CN207476253U - A kind of Kiwi berry picker - Google Patents
A kind of Kiwi berry picker Download PDFInfo
- Publication number
- CN207476253U CN207476253U CN201721602318.2U CN201721602318U CN207476253U CN 207476253 U CN207476253 U CN 207476253U CN 201721602318 U CN201721602318 U CN 201721602318U CN 207476253 U CN207476253 U CN 207476253U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- mechanical
- kiwi berry
- sleeve
- finger
- 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
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Abstract
The utility model discloses a kind of Kiwi berry picker, including：Rotatable picking arm device, the rotatable picking arm device include several mechanical picking hand finger, motor and mechanical arms；The mechanical picking hand finger posts pressure sensor, and lower end is connected with a mechanical arm wrist；For the driving motor of the mechanical picking hand finger to be driven to be fixedly installed in by motor rack the outer surface of the mechanical arm wrist, the driving motor is connected with pressure sensor control；The mechanical arm surface is cased with a sleeve, and the lower part of the mechanical arm is connected with a worm screw, and the worm screw is connected to the motor by gear engagement and realizes rotation；Scalable mechanical arm, the scalable mechanical arm are connected to by connecting rod on the sleeve.The utility model provides a kind of Kiwi berry picker, simple in structure, and picking efficiency is high, and realizes the lossless of Kiwi berry to the greatest extent, ensure that the high quality of picking work.
Description
Technical field
The utility model is related to mechanical picking technical field more particularly to a kind of Kiwi berry pickers.
Background technology
Kiwi berry be it is a kind of there is very one of fruit of high nutritive value, containing abundant carbohydrate, vitamin and
Trace element.Especially vitamin C, the content of vitamin A folic acid are higher.
In the prior art, mostly using artificial picking and mechanical picking, but artificial picking efficiency is slow and Kiwi berry table
The villus in face can stimulate skin, and mechanical picking operating difficulties, easily damage fruit, and blade is easily damaged fruit surface, drop
Low fruit quality.
Utility model content
One purpose of the utility model is to solve at least the above and/or defect, and provide and at least will be described later
The advantages of.
In order to solve the deficiencies in the prior art, the utility model provides a kind of Kiwi berry picker device, including：
Rotatable picking arm device, the rotatable picking arm device include several mechanical picking hand fingers, motor with
Mechanical arm；The mechanical picking hand finger posts pressure sensor, and lower end is connected with a mechanical arm wrist；It is described for driving
The driving motor of mechanical picking hand finger is fixedly installed in by motor rack on the outer surface of the mechanical arm wrist, the drive
Dynamic motor is connected with pressure sensor control；The mechanical arm, which is bolted, to be fixed under the mechanical arm wrist
End, the mechanical arm surface are cased with a sleeve, and the lower part of the mechanical arm is connected with a worm screw, and the worm screw is engaged by gear
It is connected to the motor and realizes rotation；The motor is installed on fixing bracket, and the fixing bracket is fixed on sleeve；
Scalable mechanical arm, the scalable mechanical arm are connected to by connecting rod on the sleeve；The link detachable
It is connected on the sleeve.
Preferably, several described mechanical picking hand fingers are 3；Telescopic pair is equipped at the mechanical arm wrist
Finger, the assistant refers to be alternatively arranged with the mechanical picking hand finger；The assistant refers to height less than the mechanical picking hand
Finger.
Preferably, the assistant refers to including outer finger and the interior finger being placed in outer finger, and the outer finger is fixed on the machinery
In hand wrist；Both sides are equipped with through-hole at the top of the outer finger, and the interior two bottom sides that refer to are equipped with what is matched with the via hole profile
Elastic bumps.
Preferably, the mechanical picking hand finger surface is cased with neonychium, and the neonychium includes spongy layer with being placed in
Rubber layer outside the spongy layer.
Preferably, the pressure sensor uses patch type pressure sensor.
Preferably, the motor is connected with a helical teeth turbine worm reducer.
Preferably, the mechanical arm uses Rigid Robot Manipulator；The sleeve is steel sleeve.
Preferably, the sleeve is coated with the anti-corrosion film being made of resinene material with mechanical arm surface.
Preferably, the scalable mechanical arm includes outer arm and telescopic rod, and the outer arm surface is equipped with Handheld Division.
