CN202918709U - Mango picking machine hand - Google Patents
Mango picking machine hand Download PDFInfo
- Publication number
- CN202918709U CN202918709U CN 201220484539 CN201220484539U CN202918709U CN 202918709 U CN202918709 U CN 202918709U CN 201220484539 CN201220484539 CN 201220484539 CN 201220484539 U CN201220484539 U CN 201220484539U CN 202918709 U CN202918709 U CN 202918709U
- Authority
- CN
- China
- Prior art keywords
- operating
- shear
- blade
- mango
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model discloses a picking machine hand, in particular to a mango picking machine hand. Injury to fruiter branches can be avoided when the mango picking machine hand picks mangoes. The mango picking machine hand comprises an operating arm which is provided with an installing end and a hand-holding end. The mango picking machine hand further comprises a cutting tool structure, a fixed tray and an operating structure. The fixed tray is arranged at the installing end of the operating arm. The cutter structure comprises shear blades and shear rods. The number of the shear blades and the number of the shear rods are both two. The shear rods are connected with the fixed tray through rotating shafts. The shear rods are divided into a blade end far away from the operating arm and an operating end close to the operating arm. The shear blades are installed at the blade end. Positions of the two shear rods are symmetrically matched with each other to achieve the function of shearing. The operating structure comprises a trigger structure and an operating piece. The trigger structure is matched with the operating end of the shear rods to drive the operating end to rotate. The operating piece is connected with the trigger structure and controls movement of the trigger structure. The operating unit extends to a hand-holding end of the operating arm.
Description
Technical field
The utility model relates to a kind of picking mechanical arm, especially a kind of mango picking mechanical arm.
Background technology
China is multiclass Production of fruit big country, but waste is serious, and except the factors such as storage, transportation, the picking efficiency that the effective harvesting of shortage apparatus two causes is also lowly a major reason.The mango of China is plucked and also is in the manual harvesting stage at present, and picking efficiency is low, and the harvesting expense is high.
First tomato picking robot comes out in the U.S. from nineteen eighty-three, and development and the exploitation of picking robot have obtained fast development.The country such as French, the Dutch intelligent robots such as having studied harvesting apple, oranges and tangerines, tomato, watermelon and grape of in succession setting up the project.Japan is making much progress aspect the research of harvesting robot this year, has developed at present the fruits and vegetables harvesting robots such as tomato, cucumber, grape, oranges and tangerines.At present, the western developed country picking robot has been in all-round developing period, will become the basic tool of the exquisite fruits and vegetables of results.
In view of China's present situation, robot is introduced into the financial burden that can process undoubtedly the peasant in agricultural production, therefore adopt picking robot not meet at present China's national situation.Therefore, there is the Softening of some half machineries in China at present, namely pluck fruit by manipulator, existing manipulator all is designed to grab pull-type, namely catch fruit then to shut down fruit by manipulator, although this manipulator is simple in structure, easy to operate, very large to fruit and fruit tree injury, need simultaneously the picker to use larger strength to pluck.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of mango picking mechanical arm that fruit tree is damaged avoided when plucking.
the mango picking mechanical arm that its technical problem that solves the utility model adopts, comprise the action bars that is provided with installation end and holds end, also comprise cutter structure, fixed disk and operating structure, described fixed disk is arranged on the installation end of action bars, described cutter structure comprises shear-blade and scissors bar, described shear-blade and scissors bar are provided with two, described scissors bar is connected on fixed disk by rotating shaft, described rotating shaft is divided into the scissors bar away from the blade end of action bars and the operating side of close action bars, described shear-blade is arranged on described blade end, the position of described two scissors bars coordinates symmetrically to realize shearing function, described operating structure comprises trigger architecture and operating parts, the operating side of described trigger architecture and described scissors bar cooperatively interacts to drive the operating side and rotates, described operating parts is connected with described trigger architecture and controls the motion of trigger architecture, described operating parts extends to the end of holding of described action bars.
