CN202918709U - Mango picking machine hand - Google Patents

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

Mango Picking Manipulator

technical field

The utility model relates to a picking manipulator, in particular to a mango picking manipulator.

Background technique

my country is a large producer of many kinds of fruits, but the waste is serious. In addition to factors such as storage and transportation, the lack of effective picking equipment and low picking efficiency are also an important reason. At present, mango picking in my country is still in the stage of manual picking, with low picking efficiency and high picking costs.

Since the first tomato picking robot came out in the United States in 1983, the research and development of picking robots has developed rapidly. France, the Netherlands and other countries have successively set up projects to study intelligent robots for picking apples, citrus, tomatoes, watermelons and grapes. Japan has made rapid progress in the research of harvesting robots this year. At present, it has developed robots for harvesting fruits and vegetables such as tomatoes, cucumbers, grapes, and citrus. At present, picking robots in western developed countries are in a period of comprehensive development and will become a basic tool for harvesting delicate fruits and vegetables.

In view of the current situation in our country, the introduction of robots into agricultural production will undoubtedly reduce the economic burden of farmers, so the use of robots for picking is not in line with my country's national conditions at present. Therefore, there are some semi-mechanical picking methods in my country at present, that is, picking fruits by manipulators. , but it is very harmful to the fruit and fruit tree branches, and the picker needs to use greater strength to pick it.

Utility model content

The technical problem to be solved by the utility model is to provide a mango picking manipulator that avoids damage to fruit tree branches during picking.

The mango picking manipulator adopted by the utility model to solve its technical problem includes an operating rod provided with a mounting end and a grip end, and also includes a cutter structure, a fixed disk and an operating structure, and the fixed disk is arranged at the mounting end of the operating rod. The tool structure includes a shearing blade and a scissor bar, and two of the shearing blades and the scissor bar are arranged, and the scissor bar is connected to the fixed disk through a rotating shaft, and the rotating shaft divides the scissor bar into blades away from the operating rod. end and the operating end close to the operating rod, the shearing blade is installed on the blade end, and the positions of the two scissors rods are symmetrically matched to realize the cutting function, and the operating structure includes a trigger structure and an operating member. The triggering structure cooperates with the operating end of the scissors bar to drive the operating end to rotate, the operating member is connected to the triggering structure and controls the movement of the triggering structure, and the operating member extends to the handle end of the operating rod .

Further, the operating ends of the two scissor bars gradually approach from the rotating shaft, the scissor bars are provided with a reset structure, the trigger structure includes a return spring and a wedge block, and one end of the return spring is connected to the fixed plate , the other end is connected to the wedge block, the wedge block is arranged between the two scissor bars and is in cooperation with the fixed disk, the movement track of the wedge block coincides with the symmetry line of the two scissor bars, The small end of the wedge-shaped block faces the operating end of the scissors bar, and the operating part is connected with the wedge-shaped block.

Further, the operating member is an operating rope.

Further, it also includes a driving mechanism, the driving mechanism is arranged at the handle end of the operating lever, and the driving mechanism is connected with the operating rope.

Further, a handle is also included, and the handle is arranged at the handle end of the operating rod.

Further, the fixed plate is provided with a positioning U-shaped groove, and the positioning U-shaped groove is located under the shearing blade.

Further, a hierarchical structure is also included, the hierarchical structure is arc-shaped and arranged on the fixed plate, the hierarchical structure is located in front of the shearing blade and its opening faces away from the shearing blade.

Further, it also includes a light-emitting diode and a trigger switch, the trigger switch is arranged at the bottom of the circular arc of the hierarchical structure, and the light-emitting diode is electrically connected to the trigger switch.

Further, the operating rod adopts a multi-section structure, and the cutting edge of the shearing blade is serrated.

Further, the driving mechanism is rotatably connected to the operating rod.

The beneficial effects of the utility model are: when in use, only need to align the shearing blade with the fruit handle of the mango, and operate the operating part to close the shearing blade and cut off the fruit handle, so that there will be no damage to the mango when picking the mango. Fruit tree branches cause damage. The whole mechanism is relatively simple, convenient and fast, high in efficiency during operation, and easy to realize cutting. The operating rod adopts a multi-section adjustable design. By adjusting the operating rod, mangoes of different heights can be picked. The grading structure can be graded. According to the needs, the grading arc can be adjusted to realize the mango picking function of grading. The shearing blade is tooth-shaped to prevent shearing and sliding, and the U-shaped groove is designed for better positioning.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the schematic diagram of cutter structure, fixed plate and operating structure;

Fig. 3 is a schematic diagram of a hierarchical structure;

Parts, parts and numbers in the figure: operating rod 1, tool structure 2, fixed plate 3, operating structure 4, hierarchical structure 5, driving mechanism 6, handle 7, rotating shaft 8, positioning U-shaped groove 9, trigger switch 10, scissors Cutting blade 21, scissors bar 22, blade end 221, operating end 222, wedge block 41, operating member 42, return spring 43.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

