CN202335241U - Mechanical sensing picker - Google Patents
Mechanical sensing picker Download PDFInfo
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- CN202335241U CN202335241U CN2011204190562U CN201120419056U CN202335241U CN 202335241 U CN202335241 U CN 202335241U CN 2011204190562 U CN2011204190562 U CN 2011204190562U CN 201120419056 U CN201120419056 U CN 201120419056U CN 202335241 U CN202335241 U CN 202335241U
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- picking
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- magnetic valve
- knife section
- picking device
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Abstract
The utility model discloses a mechanical sensing picker which comprises a picking mechanism and a power source for driving the picking mechanism to move, wherein the picking mechanism comprises a shearing mechanism, a picking rod and a transmission mechanism; the shearing mechanism and the transmission mechanism are both arranged on the picking rod; a power source for driving the shearing mechanism to act is connected with the shearing mechanism by virtue of the transmission mechanism; the shearing mechanism is further provided with a sensor; and the sensor controls the shearing mechanism to execute the shearing action. The power source and picking mechanism of the mechanical sensing picker are separated, a user can easily hold the picking rod to carry out the picking operation with hands, the shearing mechanism is automatically controlled by the sensor to execute the shearing action, thus the mechanical sensing picker is convenient to use. The mechanical sensing picker can be widely applied to the field of picking up fruits, the user can stand on the ground to easily pick the fruits in the high place to avoid danger brought by climbing the tree to pick, and the mechanical sensing picker has the advantage of strong practicality.
Description
Technical field
The utility model relates to the fruit picking technology, and particularly a kind of mechanical sense is answered picking device.
Background technology
At present, the mechanization degree of the equipment of fruit picking is lower, and its picking efficiency is also low, thereby mechanization must have good application prospects by harvesting equipment.With regard to the fruit picking mechanism of present appearance, most object detecting devices that all need be equipped with complicacy.Execution unit is relative complex also, thereby cost is generally higher, poor practicability, difficult in maintenance.For example Chinese patent 200810060259.X discloses a kind of device for picking fruit, and it is made up of power source, strut and the harvesting portion that is arranged on the strut top, and picking head is a column structure, and cylinder is provided with the tooth bar of some convexities.This device for picking fruit picking head is bigger, uses the problem difficult, that efficient is lower in the place that branch is closeer.In addition; Chinese patent 200420050927.8 discloses a kind of picking device that adopts the strength conveyer; Wheels are plucked in this picking device utilization and compressed air stream carries out harvesting and the conveying of cotton, but it need add extra driving and wind pushing mechanism, and are also relatively poor to the adaptability of environment (rainwater, dust etc.); And for the harvesting of fruits, practicality is not high.
Summary of the invention
The purpose of the utility model is to overcome the prior art deficiency and provides a kind of simple in structure, plucks structure mechanical sense small and exquisite, that be suitable for picking fruit and answers picking device.
In order to achieve the above object; The technical scheme of the utility model, a kind of mechanical sense is answered picking device, comprises plucking mechanism and driving the power source of plucking mechanism kinematic; Wherein, Said harvesting mechanism comprises cutting mechanism, picking lever and transmission mechanism, and cutting mechanism and transmission mechanism all are installed on the picking lever, and the power source that drives the cutting mechanism action is connected with cutting mechanism through transmission mechanism.
Further, above-mentioned power source is an air compressor.
Above-mentioned picking lever is the tubular structure that is provided with hollow cavity, and transmission mechanism is installed in the set hollow cavity of picking lever.
Above-mentioned transmission mechanism comprises piston, cylinder body and pull bar; Piston places in the cylinder body; Pull bar one end is connected with piston, and the other end of pull bar is connected with cutting mechanism, and the gas outlet of air compressor is communicated with the air inlet of cylinder body through tracheae; Cylinder body is fixed in the hollow cavity of picking lever, and transmission mechanism is fixed in the hollow cavity of picking lever through cylinder body.
Further, also be provided with the spring that piston is moved reset in the above-mentioned cylinder body.
Above-mentioned cutting mechanism comprises ledger-plate and knife section; Knife section is hinged on the ledger-plate and forms scissor; The shank of knife section also is provided with connecting rod; A wherein end of connecting rod is fixed on the shank of knife section, and the other end and the pull bar of connecting rod are hinged, and cutting mechanism is fixed on the end of picking lever through ledger-plate.
