | 2018-03-06 | 延安大学 | A kind of fruit picking |
| CN107873249A (en) * | 2017-12-15 | 2018-04-06 | 武汉轻工大学 | A kind of fruit picker and fruit picking robot |
| CN107950200A (en) * | 2017-11-28 | 2018-04-24 | 深圳润丰投资咨询有限公司 | A kind of picking fruit mechanical clamping device |
| CN108633472A (en) * | 2018-07-12 | 2018-10-12 | 广东工业大学 | A kind of apple-picking machinery hand |
| CN108633481A (en) * | 2018-04-12 | 2018-10-12 | 湖州师范学院 | Backpack fruit harvester |
| CN108684311A (en) * | 2018-06-29 | 2018-10-23 | 华南理工大学 | A kind of tree unboiled water fruit indirect labor's picking mechanical based on crank block movement |
| CN108901355A (en) * | 2018-06-11 | 2018-11-30 | 大连理工大学 | A kind of cherry picking device based on Variable Freedom Mechanism |
| CN109168629A (en) * | 2018-08-28 | 2019-01-11 | 黄河科技学院 | The automatic picking method of Tree Fruit |
-
2008
- 2008-01-31 CN CNU2008200436627U patent/CN201167486Y/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029132A (en) * | 2012-12-18 | 2013-04-10 | 西北农林科技大学 | Tail end executing mechanism and picking method for spherical fruit automatic picker |
| CN103029132B (en) * | 2012-12-18 | 2016-03-16 | 西北农林科技大学 | A kind of end effector mechanism for seed ball automatic harvester and picking method |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN103444359B (en) * | 2013-08-30 | 2016-07-13 | 华南农业大学 | A kind of Banana device and picking and picking method |
| CN103749086A (en) * | 2014-01-03 | 2014-04-30 | 陕西科技大学 | Pepper picker |
| CN103749086B (en) * | 2014-01-03 | 2016-01-13 | 陕西科技大学 | A kind of Chinese prickly ash picker |
| CN103918408A (en) * | 2014-04-30 | 2014-07-16 | 中国农业大学 | Swinging, combing and brushing type wine grape picking method and mechanism |
| CN103918408B (en) * | 2014-04-30 | 2015-12-09 | 中国农业大学 | A kind of swing curries formula wine grape picking method and mechanism |
| CN105580557A (en) * | 2016-03-09 | 2016-05-18 | 广西大学 | Banana picking mechanism |
| CN106576597A (en) * | 2016-12-06 | 2017-04-26 | 南昌大学 | Fruit and vegetable picking manipulator |
| CN106852224A (en) * | 2016-12-23 | 2017-06-16 | 东莞理工学院 | A kind of automatic information collecting device based on wine-growing |
| CN107950200A (en) * | 2017-11-28 | 2018-04-24 | 深圳润丰投资咨询有限公司 | A kind of picking fruit mechanical clamping device |
| CN107750636A (en) * | 2017-11-30 | 2018-03-06 | 延安大学 | A kind of fruit picking |
| CN107873249A (en) * | 2017-12-15 | 2018-04-06 | 武汉轻工大学 | A kind of fruit picker and fruit picking robot |
| CN108633481A (en) * | 2018-04-12 | 2018-10-12 | 湖州师范学院 | Backpack fruit harvester |
| CN108901355A (en) * | 2018-06-11 | 2018-11-30 | 大连理工大学 | A kind of cherry picking device based on Variable Freedom Mechanism |
| CN108901355B (en) * | 2018-06-11 | 2021-02-26 | 大连理工大学 | Cherry picking device based on variable-degree-of-freedom mechanism |
| CN108684311A (en) * | 2018-06-29 | 2018-10-23 | 华南理工大学 | A kind of tree unboiled water fruit indirect labor's picking mechanical based on crank block movement |
| CN108633472A (en) * | 2018-07-12 | 2018-10-12 | 广东工业大学 | A kind of apple-picking machinery hand |
| CN108633472B (en) * | 2018-07-12 | 2023-07-25 | 广东工业大学 | Apple picking manipulator |
| CN109168629A (en) * | 2018-08-28 | 2019-01-11 | 黄河科技学院 | The automatic picking method of Tree Fruit |
| CN109168629B (en) * | 2018-08-28 | 2021-05-18 | 黄河科技学院 | Automatic fruit picking method for fruit trees |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081224 Termination date: 20120131 |