As shown in Fig. 1, the utility model comprises the operation rod 1 that is provided with installation end and handle end, also comprises tool structure 2, fixed disk 3 and operating structure 4, and described fixed disk 3 is arranged on the installation end of operation rod 1, Described cutter structure 2 comprises shearing blade 21 and scissor bar 22, and described shearing blade 21 and scissor bar 22 are all provided with two, and described scissor bar 22 is connected on the fixed plate 3 by rotating shaft 8, and described rotating shaft 8 The scissors bar 22 is divided into a blade end 221 away from the operating rod 1 and an operating end 222 close to the operating rod 1, the shearing blade 21 is installed on the blade end 221, and the positions of the two scissors bars 22 are symmetrically matched to each other To realize the cutting function, the operating structure 4 includes a triggering structure and an operating member 42, the triggering structure cooperates with the operating end 222 of the scissors bar 22 to drive the operating end 222 to rotate, and the operating member 42 is connected to the operating member 42. The triggering structure is connected and controls the movement of the triggering structure, and the operating member 42 extends to the handle end of the operating rod 1 . The cutter structure 2 is similar to scissors, that is, by turning the scissors bar 22, the cutting blades 21 are close to each other to cut off the mango stalk. The trigger structure is the structure that prompts the scissors bar 22 to rotate, and the operating member 42 is the object that drives the trigger structure to move. The existence of the operating member 42 is convenient for the operator to control the use of the knife structure 2 at the hand-held end. The triggering structure only needs to be able to rotate the operating end 222, and various mechanical structures can be adopted. When in use, adjust the height of the operating rod 1 to adapt to the mango tree. The operating rod 1 can adopt a multi-section splicing structure or a telescopic structure, which is convenient for adjusting the length of the operating rod 1, so that the operating rod 1 can adapt to different situations. Mango picking. Then use the operating rod 1 to make the cutting blade 21 align with the mango handle, and then drive the operating part 42 to make the trigger structure move to drive the scissors bar 22 to rotate, so that the cutting blade 21 cuts off the fruit handle and picks the mango smoothly.

Specifically, as shown in FIG. 2 , the operating ends 222 of the two scissor bars 22 gradually approach from the rotating shaft 8 , the scissor bars 22 are provided with a reset structure, and the trigger structure includes a return spring 43 and a wedge block 41 , one end of the return spring 43 is connected to the fixed disk 3, and the other end is connected to the wedge block 41, the wedge block 41 is arranged between the two scissor bars 22 and is movably matched with the fixed disk 3, the The trajectory of the wedge block 41 coincides with the symmetry line of the two scissor bars 22, the small end of the wedge block 41 is towards the operating end 222 of the scissor bar 22, and the operating member 42 is in contact with the wedge block 41. connect. When in operation, the wedge block 41 is pulled by the operating member 42, so that the wedge block 41 moves downward, and the return spring 43 is deformed, so that the large end of the wedge block 41 pushes against the operating end 222 of the scissors bar 22 to both sides gradually, so that The two scissor bars 22 rotate so that the two shear blades 21 cooperate to cut. After the operating member 42 is released, the elastic potential energy of the back-moving spring 43 drives the wedge-shaped block 41 to return to its original position, and a reset structure is also arranged on the scissors bar 22. The reset structure generally adopts a spring, so that the scissors bar 22 automatically resets when losing the external force. The operating part 42 generally adopts a rope, which is convenient for setting. Of course, it is also feasible to use a rod.

In order to facilitate the operation of the operating member 42 , as shown in FIG. 1 , a driving mechanism 6 is also included. The driving mechanism 6 is arranged at the handle end of the operating rod 1 , and the driving mechanism 6 is connected to the operating rope. The driving mechanism 6 generally adopts a handle as shown in FIG. 1 , and the handle is pressed during use to make the operating member 42 move. Such an operation is more in line with people's usual usage habits. At the same time, the utility model also includes a handle 7, and the handle 7 is arranged at the handle end of the operating rod 1 . In this way, the handle 7 can be held with one hand while the drive mechanism 6 can be operated with the other hand.

In order to facilitate the positioning of the fruit handle, as shown in FIG. 2 , the fixed plate 3 is provided with a positioning U-shaped groove 9 , and the positioning U-shaped groove 9 is located under the shearing blade 21 . When in use, the manipulator is moved so that the fruit handle falls into the positioning U-shaped groove 9, and then the fruit handle can be accurately cut off. This makes the positioning more convenient and avoids the situation of empty cutting.

In order to screen the size of the mangoes, as shown in Figure 3, a hierarchical structure 5 is also included, the hierarchical structure 5 is arc-shaped and arranged on the fixed plate 3, and the hierarchical structure 5 is positioned before the shearing blades 21 And its opening faces away from the shearing blade 21 . The mango itself is mainly oval, and its shape and size determine its grade. The arc-shaped hierarchical structure 5 is used to cover the mangoes, so that the mangoes can be graded according to the mangoes filling the hierarchical structure 5, which is convenient for pickers. At the same time, it may also include a light-emitting diode and a trigger switch 10 , the trigger switch 10 is arranged at the arc bottom of the hierarchical structure 5 , and the light-emitting diode is electrically connected to the trigger switch 10 . Small mangoes must be easily inserted into the bottom of the hierarchical structure 5 and in contact with the bottom surface, thereby triggering the trigger switch 10, causing the light-emitting diode to light up, prompting the operator that the mango is small; if it is a large mango, the mango will be stuck in the The middle part of the hierarchical structure 5 cannot be in contact with the bottom surface, so that the light-emitting diodes will not emit light, thereby prompting the operator that the mango is large. When the hierarchical structure 5 is set with mangoes, the positioning U-shaped groove 9 on its top can just align with the fruit handle on the top of the mango, so that the fruit handle can be cut off after the classification is completed.

Specifically, as shown in FIG. 2 , the driving mechanism 6 is rotatably connected to the operating rod 1 . Because the hand holding the handle 7 holds the picking manipulator for a long time, it is prone to fatigue, so by rotating the driving mechanism 6 about 180 °, the left and right hands are used alternately. It is also convenient for left-handed people.

Claims (10)

1. Mango picking manipulator, including an operating rod (1) provided with a mounting end and a gripping end, characterized in that it also includes a knife structure (2), a fixed plate (3) and an operating structure (4), the fixed plate ( 3) Set at the installation end of the operating rod (1), the cutter structure (2) includes a shear blade (21) and a scissor bar (22), and both the shear blade (21) and the scissor bar (22) are set There are two, the scissor bar (22) is connected to the fixed disk (3) through the rotating shaft (8), and the rotating shaft (8) divides the scissor bar (22) into the blade end (221 ) and the operating end (222) close to the operating rod (1), the shear blade (21) is installed on the blade end (221), and the positions of the two scissor rods (22) are symmetrically matched to realize shearing cutting function, the operating structure (4) includes a triggering structure and an operating member (42), the triggering structure cooperates with the operating end (222) of the scissors bar (22) to drive the operating end (222) to rotate, the The operation piece (42) is connected with the trigger structure and controls the movement of the trigger structure, and the operation piece (42) extends to the handle end of the operation rod (1). the 2. The mango picking manipulator according to claim 1, characterized in that: the operating ends (222) of the two scissor bars (22) gradually approach from the rotating shaft (8), and the scissor bars (22) are set There is a return structure, the trigger structure includes a return spring (43) and a wedge block (41), one end of the return spring (43) is connected to the fixed disk (3), and the other end is connected to the wedge block (41), The wedge block (41) is arranged between the two scissor bars (22) and is in dynamic cooperation with the fixed plate (3). The movement track of the wedge block (41) is consistent with the The symmetry line coincides, the small end of the wedge block (41) faces the operating end (222) of the scissors bar (22), and the operating piece (42) is connected with the wedge block (41). the 3. The mango picking manipulator according to claim 2, characterized in that: the operating member (42) is an operating rope. the 4. The mango picking manipulator according to claim 3, characterized in that: it also includes a driving mechanism (6), the driving mechanism (6) is arranged at the handle end of the operating rod (1), and the driving mechanism (6) ) is connected to the operating rope. the 5. The mango picking manipulator according to claim 1, characterized in that it further comprises a handle (7), and the handle (7) is arranged at the gripping end of the operating rod (1). the 6. The mango picking manipulator according to claim 1, characterized in that: the fixed plate (3) is provided with a positioning U-shaped groove (9), and the positioning U-shaped groove (9) is located on the cutting blade (21) under. the 7. The mango picking manipulator according to claim 1, characterized in that it further comprises a hierarchical structure (5), the hierarchical structure (5) is arc-shaped and arranged on the fixed plate (3), the The hierarchical structure ( 5 ) is located in front of said shear blade ( 21 ) and its opening faces away from the shear blade ( 21 ). the 8. The mango picking manipulator according to claim 7, characterized in that it further comprises a light-emitting diode and a trigger switch (10), and the trigger switch (10) is set at the arc bottom of the hierarchical structure (5) , the light emitting diode is electrically connected to the trigger switch (10). the 9. The mango picking manipulator according to claim 1, characterized in that: the operating lever (1) adopts a multi-section structure, and the cutting blade (21) has a serrated cutting edge. the 10. The mango picking manipulator according to claim 4, characterized in that: the driving mechanism (6) is rotatably connected to the operating rod (1). the

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