Preferably, the worm screw is weldingly fixed on the mechanical arm lower end, and the connecting rod, which is connected through a screw thread, to be fixed on
On the sleeve.
The utility model includes at least following advantageous effect：Kiwi berry picker is simple in structure, and each component is detachable, just
It stores and carries in collecting；It uses three mechanical picking hand fingers for carrying patch type pressure sensor, ensures with suitable
Dynamics captures Kiwi berry, realizes the lossless operation in Kiwi berry picking process；Working to rotate by motor drives worm screw to rotate,
So as to rotate mechanical arm, realize that kiwifruit fruit is detached with carpopodium, compared with conventional tool is cut, reduce what fruit was damaged
Possibility；Telescopic manipulator arm conveniently adapts to the needs picked in different height Kiwi berry.In addition, with mechanical picking hand hand
Refer to spaced scalable assistant and refer to and be conducive to protect small Kiwi berry injury-free so that picker meets different size
The picking of Kiwi berry needs.
Description of the drawings
Fig. 1 is the Kiwi berry picker structure diagram of the utility model.
Fig. 2 is that the assistant of the utility model refers to structure diagram.
Fig. 3 is the neonychium structure diagram of the utility model.
Reference numeral：The rotatable picking arm devices of 1-, 2- mechanical picking hand fingers, 21- pressure sensors, 22- neonychiums,
221- spongy layers, 222- rubber layers, 3- motors, 31- fixing brackets, 4- mechanical arms, 41- worm screws, 5- mechanical arm wrists, 6- drivings
Motor, 61- motor racks, 7- sleeves, the scalable mechanical arms of 8-, 81- outer arms, 82- telescopic rods, 9- connecting rods, assistant 10- refer to, 11-
Outer finger, 111- through-holes, 12- is interior to be referred to, 121- elastic bumps.
Specific embodiment
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art with reference to explanation
Book word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other element or combinations.
Fig. 1 ~ 3 show a kind of Kiwi berry picker of the utility model, including：
Rotatable picking arm device 1, the rotatable picking arm device 1 include several mechanical picking hand finger 2, motors
3 with mechanical arm 4；The mechanical picking hand finger 2 posts pressure sensor 21, and lower end is connected with a mechanical arm wrist 5；For
The driving motor 6 of the mechanical picking hand finger 2 is driven to be fixedly installed in the outside of the mechanical arm wrist 5 by motor rack 61
On surface, the driving motor 6 is connected with the pressure sensor 21 control；The mechanical arm 4, which is bolted, to be fixed on
5 lower end of mechanical arm wrist, 4 surface of mechanical arm are cased with a sleeve 7, and the lower part of the mechanical arm 4 is connected with a worm screw
41, the worm screw 41 is connected to the motor 3 by gear engagement and realizes rotation；The motor 3 is installed on fixing bracket 31,
The fixing bracket 31 is fixed on sleeve 7；
Scalable mechanical arm 8, the scalable mechanical arm 8 are connected to by connecting rod 9 on the sleeve 7；The connecting rod 9 can
Dismantling connection is on the sleeve 7.
In this technical solution, the work of motor 3 drives the worm screw 41 to rotate by gear engagement, so as to make
It states mechanical arm 4 to rotate so that the kiwifruit fruit that the mechanical picking hand finger 2 captures and its carpopodium quick separating ensure machine
Tool picking efficiency with it is convenient, reduce the possibility that fruit is damaged；Pressure sensor 21 on the mechanical picking hand finger 2
Control connects the driving motor 6, and the mechanical picking hand finger 2 is controlled to capture Kiwi berry with suitable dynamics, and it is accurate to realize
Lossless crawl fruit, avoids using cutter, kiwifruit fruit is made to be damaged；According to artificially needing to adjust the scalable machine
Tool arm 8 is conducive to the needs that picker is adapted to the picking of different height Kiwi berry to desired height；4 table of mechanical arm
The sleeve 7 in face protects 4 inside worm screw of mechanical arm, 41 rotating mechanism, is conducive to extend its service life.Each portion of picker
Part is detachable, convenient for collecting storage and carrying.
In another example, several described mechanical picking hand fingers 2 are 3；At the mechanical arm wrist 5 be equipped with can
Flexible assistant refers to 10, and the assistant refers to 10 and is alternatively arranged with the mechanical picking hand finger 2；The assistant refers to 10 height and is less than
The mechanical picking hand finger 2.