Above-mentioned knife section and connecting rod are global formation; Or the shank of a wherein end of connecting rod and knife section welding.
The mechanical sense of the utility model answers picking device also to comprise control circuit; Said control circuit comprises inductor and magnetic valve; Inductor and magnetic valve are cascaded through lead; Magnetic valve is connected on the tracheae, and is fixed on the cabinet of air compressor, and inductor is located between ledger-plate and the knife section.
Further, above-mentioned magnetic valve is a two-position three way magnetic valve, and the venthole of two-position three way magnetic valve is communicated with the air inlet of cylinder body through pipeline, and the air admission hole of two-position three way magnetic valve is communicated with the gas outlet of air compressor through tracheae.
In this programme, above-mentioned inductor is a limit switch.The Mechanical Contact state of fruit branch and limit switch contact will make limit switch conducting or disconnection, and whether this programme exists fruit branch to be cut through the conducting of limit switch with the disconnection induction just in the share zone.After limit switch detects fruit branch and is in the share zone, make two-position three way magnetic valve be in conduction position, and then the control transmission mechanism drives cutting mechanism and carry out shearing work, realize plucking automatically.
Compared with prior art, the utlity model has following beneficial effect:
1, power source separates with harvesting mechanism, and the user can easily hold picking lever and pluck operation;
2, detect the fruit branch of fruit and the position of fruit branch through limit switch, checkout gear is simple, reliable;
3, carry out the action of cutting off fruit branch through the piston actuated cutting mechanism in the cylinder body, and automatically reset through moving back-moving spring, transmission mechanism is simple.
4, through two-position three way magnetic valve control gas turnover cylinder body, thus the slip of control piston, and control module is simple.
Description of drawings
Fig. 1 is the structural representation of the utility model;
Fig. 2 is the control principle figure of the utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is done further to specify.
The mechanical sense of the utility model answers the structure of picking device shown in accompanying drawing 1, and comprise power source 1, pluck mechanism 2, control circuit, the power source 1 of present embodiment is an air compressor, wherein plucks mechanism 2 and comprises cutting mechanism 21, picking lever 22 and transmission mechanism 23.Said cutting mechanism 21 comprises ledger-plate 211 and knife section 212 again, and knife section 212 is hinged on the ledger-plate 211 and forms scissor; Said transmission mechanism 23 comprises piston 231, cylinder body 232 and pull bar 233, and piston 231 places in the cylinder body 232, and pull bar 323 1 ends are connected with piston 231; Wherein ledger-plate 211 is fixed on the end of picking lever 22; The shank of knife section 212 also is provided with connecting rod 213; A wherein end of connecting rod 213 is fixed on the shank of knife section 212; The other end of connecting rod 213 other ends and pull bar 233 is hinged, and the gas outlet of air compressor is communicated with the air inlet of cylinder body 232 through tracheae 4.
Above-mentioned knife section 212 is a global formation with connecting rod 213; Or the shank of a wherein end of connecting rod 213 and knife section 212 welding.
In the present embodiment; Said picking lever 22 is for being provided with the tubular structure of hollow cavity, and cylinder body 232 is fixed in the hollow cavity of picking lever 22, pull bar 323 also pass hollow cavity and connecting rod 213 hinged; Also be provided with in the cylinder body 232 and make piston 231 move the spring that resets; The spring of present embodiment is installed between piston 231 and cylinder body 232 ends, and spring one end is connected with piston 231, and the other end is connected with cylinder body 232.
Above-mentioned control circuit comprises inductor 5 and magnetic valve 6; Magnetic valve 6 in the present embodiment is a two-position three way magnetic valve, and inductor 5 is a limit switch, and limit switch is the rotary type automatic reset switch; The break-make of rotary type automatic reset switch is controlled by rotatable compressing tablet; With the causes switch conducting, cancel external force as pressed by external force compressing tablet rotation, the compressing tablet causes switch that automatically resets is broken off.Two-position three way magnetic valve and rotary type automatic reset switch are cascaded through lead, and two-position three way magnetic valve is connected on the tracheae 4, and are fixed on the cabinet of air compressor.Wherein the venthole of two-position three way magnetic valve is communicated with the air inlet of cylinder body 232 through pipeline 4; The air admission hole of two-position three way magnetic valve is communicated with the gas outlet of air compressor through tracheae 4, and the rotary type automatic reset switch is located between ledger-plate 211 and the knife section 212.