Be further, the operating side of described two scissors bars is drawn close gradually from rotating shaft, be provided with resetting structure on described scissors bar, described trigger architecture comprises back-moving spring and wedge, one end of described back-moving spring is connected on fixed disk, the other end is connected on wedge, described wedge be arranged between two scissors bars and with described fixed disk movingly, the movement locus of described wedge overlaps with the line of symmetry of described two scissors bars, the small end of described wedge is towards the operating side of described scissors bar, and described operating parts is connected with described wedge.
Further that described operating parts is operating rope.
Be further, also comprise driving mechanism, described driving mechanism is arranged on the end of holding of action bars, and described driving mechanism is connected with described operating rope.
Be further, also comprise handle, described handle is arranged on the end of holding of described action bars.
Be further, be provided with the location U-lag on described fixed disk, described location U-lag is positioned under described shear-blade.
Be further, also comprise hierarchy, described hierarchy is circular-arc and is arranged on described fixed disk, and described hierarchy is positioned at before described shear-blade and its opening shear-blade dorsad.
Be further, also comprise Light-Emitting Diode and trigger switch, described trigger switch is arranged on the circular arc bottom of described hierarchy, and described Light-Emitting Diode is electrically connected to described trigger switch.
Be further, described action bars adopts the multi-section type structure, and the cutting edge of described shear-blade is zigzag.
Further that described driving mechanism is rotatably connected on described action bars.
The beneficial effects of the utility model are: only need shear-blade is aimed in use the carpopodium of mango, operating operation spare can make the shear-blade closure and cut off carpopodium, so just just can not damage fruit tree when winning mango.Whole mechanism is comparatively simple, and is simple and efficient in when operation, efficient is high, and is easy to realize shearing.Action bars adopts the more piece design-adjustable, by the adjustment operation bar, plucks the mango of differing heights.The gradable function of hierarchy according to demand, is regulated the classification arc plate, realizes mango size fractionation harvesting function.Shear-blade is profile of tooth, prevents from shearing sliding, and designs U-shaped groove, can better locate.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the schematic diagram of cutter structure, fixed disk and operating structure;
Fig. 3 is the schematic diagram of hierarchy;
Parts, position and numbering in figure: action bars 1, cutter structure 2, fixed disk 3, operating structure 4, hierarchy 5, driving mechanism 6, handle 7, rotating shaft 8, location U-lag 9, trigger switch 10, shear-blade 21, scissors bar 22, blade end 221, operating side 222, wedge 41, operating parts 42, back-moving spring 43.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
as shown in Figure 1, the utility model comprises the action bars 1 that is provided with installation end and holds end, also comprise cutter structure 2, fixed disk 3 and operating structure 4, described fixed disk 3 is arranged on the installation end of action bars 1, described cutter structure 2 comprises shear-blade 21 and scissors bar 22, described shear-blade 21 and scissors bar 22 are provided with two, described scissors bar 22 is connected on fixed disk 3 by rotating shaft 8, described rotating shaft 8 is divided into scissors bar 22 away from the blade end 221 of action bars 1 and the operating side 222 of close action bars 1, described shear-blade 21 is arranged on described blade end 221, the position of described two scissors bars 22 coordinates symmetrically to realize shearing function, described operating structure 4 comprises trigger architecture and operating parts 42, the operating side 222 of described trigger architecture and described scissors bar 22 cooperatively interacts to drive operating side 222 and rotates, described operating parts 42 is connected with described trigger architecture and controls the motion of trigger architecture, described operating parts 42 extends to the end of holding of described action bars 1.Cutter structure 2 is similar to scissors, namely by rotating scissors bar 22, makes shear-blade 21 mutually close to cut off the mango carpopodium.Trigger architecture is namely the structure of impelling scissors bar 22 to rotate, and operating parts 42 is the object that drives the trigger architecture motion, and the existence of operating parts 42 is the convenient operation, and the person is holding the use of holding control cutter structure 2.Trigger architecture only needs to make operating side 222 to rotate and gets final product, and it can adopt various frame for movements.In use, the height of adjusting operation bar 1 is to adapt to mango, and action bars 1 can adopt the more piece splicing construction, also can adopt stretching structure, is convenient to like this length of adjustment operation bar 1, and the mango that makes action bars 1 can adapt under different situations is plucked.Then use action bars 1 to make shear-blade 21 aim at the mango carpopodium, then drive operating parts 42, make trigger architecture move to drive scissors bar 22 and rotate, thereby make shear-blade 21 cut off carpopodium, take smoothly mango.