In this technical solution, when picking small Kiwi berry, stretch spaced with 3 mechanical picking hand fingers 2
Scalable assistant refers to 2 to height is needed, and the Kiwi berry being crawled is avoided to be moved in vacant crawl space, is conducive to protect small
Kiwi berry is injury-free so that picker meets the picking needs of different size Kiwi berry；The assistant is compressed when not needing to
Refer to 10, it is avoided to influence the mechanical picking hand finger 2 and is worked.
In another example, the assistant refers to 10 and includes the outer interior finger 12 for referring to 11 and being placed in outer finger, the outer finger 11
It is fixed on the mechanical arm wrist 5；11 top both sides of the outer finger are equipped with through-hole 111, and 12 two bottom sides of the interior finger are equipped with
The elastic bumps 121 to match with 111 shape of through-hole.Using this scheme so that the assistant refers to 10 stretchings and retraction
It is convenient, convenient for operation.
In another example, 2 surface of mechanical picking hand finger is cased with neonychium 22, and the neonychium 22 includes sea
Continuous layer 221 and the rubber layer 222 being placed in outside the spongy layer 221.
In this technical solution, pressure sensor 21 is placed in 22 surface of neonychium；The neonychium 22 prevents machinery from adopting
It plucks hand finger 2 and scratches Kiwi berry, further Kiwi berry is protected not to be scratched.
In another example, the pressure sensor 21 uses patch type pressure sensor.Using this scheme, patch
Formula pressure sensor fitting Kiwi berry surface, preferably sensed pressure, reduce the influence of Kiwi berry surface villus.
In another example, the motor 3 is connected with a helical teeth turbine worm reducer 32.Using this scheme, tiltedly
Tooth turbine worm reducer 32 has the characteristics that small, light-weight and starts steady, it can be ensured that mechanical arm 4 is in rotation process
In remain at the uniform velocity and slow speed, be further ensured that rotating operation is safe and effective.
In another example, the mechanical arm 4 uses Rigid Robot Manipulator；The sleeve 7 is steel sleeve.Using this
Scheme strengthens the integral strength of the mechanical arm 4 and the sleeve 7, prolongs the service life.
In another example, the sleeve 7 is coated with the anticorrosion being made of resinene material with 4 surface of mechanical arm
Film.Using this scheme, prevent the sleeve 7 and 4 corrosion of mechanical arm and hinder to pick work, anti-corrosion film is conducive to extend it
Service life.
In another example, the scalable mechanical arm 8 includes outer arm 81 and telescopic rod 82,81 surface of outer arm
Equipped with Handheld Division.Using this scheme, 82 telescopic adjustment of telescopic rod is convenient, has 81 personnel easy to operation of outer arm of Handheld Division
Holding.
In another example, the worm screw 41 is weldingly fixed on 4 lower end of mechanical arm, and the connecting rod 9 passes through screw thread
It is connected and fixed on the sleeve 7.Using this scheme so that worm screw 41 is fixed reliably with the mechanical arm 4；Threaded connection makes
Connecting rod 9 connect with sleeve 7 it is reliable and easy to disassemble.
Although the embodiment of the utility model is disclosed as above, it is not restricted in specification and embodiment
Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art,
Other modification is easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
Specific details and legend shown and described herein are not limited to novel.
Claims (10)
1. a kind of Kiwi berry picker, which is characterized in that including：
Rotatable picking arm device（1）, the rotatable picking arm device（1）Including several mechanical picking hand fingers（2）, electricity
Machine（3）With mechanical arm（4）；The mechanical picking hand finger（2）Post pressure sensor（21）, lower end is connected with a manipulator
Wrist（5）；For driving the mechanical picking hand finger（2）Driving motor（6）Pass through motor rack（61）It is fixedly installed in institute
State mechanical arm wrist（5）Outer surface on, the driving motor（6）With the pressure sensor（21）Control connection；It is described
Mechanical arm（4）It is bolted and is fixed on the mechanical arm wrist（5）Lower end, the mechanical arm（4）Surface is cased with a sleeve
（7）, the mechanical arm（4）Lower part be connected with a worm screw（41）, the worm screw（41）The electricity is connected to by gear engagement
Machine（3）Realize rotation；The motor（3）It is installed on fixing bracket（31）On, the fixing bracket（31）It is fixed on sleeve（7）
On；
Scalable mechanical arm（8）, the scalable mechanical arm（8）Pass through connecting rod（9）It is connected to the sleeve（7）On；The company
Bar（9）It is removably connected to the sleeve（7）On.