The operation of the utility model is following:
During original state, the coil no power in the two-position three way magnetic valve, the air inlet of the gas outlet of air compressor and cylinder body 232 is in not connected state.Be positioned at left end extreme position as shown in Figure 1 under the elastic force effect of the spring of piston 231 in cylinder body 232 in the cylinder body 232; Piston 231 in the cylinder body 232 and then promotion pull bar 233; Pull bar 233 promotes connecting rod 213 again; Cause connecting rod 213 to drive the extreme position that knife section 212 rotates to open configuration, ledger-plate 211 is in open configuration with knife section 212.If fruit branch gets into the share zone between ledger-plate 211 and the knife section 212, fruit branch contacts with the compressing tablet of limit switch when also further moving forward, and compressing tablet rotates under the promotion of fruit branch and presses and causes the limit switch conducting; It promptly is the control circuit conducting; Coil in the two-position three way magnetic valve energising work, two-position three way magnetic valve produces magnetic force, drives the valve core movement in the two-position three way magnetic valve; The gas outlet of air compressor and the air inlet of cylinder body 232 are in connected state at this moment; Compressed air in the air accumulator of air compressor flows into the left end in the cylinder body 232 through tracheae 4 and two-position three way magnetic valve, and compressed air promotes piston 231 toward right motion, and piston 231 drives pull bar 233 toward right motion; Pull bar 233 spurs connecting rod 213 again; Make connecting rod 213 drive knife section 212 rotations, knife section 212 closes up toward ledger-plate 211, up to cutting off fruit branch.Fruit shear is had no progeny, and fruit has been plucked.Operating personnel remove plucking mechanism 2, and the compressing tablet on the limit switch automatically resets, and limit switch breaks off; Promptly be that control circuit breaks off; The two-position three way magnetic valve outage, spool automatically resets, and the Compressed Gas in cylinder body 232 left sides is got rid of through the venthole of two-position three way magnetic valve through tracheae 4.Piston 231 in the cylinder body 232 resets to left end extreme position as shown in Figure 1 under the elastic force effect of spring; Piston 231 and then promotion pull bar 233; Pull bar 233 promotes connecting rod 213 again; Cause connecting rod 213 to drive the extreme position that knife section 212 rotates to open configuration, ledger-plate 211 is in open configuration again with knife section 212, can carry out the next round operation this moment.
Claims (10)
1. a mechanical sense is answered picking device; Comprise and pluck mechanism (2) and drive the power source (1) of plucking mechanism (2) motion; It is characterized in that; Said harvesting mechanism (2) comprises cutting mechanism (21), picking lever (22) and transmission mechanism (23), and cutting mechanism (21) and transmission mechanism (23) all are installed on the picking lever (22), and the power source (1) that drives cutting mechanism (21) action is connected with cutting mechanism (21) through transmission mechanism (23).
2. answer picking device according to the said mechanical sense of claim 1, it is characterized in that, said power source (1) is an air compressor.
3. answer picking device according to the said mechanical sense of claim 2, it is characterized in that, said picking lever (22) is for being provided with the tubular structure of hollow cavity, and transmission mechanism (23) is installed in the set hollow cavity of picking lever (22).
4. answer picking device according to the said mechanical sense of claim 3; It is characterized in that; Said transmission mechanism (23) comprises piston (231), cylinder body (232) and pull bar (233), and piston (231) places in the cylinder body (232), and pull bar (323) one ends are connected with piston (231); The other end of pull bar (233) is connected with cutting mechanism (21); The gas outlet of air compressor is communicated with the air inlet of cylinder body (232) through tracheae (4), and cylinder body (232) is fixed in the hollow cavity of picking lever (22), and transmission mechanism (23) is fixed in the hollow cavity of picking lever (22) through cylinder body (232).
5. answer picking device according to the said mechanical sense of claim 4, it is characterized in that, also be provided with in the said cylinder body (232) and make the mobile spring that resets of piston (231).
6. answer picking device according to each said mechanical sense of claim 1 to 5; It is characterized in that; Said cutting mechanism (21) comprises ledger-plate (211) and knife section (212); Knife section (212) is hinged on the last and formation scissor of ledger-plate (211), and the shank of knife section (212) also is provided with connecting rod (213), and a wherein end of connecting rod (213) is fixed on the shank of knife section (212); The other end of connecting rod (213) and pull bar (233) are hinged, and cutting mechanism (21) is fixed on the end of picking lever (22) through ledger-plate (211).
7. answer picking device according to the said mechanical sense of claim 6, it is characterized in that, said knife section (212) is a global formation with connecting rod (213); Or the shank of a wherein end of connecting rod (213) and knife section (212) welding.
8. answer picking device according to the said mechanical sense of claim 7; It is characterized in that also comprising control circuit; Said control circuit comprises inductor (5) and magnetic valve (6), and inductor (5) and magnetic valve (6) are cascaded through lead, and magnetic valve (6) is connected on the tracheae (4); And be fixed on the cabinet of air compressor, inductor (5) is located between ledger-plate (211) and the knife section (212).
9. said according to Claim 8 mechanical sense is answered picking device; It is characterized in that; Said magnetic valve (6) is a two-position three way magnetic valve; The venthole of two-position three way magnetic valve is communicated with the air inlet of cylinder body (232) through pipeline (4), and the air admission hole of two-position three way magnetic valve is communicated with the gas outlet of air compressor through tracheae (4).
10. said according to Claim 8 mechanical sense is answered picking device, it is characterized in that also comprising control circuit, and said inductor (5) is a limit switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204190562U CN202335241U (en) | 2011-10-28 | 2011-10-28 | Mechanical sensing picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204190562U CN202335241U (en) | 2011-10-28 | 2011-10-28 | Mechanical sensing picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202335241U true CN202335241U (en) | 2012-07-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204190562U Expired - Fee Related CN202335241U (en) | 2011-10-28 | 2011-10-28 | Mechanical sensing picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202335241U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105638093A (en) * | 2016-03-03 | 2016-06-08 | 甘肃农业大学 | Pneumatic Chinese prickly ash picking machine |
| CN106171291A (en) * | 2016-07-13 | 2016-12-07 | 刘德平 | A kind of gardens picking fruit device |
| CN108419520A (en) * | 2018-05-14 | 2018-08-21 | 安徽工业大学 | A kind of efficient fruits picking end effector, device for picking fruit and picking vehicle |
| CN108481319A (en) * | 2018-06-15 | 2018-09-04 | 芜湖易迅生产力促进中心有限责任公司 | A kind of fruits picking mechanical arm of agricultural robot |
| CN111937585A (en) * | 2020-09-11 | 2020-11-17 | 广西师范大学 | Mulberry twig stirring and positioning device for automatic mulberry leaf picking machine |
-
2011
- 2011-10-28 CN CN2011204190562U patent/CN202335241U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105638093A (en) * | 2016-03-03 | 2016-06-08 | 甘肃农业大学 | Pneumatic Chinese prickly ash picking machine |
| CN106171291A (en) * | 2016-07-13 | 2016-12-07 | 刘德平 | A kind of gardens picking fruit device |
| CN106171291B (en) * | 2016-07-13 | 2019-04-02 | 临泽县海泓农林科技开发有限公司 | A kind of gardens picking fruit device |
| CN108419520A (en) * | 2018-05-14 | 2018-08-21 | 安徽工业大学 | A kind of efficient fruits picking end effector, device for picking fruit and picking vehicle |
| CN108419520B (en) * | 2018-05-14 | 2024-04-09 | 安徽工业大学 | High-efficiency real picking end effector, fruit picking device and picking vehicle |
| CN108481319A (en) * | 2018-06-15 | 2018-09-04 | 芜湖易迅生产力促进中心有限责任公司 | A kind of fruits picking mechanical arm of agricultural robot |
| CN111937585A (en) * | 2020-09-11 | 2020-11-17 | 广西师范大学 | Mulberry twig stirring and positioning device for automatic mulberry leaf picking machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120718 Termination date: 20141028 |
|
| EXPY | Termination of patent right or utility model |