concrete, as shown in Figure 2, the operating side 222 of described two scissors bars 22 is drawn close gradually from rotating shaft 8s, be provided with resetting structure on described scissors bar 22, described trigger architecture comprises back-moving spring 43 and wedge 41, one end of described back-moving spring 43 is connected on fixed disk 3, the other end is connected on wedge 41, described wedge 41 be arranged between two scissors bars 22 and with described fixed disk 3 movingly, the movement locus of described wedge 41 overlaps with the line of symmetry of described two scissors bars 22, the small end of described wedge 41 is towards the operating side 222 of described scissors bar 22, described operating parts 42 is connected with described wedge 41.When operation, utilize operating parts 42 to pull wedge 41, make wedge 41 move downward, and make back-moving spring 43 be out of shape, thereby make the large end of wedge 41 support gradually the operating side 222 of cutting across knife bar 22 to both sides, make two scissors bars 22 rotate, shear thereby make two shear-blades 21 coordinate.After decontroling operating parts 42, the elastic potential energy of back-moving spring 43 drives wedge 41 repositions, and resetting structure also is set on scissors bar 22, and resetting structure generally adopts spring, makes scissors bar 22 automatically reset when losing External Force Acting.The general rope that adopts of operating parts 42 gets final product, and is convenient to arrange, and it is also feasible certainly adopting shaft.
For the ease of operating operation spare 42, as shown in Figure 1, also comprise driving mechanism 6, described driving mechanism 6 is arranged on the end of holding of action bars 1, and described driving mechanism 6 is connected with described operating rope.In the general handle that adopts as shown in Figure 1 of driving mechanism 6, push down in use handle, make operating parts 42 motions, such operation more meets people's use habit at ordinary times.Simultaneously, the utility model also comprises handle 7, and described handle 7 is arranged on the end of holding of described action bars 1.So just can one hold handle 7, another hand operated driving mechanism 6.
For the ease of the location carpopodium, as shown in Figure 2, be provided with location U-lag 9 on described fixed disk 3, described location U-lag 9 is positioned under described shear-blade 21.In use, mobile manipulator makes carpopodium drop into location U-lag 9, then can cut off accurately carpopodium.Make like this location convenient, avoided empty situation of cutting.
In order to screen the size of mango, as shown in Figure 3, also comprise hierarchy 5, described hierarchy 5 is circular-arc and is arranged on described fixed disk 3, before described hierarchy 5 is positioned at described shear-blade 21 and its opening shear-blade 21 dorsad.The main ovalize of mango self, its shape size has determined its grade, utilizes the hierarchy 5 of circular arc to overlap mango, thereby comes to have facilitated the picker for the mango classification according to the situation of mango filling hierarchy 5.Simultaneously, can also comprise Light-Emitting Diode and trigger switch 10, described trigger switch 10 is arranged on the circular arc bottom of described hierarchy 5, and described Light-Emitting Diode is electrically connected to described trigger switch 10.Little mango must be inserted in easily to the bottom of hierarchy 5 and contact with the bottom surface, thereby triggers trigger switch 10, makes lumination of light emitting diode, and this mango of prompting operation person is small size; If large mango, mango can be stuck in the middle part of hierarchy 5 and can't contact with the bottom surface, so just can not be luminous with regard to Light-Emitting Diode, and this mango of prompting operation person is large size thus.When hierarchy 5 sheathed mango, the location U-lag 9 on its top just in time can be aimed at the carpopodium on mango top, thereby cuts off carpopodium after classification is completed.
