CN207505445U - A kind of apple-picking end effector mechanism - Google Patents

A kind of apple-picking end effector mechanism Download PDF

Info

Publication number
CN207505445U
CN207505445U CN201721330023.4U CN201721330023U CN207505445U CN 207505445 U CN207505445 U CN 207505445U CN 201721330023 U CN201721330023 U CN 201721330023U CN 207505445 U CN207505445 U CN 207505445U
Authority
CN
China
Prior art keywords
apple
end effector
cutter
utility
model
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
Application number
CN201721330023.4U
Other languages
Chinese (zh)
Inventor
何强
杨发武
罗文翠
易湘斌
钱春会
司浩文
李昭余
曹尚武
李皓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lanzhou Institute of Technology
Original Assignee
Lanzhou Institute of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Lanzhou Institute of Technology filed Critical Lanzhou Institute of Technology
Priority to CN201721330023.4U priority Critical patent/CN207505445U/en
Application granted granted Critical
Publication of CN207505445U publication Critical patent/CN207505445U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Landscapes

  • Harvesting Machines For Specific Crops (AREA)

Abstract

The utility model is related to a kind of apple-picking end effector mechanisms, belong to agriculture and forestry machinery apparatus field, and structure is simple and easy to implement, manufacture at low cost, significant effect, substantially reduce the cost of labor in later stage, improve efficiency, extend apple storage time.The utility model can be used for simultaneously and apple has the end of analogous shape and the picking fruit equipment needed.

Description

A kind of apple-picking end effector mechanism
Technical field
The utility model is related to a kind of apple-picking end effector mechanisms, belong to agriculture and forestry machinery apparatus field.
Background technology
Apple is generally by one of favorite fruit of people, and in recent years, apple cultivation is more and more extensive, the yield of apple Increase year by year, after ripe apples, generally require and picked, packed, transported, stored, common Softening either people Work is picked or mechanical picking, and apple base of fruit is all connected on the apple after picking, and base of fruit is harder, in the packet in later stage The links such as dress, transport, storage, the scuffing for be easy to causeing apple surface pericarp is scratched, and wound site easily rots, and causes apple Storage life shorten, be unfavorable for shipping storage and sale.
For the above problem, the settling mode generally used is secondary artificial trimming, will with scissors by the way of artificial Long base of fruit is trimmed to less than apple surface, although can solve the problems, such as that base of fruit scratches pericarp in this way, time and effort consuming, Efficiency is low, and cost of labor increases.
Invention content
To solve the disadvantages mentioned above in background technology, the utility model proposes a kind of apple-picking end effector mechanisms, can For the end of manual seed harvester or automatic equipment.
The technical solution of the utility model is as follows:
A kind of apple-picking end effector mechanism including holder part and cutter part, sets on stent 1 and is oriented to notch 101,30 ° at an angle~90 ° of notch is oriented to, is connected with positioning port 102 in corner position, the connection positioning of positioning port 102 is led To mouth 103;Cutter part includes bindiny mechanism 2, and top setting taper cutter 201, cutter apex angle is 30 °~90 °, taper cutter Between set resetting spring 202.
The application method of the utility model is:Make the stent of the apple-picking end effector mechanism with manually or automatically picking The fixing bracket part of equipment is connected, and taper cutter is made to be connected with the power section of seed harvester, when apple passes through stent On notch when navigating to taper cutter location, power section driving taper cutter is made to run downwards, is transported downwards in taper cutter In capable process, due to being limited by external orientation mouth and guiding, make taper cutter in the position closure less than apple surface Base of fruit is cut off, the base of fruit of the apple so as to pick does not need to the second pruning in later stage already below the surface of apple.
The utility model has an advantageous effect in that compared with background technology:Structure is simple and easy to implement, and manufacture is at low cost, Significant effect substantially reduces the cost of labor in later stage, improves efficiency, extends apple storage time.The utility model can be used simultaneously In the end for having analogous shape and the picking fruit equipment needed with apple.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of the utility model:
1- stents, 101- guiding notches, 102- positioning ports, 103- orienting holes, 2- bindiny mechanisms, 201- tapers are cut Knife, 202- resetting springs.
Fig. 2 is diagrammatic cross-section at the utility model orienting hole.
Specific embodiment
The utility model is illustrated with specific embodiment in conjunction with attached drawing.
Embodiment 1:
As shown in Figure 1, stent 1 is is connected by the present embodiment with the support system of electrical equipment, bindiny mechanism 2 with it is electronic The power section of equipment is connected, and apple is entered by the guiding notch 101 on stent 1, and reaching positioning by positioning port 102 leads During to mouth 103, make 201 operation downwards of power section driving taper cutter, during taper cutter 201 downwards operation, by In being limited by external orientation mouth 103 and guiding, make taper cutter 201 in the position closed amputation fruit less than apple surface The base of a fruit, the remaining base of fruit of the apple so as to pick do not need to the second pruning in later stage already below the surface of apple;Work as dynamical system When system driving taper cutter 201 moves upwards, by the effect of resetting spring 202, the notch of taper cutter 201, which resets, to be opened.
Specific embodiment of the present utility model is elaborated above in association with attached drawing, but the utility model is not It is limited to the above embodiment.In the knowledge having in those of ordinary skill in the art, many variations can also be made to it.

Claims (3)

1. a kind of apple-picking end effector mechanism, including stent (1) and cutter, which is characterized in that set on the stent (1) Notch (101) is oriented to, notch (101) corner position is oriented to and is connected with positioning port (102), positioning port (102) connection positioning and guiding Mouth (103);The cutter includes bindiny mechanism (2), and top sets taper cutter (201), set between taper cutter and reset bullet Spring (202).
A kind of 2. apple-picking end effector mechanism according to claim 1, which is characterized in that the taper cutter (201) apex angle is 30 °~90 °.
A kind of 3. apple-picking end effector mechanism according to claim 1, which is characterized in that the guiding notch (101) apex angle is 30 °~90 °.
CN201721330023.4U 2017-09-29 2017-09-29 A kind of apple-picking end effector mechanism Expired - Fee Related CN207505445U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721330023.4U CN207505445U (en) 2017-09-29 2017-09-29 A kind of apple-picking end effector mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721330023.4U CN207505445U (en) 2017-09-29 2017-09-29 A kind of apple-picking end effector mechanism

Publications (1)

Publication Number Publication Date
CN207505445U true CN207505445U (en) 2018-06-19

Family

ID=62535419

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721330023.4U Expired - Fee Related CN207505445U (en) 2017-09-29 2017-09-29 A kind of apple-picking end effector mechanism

Country Status (1)

Country Link
CN (1) CN207505445U (en)

Similar Documents

Publication Publication Date Title
US10327399B2 (en) Harvesting robots for hydroponics
US20170000027A1 (en) Robotic harvester
KR102000478B1 (en) Grafting system and method thereof
CN107409634A (en) One kind plucks platform automatically based on the self-propelled orchard of GPS navigation
CN111758380B (en) Fruit and vegetable picking manipulator, picking robot and picking method thereof
JP2014003951A (en) Device for harvesting flower bud of vegetable
CN206658582U (en) New Ring-shape cutter
CN107624367A (en) More strawberries while picking end effector and corresponding picking mechanism and method
WO2021138206A3 (en) Mushroom harvesting container funnel tray and sorting device
CN107041267A (en) A kind of method of the various fruit kind of apple grafting
CN105123285A (en) Grafting method of Korla fragrant pears
CN205161275U (en) Automatic over -and -under type horticulture flowerpot
CN110178532A (en) A kind of automatic recovering device of shoot vegetable
CN207505445U (en) A kind of apple-picking end effector mechanism
CN106342560A (en) Mechanical hard grape branch grafting method
Hemming et al. Field test of different end-effectors for robotic harvesting of sweet-pepper
KR100650983B1 (en) Grafting method of a fruit tree
CN107484500B (en) Row adsorption pipeline strawberry picking equipment and picking method
CN110140588B (en) Kiwi fruit tree high-grafting and head-changing method
US20180359949A1 (en) Systems and methods for utilizing pressure recipes for a grow pod
CN205124388U (en) Automatic unload incomplete membrane of diaphragm type pick up machine cam unload membrane mechanism
CN207399894U (en) A kind of strawberry picking end effector
US20230397536A1 (en) Robotic harvesting system for vertical plant cultivation
CN105248153B (en) " scissors " whip grafting
Xu Making apple trees friendlier for mechanized harvesting

Legal Events

Date Code Title Description
GR01 Patent grant
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: 20180619

Termination date: 20180929