CN202565760U - Fruit tree vibration picking hand - Google Patents
Fruit tree vibration picking hand Download PDFInfo
- Publication number
- CN202565760U CN202565760U CN 201220195243 CN201220195243U CN202565760U CN 202565760 U CN202565760 U CN 202565760U CN 201220195243 CN201220195243 CN 201220195243 CN 201220195243 U CN201220195243 U CN 201220195243U CN 202565760 U CN202565760 U CN 202565760U
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- rocking bar
- hand
- fruit tree
- movement arm
- arm
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 22
- 238000003306 harvesting Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 239000002420 orchard Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000013340 harvest operation Methods 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model relates to a fruit tree vibration picking hand, which aims at solving the technical problems of providing the picking hand with the characteristics of high picking efficiency and low work intensity. In addition, fruit tree vibration picking hand has the advantages that the structure is simple, the cost is low, the control is easy, the performance is reliable, and in addition, the adaptability is good. The fruit tree vibration picking hand has the technical scheme that the fruit tree vibration picking hand is characterized by comprising a horizontally arranged work table, a mechanical arm and a driving mechanism of the mechanical arm, wherein the mechanical arm comprises a rocking bar and an action arm, the rocker arm is hinged on a work table through an upright post, the action arm is arranged on the rocker arm through a vibration amplitude regulating mechanism, the action arm horizontally and forwards extends out, the front end of the action arm is provided with a clamping hand used for tightly forking a branch, and the action arm and the driving mechanism are respectively arranged at the left side and the right side of the upright post.
Description
Technical field
The utility model relates to the woods field of mechanical technique of really gathering, and specifically is that hand is plucked in planting fruit-trees vibration.
Background technology
The orchard harvest operation is a most important link in the orchard production overall process, and the woods labour intensity of really gathering is big, and the amount of labour used is many.Conventional artificial collecting method per hectare needs hundreds of man-hour, accounts for about 50% of the amount of labour used in the production process of orchard, waste time and energy, and cost is high; Therefore, the orchard harvesting mechanization is domestic and international main research work always.The Machinery for orchard results are widely used as a mature technology abroad at present, and the production efficiency of its mechanical harvest has improved 5-10 doubly than manual work.
The mechanical-vibration type harvester adopts the jolting method, is external use maximum, the good type of applicability.China's orchard results are mainly plucked by artificial hand and are auxiliary by simple tool, like aerial ladder and fruit picking cutter etc.The research that it is mechanical that woods is really gathered still is in the starting stage in China, does not see ripe advanced practical facility as yet.To China woods really gather present Research and the new model requirement of industry of planting forest or fruit tress Mechanization Development of machinery, really the harvesting mechanization level is significant to improving China woods for research and design mechanical-vibration type woods fruit harvester.
Summary of the invention
The purpose of the utility model is the deficiency that overcomes in the above-mentioned background technology, provides planting fruit-trees vibration to pluck hand, and this harvesting hand should have picking efficiency height, characteristics that labour intensity is low; And simple in structure, with low cost, to be easy to control, dependable performance and adaptability good.
The technical scheme that the utility model provides is: hand is plucked in the fruit tree vibration, it is characterized in that said harvesting hand comprises the workbench of horizontal arrangement, mechanical arm and driving mechanism thereof; Said mechanical arm comprises through column and is hinged on the rocking bar on the workbench, and is installed in the movement arm on this rocking bar through the amplitude governor motion; Said movement arm level is stretched out forward, and its front end is equipped with the tong that is used to pitch tight branch, and said movement arm and driving mechanism are arranged in the left and right sides of said column.
Said driving mechanism comprises by the first motor-driven cam, and level is rack-mount and can before and after toward the push rod of polyslip; The said support and first motor are fixed on the workbench, and the front end of push rod and the right side of rocking bar are hinged, and the rear end contacts with said cam, are set with a stage clip on the push rod between cam and the support, and the axis of said push rod is vertical with cam shaft.
Said amplitude governor motion is arranged on the rocking bar; Comprise that one is fixed on second motor of rocking bar right-hand member; And the slide block that is installed in the slide rail; The left end of said slide block and the rear end of said movement arm are hinged, and the right-hand member of slide block is connected with the output shaft of second motor through threaded screw rod, and the center line of the output shaft of said second motor and rocking bar, slide block is arranged in parallel.
Said tong is installed in rotation on the front end of said movement arm through the tail cover of its rear end; The left and right sides of tail cover is separately installed with a spring that forces tong to reset; The other end of said spring is fixed on the movement arm; The top of tail cover offers one along its locating slot that circumferentially stretches, and vertically is fixed on the said movement arm with spacing to the tail cover after having an alignment pin to pass through this locating slot.
The post-brachial right side of said action is provided with an extension spring, and the other end of this extension spring is fixed on the said rocking bar.
The jointed shaft of said movement arm and rocking bar, and the jointed shaft of rocking bar and push rod is all vertically arranged.
Said spring stretches along the axis direction of movement arm.
The operation principle of the utility model is: during use, earlier the tong of movement arm front end is pitched tight branch, starter motor then; The roof pressure push rod made before and after it toward polyslip when cam rotated, and drove rocking bar around the column swing, thereby rocking bar pushing action arm seesaws and makes the branch vibration, and fruit is shaken from branch to fall; Through changing the rotary speed of cam, can obtain different vibration frequencies; On the other hand, utilize lever principle to amplify the displacement (rocking bar plays the effect of lever) of cam, make movement arm obtain bigger displacement amplitude, adopt the position of threaded screw rod adjusting slider on rocking bar, thereby fruit tree is exported the vibrational excitation of various amplitude.
The beneficial effect of the utility model is: adopt the utility model to gather woods really, can increase substantially the harvesting operating efficiency, significantly reduce the person's of gathering labour intensity; And the adjusting of vibration frequency and amplitude is very simple and convenient (utilizes rocking bar to amplify the displacement of cam; And can pass through the first motor adjustment cam rotating speed; Regulate the vibration frequency of movement arm continuously; Through regulating rotation week number of second motor, regulate the amplitude of movement arm continuously), thus the harvesting needs of different fruit trees adapted to; In addition, the utility model simple in structure, manufacturing cost is cheaper, and common operating personnel can be controlled, and it is comparatively convenient to use, and can large tracts of land promote the use of.
Description of drawings
Fig. 1 is the main TV structure sketch map of the utility model.
Fig. 2 is the perspective view of the utility model.
Fig. 3 is the enlarged diagram of tong among Fig. 1.
Fig. 4 is the assembly structure cutaway view Amplified image of movement arm and tong among Fig. 2.
Fig. 5 is the assembly structure cutaway view Amplified image of Fig. 2 medium-height trestle and push rod.
Fig. 6 is the assembly structure cutaway view Amplified image of rocking bar and slide block among Fig. 2.
Fig. 7 is the fundamental diagram of the utility model.
Embodiment
Below in conjunction with Figure of description, the utility model is described further, but the utility model is not limited to following examples.
As shown in the figure, hand is plucked in the described fruit tree vibration of the utility model, comprises the workbench 1 of horizontal arrangement, is installed in the mechanical arm on the workbench, and the driving mechanism that is used for the driving device arm.
Above-mentioned mechanical arm comprises that one is horizontally hinged at the rocking bar on the workbench a 9 (vertically fixing column 17 on the workbench; The middle part of rocking bar is hinged on the column; The pivot center of rocking bar is the axis of column, vertically), and is installed in the movement arm 10 on this rocking bar through the amplitude governor motion; Said movement arm level is stretched out (the last side direction that is Fig. 1) forward; Its front end is equipped with the tong 12 that is used to pitch tight branch; Said movement arm is arranged in the left side (left direction of Fig. 1) of column, and driving mechanism is arranged in the right side (right direction of Fig. 1) of column.
The effect of said driving mechanism is to drive said rocking bar around its jointed shaft (being above-mentioned column) swing in certain angle, makes movement arm to move back and forth at fore-and-aft direction, falls thereby fruit shaken from branch.Said driving mechanism comprises the cam 3 that is driven by first motor 2, and level is installed on the support 4 and can before and after toward the push rod 14 of polyslip.Said support vertically is fixed on the workbench, and the top of support is shaped on the through hole that adapts with push rod, and can in through hole, increase linear bearing and be beneficial to the push rod slip as required.The front end of said push rod and the right side of rocking bar hinged (being the rocking bar on column right side); The axis of jointed shaft is vertically arranged; The rear end of push rod contacts with the outer of cam, and is set with a stage clip 13 on the push rod between cam and the support push rod is applied thrust (cam applies jacking force forward to push rod) backward, and is as shown in Figure 5; In order to prevent that stage clip from skidding off; Putting back-end is provided with a baffle plate 14-1, and this baffle plate has also increased the contact area of push rod and cam simultaneously, prevents that both break away from the motion process.Obviously, the axis of above-mentioned push rod is vertical with the rotating shaft of said cam.
The effect of said amplitude governor motion is to regulate said movement arm in the position on the rocking bar (distance between movement arm and the column is far away more, and its amplitude is big more).Said amplitude governor motion is arranged on the end face of rocking bar, comprises that one is fixed on second motor 6 of rocking bar right-hand member, and one is installed in the interior slide block 8 (can set up ball 8-1 at slider bottom and be beneficial to its slip) of slide rail.The left end of said slide block and the rear end of said movement arm are hinged; The axis of jointed shaft arranges that vertically the right-hand member of slide block is connected with the output shaft of second motor through threaded screw rod 5, and specifically: the output shaft level of second motor is arranged towards a left side; Fixing the screw rod 5-2 of threaded screw rod on the output shaft; The nut 5-1 of threaded screw rod is fixed on the right-hand member of said slide block, and when second motor rotated, nut drove slide block along the slippage of the slide rail left and right sides; Thereby the position of adjustment movement arm on rocking bar, the structure of threaded screw rod is as shown in Figure 6.In the utility model, slide rail forms (arc deck and slide block coupling) by two arc decks 7 that are fixed on the rocking bar, and slide block moves in two arc decks; Obviously, two arc decks, slide block, the output shaft of second motor, the center lines of rocking bar are arranged in parallel.
Said tong is used to pitch tight branch; This tong is installed in rotation on the front end of said movement arm through the tail cover 12-1 of its rear end; The left and right sides of tail cover is separately installed with a spring 16 that forces tong to reset (spring stretches along the axis direction of movement arm); The other end of said spring is fixed on the movement arm; The top of tail cover offers one along its locating slot 12-2 that circumferentially stretches, and has an alignment pin 11 to pass through vertically to be fixed on behind this locating slot on the said movement arm with to tail cover spacing (preventing to slide before and after the tail cover).At first be the centering of carrying out tong and branch during use, when tong contacted with branch, contact force made tong rotate a certain angle around the axis of movement arm, realized automatic centering, and after tong broke away from branch, the spring of the tong left and right sides can make tong reset.
But in order to make movement arm in the adjustment of left and right directions low-angle, the post-brachial right side of said action is provided with an extension spring 15, and the other end of this extension spring is fixed on the said rocking bar.
Above-mentioned first motor, second motor, threaded screw rod can obtain in outsourcing, and rotating speed of motor is adjusted into routine techniques, does not describe in detail at this.
Claims (7)
1. hand is plucked in the fruit tree vibration, it is characterized in that said harvesting hand comprises the workbench of horizontal arrangement (1), mechanical arm and driving mechanism thereof; Said mechanical arm comprises through column (17) and is hinged on the rocking bar (9) on the workbench, and is installed in the movement arm (10) on this rocking bar through the amplitude governor motion; Said movement arm level is stretched out forward, and its front end is equipped with the tong (12) that is used to pitch tight branch, and said movement arm and driving mechanism are arranged in the left and right sides of said column.
2. hand is plucked in fruit tree according to claim 1 vibration, it is characterized in that: said driving mechanism comprises the cam (3) that is driven by first motor (2), and level is rack-mount and can before and after toward the push rod (14) of polyslip; The said support and first motor are fixed on the workbench, and the front end of push rod and the right side of rocking bar are hinged, and the rear end contacts with said cam, are set with a stage clip (13) on the push rod between cam and the support, and the axis of said push rod is vertical with cam shaft.
3. hand is plucked in fruit tree vibration according to claim 1; It is characterized in that: said amplitude governor motion is arranged on the rocking bar; Comprise that one is fixed on second motor (6) of rocking bar right-hand member, and the slide block (8) that is installed in the slide rail, the left end of said slide block and the rear end of said movement arm are hinged; The right-hand member of slide block is connected with the output shaft of second motor through threaded screw rod (5), and the center line of the output shaft of said second motor and rocking bar, slide block is arranged in parallel.
4. pluck hand according to claim 1 or 2 or 3 described fruit tree vibrations; It is characterized in that: said tong (12) is installed in rotation on the front end of said movement arm through the tail cover (12-1) of its rear end; The left and right sides of tail cover is separately installed with a spring that forces tong to reset (16); The other end of said spring is fixed on the movement arm; The top of tail cover offers one along its locating slot (12-2) that circumferentially stretches, and vertically is fixed on the said movement arm with spacing to the tail cover after having an alignment pin (11) to pass through this locating slot.
5. hand is plucked in fruit tree vibration according to claim 4, and it is characterized in that: the post-brachial right side of said action is provided with an extension spring (15), and the other end of this extension spring is fixed on the said rocking bar.
6. hand is plucked in fruit tree vibration according to claim 5, it is characterized in that: the jointed shaft of said movement arm and rocking bar, and the jointed shaft of rocking bar and push rod is all vertically arranged.
7. hand is plucked in fruit tree vibration according to claim 6, it is characterized in that: said spring stretches along the axis direction of movement arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220195243 CN202565760U (en) | 2012-05-03 | 2012-05-03 | Fruit tree vibration picking hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220195243 CN202565760U (en) | 2012-05-03 | 2012-05-03 | Fruit tree vibration picking hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202565760U true CN202565760U (en) | 2012-12-05 |
Family
ID=47235243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220195243 Expired - Fee Related CN202565760U (en) | 2012-05-03 | 2012-05-03 | Fruit tree vibration picking hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202565760U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102668815A (en) * | 2012-05-03 | 2012-09-19 | 浙江理工大学 | Vibration picking manipulator for fruit trees |
| CN103270851A (en) * | 2013-06-06 | 2013-09-04 | 刘建明 | Automatic olive picking device |
| CN105508827A (en) * | 2015-12-02 | 2016-04-20 | 济南草履虫电子科技有限公司 | Computer screen cam height adjusting device |
| CN105501791A (en) * | 2015-12-02 | 2016-04-20 | 王学科 | Cam type super computer mounting platform |
| CN106171298A (en) * | 2016-08-24 | 2016-12-07 | 李传慧 | One is used for setting fruit automatic picking device |
-
2012
- 2012-05-03 CN CN 201220195243 patent/CN202565760U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102668815A (en) * | 2012-05-03 | 2012-09-19 | 浙江理工大学 | Vibration picking manipulator for fruit trees |
| CN103270851A (en) * | 2013-06-06 | 2013-09-04 | 刘建明 | Automatic olive picking device |
| CN103270851B (en) * | 2013-06-06 | 2015-06-03 | 刘建明 | Automatic olive picking device |
| CN105508827A (en) * | 2015-12-02 | 2016-04-20 | 济南草履虫电子科技有限公司 | Computer screen cam height adjusting device |
| CN105501791A (en) * | 2015-12-02 | 2016-04-20 | 王学科 | Cam type super computer mounting platform |
| CN106171298A (en) * | 2016-08-24 | 2016-12-07 | 李传慧 | One is used for setting fruit automatic picking device |
| CN106171298B (en) * | 2016-08-24 | 2018-10-12 | 山东黄河三角洲慢城建设有限公司 | One kind is for setting fruit automatic picking device |
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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: 20121205 Termination date: 20140503 |