Concrete, as shown in Figure 2, described driving mechanism 6 is rotatably connected on described action bars 1.Because the pushing time of handle 7 is being held in the palm picking mechanical arm, easily tired, therefore by about 180 ° of rotary drive mechanism 6, the right-hand man is used alternatingly.Also facilitated simultaneously left-handed people.
Claims (10)
1. mango picking mechanical arm, comprise the action bars (1) that is provided with installation end and holds end, it is characterized in that: also comprise cutter structure (2), fixed disk (3) and operating structure (4), described fixed disk (3) is arranged on the installation end of action bars (1), described cutter structure (2) comprises shear-blade (21) and scissors bar (22), described shear-blade (21) and scissors bar (22) are provided with two, described scissors bar (22) is connected on fixed disk (3) by rotating shaft (8), described rotating shaft (8) is divided into scissors bar (22) away from the blade end (221) of action bars (1) and the operating side (222) of close action bars (1), described shear-blade (21) is arranged on described blade end (221), the position of described two scissors bars (22) coordinates symmetrically to realize shearing function, described operating structure (4) comprises trigger architecture and operating parts (42), the operating side (222) of described trigger architecture and described scissors bar (22) cooperatively interacts to drive operating side (222) and rotates, described operating parts (42) is connected with described trigger architecture and controls the motion of trigger architecture, described operating parts (42) extends to the end of holding of described action bars (1).
2. mango picking mechanical arm as claimed in claim 1, it is characterized in that: (8)s drew close gradually from rotating shaft in the operating side (222) of described two scissors bars (22), be provided with resetting structure on described scissors bar (22), described trigger architecture comprises back-moving spring (43) and wedge (41), one end of described back-moving spring (43) is connected on fixed disk (3), the other end is connected on wedge (41), described wedge (41) be arranged between two scissors bars (22) and with described fixed disk (3) movingly, the movement locus of described wedge (41) overlaps with the line of symmetry of described two scissors bars (22), the small end of described wedge (41) is towards the operating side (222) of described scissors bar (22), described operating parts (42) is connected with described wedge (41).
3. mango picking mechanical arm as claimed in claim 2, it is characterized in that: described operating parts (42) is operating rope.
4. mango picking mechanical arm as claimed in claim 3, it is characterized in that: also comprise driving mechanism (6), described driving mechanism (6) is arranged on the end of holding of action bars (1), and described driving mechanism (6) is connected with described operating rope.
5. mango picking mechanical arm as claimed in claim 1, it is characterized in that: also comprise handle (7), described handle (7) is arranged on the end of holding of described action bars (1).
6. mango picking mechanical arm as claimed in claim 1 is characterized in that: be provided with location U-lag (9) on described fixed disk (3), described location U-lag (9) is positioned under described shear-blade (21).
7. mango picking mechanical arm as claimed in claim 1, it is characterized in that: also comprise hierarchy (5), described hierarchy (5) is circular-arc and is arranged on described fixed disk (3), and described hierarchy (5) is positioned at described shear-blade (21) before and its opening shear-blade (21) dorsad.
8. mango picking mechanical arm as claimed in claim 7, it is characterized in that: also comprise Light-Emitting Diode and trigger switch (10), described trigger switch (10) is arranged on the circular arc bottom of described hierarchy (5), and described Light-Emitting Diode is electrically connected to described trigger switch (10).
9. mango picking mechanical arm as claimed in claim 1 is characterized in that: described action bars (1) adopts the multi-section type structure, and the cutting edge of described shear-blade (21) is zigzag.
10. mango picking mechanical arm as claimed in claim 4, it is characterized in that: described driving mechanism (6) is rotatably connected on described action bars (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220484539 CN202918709U (en) | 2012-09-21 | 2012-09-21 | Mango picking machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220484539 CN202918709U (en) | 2012-09-21 | 2012-09-21 | Mango picking machine hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202918709U true CN202918709U (en) | 2013-05-08 |
Family
ID=48208705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220484539 Expired - Fee Related CN202918709U (en) | 2012-09-21 | 2012-09-21 | Mango picking machine hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202918709U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107567810A (en) * | 2017-09-11 | 2018-01-12 | 张家口创鑫机械科技有限公司 | Vegetables recovering device |
| CN108307798A (en) * | 2018-04-02 | 2018-07-24 | 西安思源学院 | A kind of cherry picking tool |
| CN108432465A (en) * | 2018-05-16 | 2018-08-24 | 常州大学 | Shear is clamped in vegetables and fruits |
| CN108633457A (en) * | 2018-05-07 | 2018-10-12 | 道真自治县盛鑫源农业农民专业合作社 | Pepper picking device |
| CN112772147A (en) * | 2021-01-26 | 2021-05-11 | 攀枝花学院 | Fruit picking and sorting all-in-one machine |
-
2012
- 2012-09-21 CN CN 201220484539 patent/CN202918709U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107567810A (en) * | 2017-09-11 | 2018-01-12 | 张家口创鑫机械科技有限公司 | Vegetables recovering device |
| CN107567810B (en) * | 2017-09-11 | 2023-10-10 | 张家口创鑫机械科技有限公司 | vegetable harvesting device |
| CN108307798A (en) * | 2018-04-02 | 2018-07-24 | 西安思源学院 | A kind of cherry picking tool |
| CN108633457A (en) * | 2018-05-07 | 2018-10-12 | 道真自治县盛鑫源农业农民专业合作社 | Pepper picking device |
| CN108432465A (en) * | 2018-05-16 | 2018-08-24 | 常州大学 | Shear is clamped in vegetables and fruits |
| CN112772147A (en) * | 2021-01-26 | 2021-05-11 | 攀枝花学院 | Fruit picking and sorting all-in-one machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202918709U (en) | Mango picking machine hand | |
| CN107182445A (en) | A kind of high-branch fruit picker and its application method | |
| CN108156952A (en) | A kind of fruit/vegetable harvesting device | |
| CN106688441A (en) | Shear type wolfberry picking machine | |
| CN206895250U (en) | A kind of agricultural uses actuated by cams formula picker | |
| CN202151055U (en) | Plucking shears | |
| CN202335241U (en) | Mechanical sensing picker | |
| CN201845380U (en) | Automatic rice vending machine | |
| CN206078135U (en) | Ware is picked to electronic portable grape | |
| CN105167663A (en) | Carrot shredding device | |
| CN202112045U (en) | Multifunctional picker for stalked fruits on tree | |
| CN108401675B (en) | Semi-automatic trepan type fruit picker | |
| CN103636362A (en) | Electric fruit picker | |
| CN208047335U (en) | Handheld portable fruit picking apparatus | |
| CN203618388U (en) | Electric fruit picking device | |
| CN202759815U (en) | Convenient fruit picker | |
| CN202425344U (en) | Small-sized berry picker | |
| CN206165254U (en) | Guava branch and leaf trimming means | |
| CN207820581U (en) | A kind of miniature magnetic driven assisting in fruit picking device | |
| CN204031834U (en) | A kind of eminence picking mechanism | |
| CN204482453U (en) | A kind of SCM Based gardens pruning device | |
| CN211558047U (en) | Ware is picked to portable matrimony vine | |
| CN208143860U (en) | A kind of indirect labor's cherry picking collection device | |
| CN204443271U (en) | A kind of gear driven type fruit tree pruning machine | |
| CN207560810U (en) | Fruit harvesting end effector based on tactile induction technology |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130508 Termination date: 20160921 |