2. Kiwi berry picker according to claim 1, which is characterized in that several described mechanical picking hand fingers
（2）It is 3；The mechanical arm wrist（5）Place refers to equipped with telescopic assistant（10）, the assistant refers to（10）It is adopted with the machinery
Pluck hand finger（2）It is alternatively arranged；The assistant refers to（10）Highly it is less than the mechanical picking hand finger（2）.
3. Kiwi berry picker according to claim 2, which is characterized in that the assistant refers to（10）Including outer finger（11）
With being placed in outer finger（11）Interior interior finger（12）, the outer finger（11）It is fixed on the mechanical arm wrist（5）On；The outer finger（11）
Top both sides are equipped with through-hole（111）, the interior finger（12）Two bottom sides are equipped with and the through-hole（111）The elasticity that shape matches
Protrusion（121）.
4. Kiwi berry picker according to claim 1, which is characterized in that the mechanical picking hand finger（2）Surface
It is cased with neonychium（22）, the neonychium（22）Including spongy layer（221）With being placed in the spongy layer（221）External rubber layer
（222）.
5. Kiwi berry picker according to claim 1, which is characterized in that the pressure sensor（21）Using patch
Formula pressure sensor.
6. Kiwi berry picker according to claim 1, which is characterized in that the motor（3）It is connected with a helical teeth whirlpool
Worm and gear speed reducer.
7. Kiwi berry picker according to claim 1, which is characterized in that the mechanical arm（4）Using rigid mechanical
Arm；The sleeve（7）For steel sleeve.
8. Kiwi berry picker according to claim 7, which is characterized in that the sleeve（7）With mechanical arm（4）Surface
It is coated with the anti-corrosion film being made of resinene material.
9. Kiwi berry picker according to claim 1, which is characterized in that the scalable mechanical arm（8）Including outer
Arm（81）With telescopic rod（82）, the outer arm（81）Surface is equipped with Handheld Division.
10. Kiwi berry picker according to claim 1, which is characterized in that the worm screw（41）It is weldingly fixed on institute
State mechanical arm（4）Lower end, the connecting rod（9）It is connected through a screw thread and is fixed on the sleeve（7）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721602318.2U CN207476253U (en) | 2017-11-27 | 2017-11-27 | A kind of Kiwi berry picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721602318.2U CN207476253U (en) | 2017-11-27 | 2017-11-27 | A kind of Kiwi berry picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207476253U true CN207476253U (en) | 2018-06-12 |
Family
ID=62471677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721602318.2U Expired - Fee Related CN207476253U (en) | 2017-11-27 | 2017-11-27 | A kind of Kiwi berry picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207476253U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108551879A (en) * | 2018-06-27 | 2018-09-21 | 洋县庆安农业产业发展有限公司 | The Kiwi berry picker of preventing damage fruit |
| CN113243203A (en) * | 2021-05-28 | 2021-08-13 | 桂林电子科技大学 | Full-automatic kiwi fruit picking manipulator and method |
| CN115191223A (en) * | 2022-07-15 | 2022-10-18 | 江苏大学 | Cluster-shaped tomato powder fruit picking mechanical arm and picking method thereof |
-
2017
- 2017-11-27 CN CN201721602318.2U patent/CN207476253U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108551879A (en) * | 2018-06-27 | 2018-09-21 | 洋县庆安农业产业发展有限公司 | The Kiwi berry picker of preventing damage fruit |
| CN108551879B (en) * | 2018-06-27 | 2024-03-01 | 洋县朱鹮有机产业科技咨询有限公司 | Kiwi fruit picking tool capable of preventing fruit from being damaged by clamping |
| CN113243203A (en) * | 2021-05-28 | 2021-08-13 | 桂林电子科技大学 | Full-automatic kiwi fruit picking manipulator and method |
| CN115191223A (en) * | 2022-07-15 | 2022-10-18 | 江苏大学 | Cluster-shaped tomato powder fruit picking mechanical arm and picking method thereof |
| CN115191223B (en) * | 2022-07-15 | 2024-04-09 | 江苏大学 | Cluster-shaped tomato powder fruit picking manipulator and picking method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180612 Termination date: 20181127 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |