CN207665528U - Clamping type fruit picking apparatus - Google Patents
Clamping type fruit picking apparatus Download PDFInfo
- Publication number
- CN207665528U CN207665528U CN201721776507.1U CN201721776507U CN207665528U CN 207665528 U CN207665528 U CN 207665528U CN 201721776507 U CN201721776507 U CN 201721776507U CN 207665528 U CN207665528 U CN 207665528U
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- CN
- China
- Prior art keywords
- picking
- clamping type
- jig frame
- type fruit
- hydraulic tube
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Abstract
Clamping type fruit picking apparatus is related to picking mechanical technical field, solves the problems, such as fruit picker easy damaged fruit surface.Device for picking includes：Support plate；The jig frame being arranged in support plate can be slided in support plate；The clamp regulating device being arranged in support plate, control jig frame gripping picking object；Shear for shearing picking object connecting portion is set in jig frame.The utility model grips picking object by jig frame and reduces the damage in picking process when picking the picking of object.The gripping of jig frame is adjusted by clamp regulating device, is suitble to a variety of, different size of picking object.
Description
Technical field
The utility model is related to picking mechanical technical fields, more particularly to clamping type fruit picking apparatus.
Background technology
Currently, the picking of mature fruit mostly uses greatly manual mode, picked by hand is small to fruit bruising, but efficiency is low, takes
When it is laborious.Part uses picking mechanical machine, but picks the damage that machine easily causes fruit, when influencing appearance and the storage of fruit
Between.Existing fruit picker easy damaged fruit surface is not suitable for mature fruit and picks the practical application sold.
Utility model content
In order to solve the problems, such as that fruit picker easy damaged fruit surface existing in the prior art, the utility model provide
Clamping type fruit picking apparatus.
The utility model technical scheme applied to solve the technical problem is as follows：
Clamping type fruit picking apparatus, including：Shear for shearing picking object connecting portion, further includes support plate；
The jig frame being arranged in support plate can be slided in support plate；
The clamp regulating device being arranged in support plate, control jig frame gripping picking object；
The shear is arranged in jig frame.
The jig frame includes first seperated, second seperated and two picking object contact discs；The shear includes
Clipper, two shearing power plants；
First is seperated and the second fission is separately connected clamp regulating device, and with support plate slidable connection, first point
The structure of body and the second fission is identical and arranged symmetrically；Two shearing power plants are separately positioned on first seperated and the second fission
On；Two picking object contact disc connection shearing power plants；Shearing power plant is fixedly connected with clipper；
Two picking object contact disc control shearing power plants, shearing power plant control clipper movement.
The clamp regulating device includes sensor, steering engine, ring flange, the first rotary connection plate and the second rotatable connection
Plate, sensor detection clamp assembly clamp picking principle condition and control steering engine work according to detection information；Steering engine mounting flange
And ring flange is driven to rotate；Ring flange is rotatably fixed in support plate；The both ends of first rotary connection plate are separately connected method
Blue disk and the first fission；The both ends of second rotary connection plate are separately connected ring flange and the second fission；First rotary connection plate and
The different holes position of second rotary connection plate mounting flange.
The sensor can also detect and select the position of picking object, detection picking object.
The clipper is blade or scissors.
The cross section of the blade is triangle.
The shearing power plant includes piston, hydraulic tube and spring, and jig frame is equipped with hydraulic tube through hole, hydraulic pressure
Pipe is fixed on by hydraulic tube through hole in jig frame, and hydraulic tube both ends are separately connected picking object contact disc and piston, shearing
Device is fixedly connected on piston, and picking object contact disc is by pushing hydraulic tube inner fluid to realize the movement of piston driving clipper；Bullet
Spring is located on picking object contact disc and connects hydraulic tube, the reset for picking object contact disc.
The picking object contact disc includes integrally formed contact surface and cylindrical rods, and contact surface is contacted with picking object, column
Bar insertion connection hydraulic tube, spring are located in cylindrical rods.
The clipper is welded on piston.
The cross section of the piston is circle.
The utility model has the beneficial effects that：The utility model is by jig frame activity to adapt to device for picking gripping picking
Object reduces the damage in picking process.The gripping of jig frame is adjusted by clamp regulating device, is suitble to a variety of, different big
Small picking object.
Description of the drawings
Fig. 1 is the structure chart of the utility model clamping type fruit picking apparatus.
Wherein 1, support plate；2, first is seperated；3, second is seperated；4, ring flange；5, the first rotary connection plate；6, the second rotation
Turn connecting plate；7, piston；8, hydraulic tube；9, spring；10, blade；11, object contact disc is picked.
Specific implementation mode
The utility model is described in further details with reference to the accompanying drawings and examples.
Clamping type fruit picking apparatus, including：Support plate 1, jig frame and clamp regulating device are provided in support plate 1
The clamp regulating device of the jig frame and control jig frame gripping picking object that can be slided in support plate 1, jig frame
On be provided with for shear picking object connecting portion shear.Concrete structure diagram is as shown in Figure 1.
Jig frame includes two the 11, first fissions 2 of picking object contact disc and the second fission 3.Shear includes shearing
Device and two shearing power plants.Each shearing power plant includes piston 7, hydraulic tube 8 and spring 9.Clamp regulating device
Including sensor, steering engine, ring flange 4, the first rotary connection plate 5 and the second rotary connection plate 6.
First fission 2 is identical and arranged symmetrically with the structure of the second fission 3.First fission 2 and the second fission 3 are separately connected
Clamp regulating device, and connect with support plate 1, the first fission 2 and the second fission 3 can slide in support plate 1.It is described
Sliding can be support plate 1 on can be equipped with jig frame sliding slideway.The symmetry axis of first fission 2 and the second fission 3 hangs down
Directly in slideway.One shearing power plant is respectively set on the first fission 2 and the second fission 3.Each shearing power plant connection
One picking object contact disc 11, picking object contact disc 11 control the startup and movement of shearing power plant.
Sensor can detect and select picking object, the position of detection picking object, detection clamp assembly to clamp picking principle
Condition, and control signal transmission is worked to steering engine with controlling steering engine according to detection information.Steering engine mounting flange 4, ring flange 4
Middle part and support plate 1 connect, and to be rotatably connected, and set that there are two be respectively used to the first rotary connection plate 5 of connection on ring flange 4
With the hole position of the second rotary connection plate 6, preferably two holes position is symmetrical arranged along 4 center line both ends of ring flange.First rotation
The hole position of the threaded one end mounting flange 4 of connecting plate 5, the other end are threadedly coupled the first fission 2；Second rotary connection plate
Another hole position of 6 threaded one end mounting flange 4, the other end are threadedly coupled the second fission 3.I.e. rotary connection plate is all connected with
Jig frame.The middle part of jig frame is equipped with hydraulic tube through hole, and hydraulic tube through hole is slightly less than hydraulic tube 8, hydraulic tube 8 and liquid
The middle part for being fixed on jig frame of pressure pipe through hole interference fit.The both ends of hydraulic tube 8 are separately connected piston 7 and picking object connects
Tactile disk 11.Picking object contact disc 11 includes the contact surface contacted with picking object and the cylindrical rods being connect with hydraulic tube 8, contact surface and
Cylindrical rods are made into integration.It is equipped with spring 9 between hydraulic tube 8 and picking object contact disc 11, spring 9 is sleeved in cylindrical rods, spring 9
It act as resetting picking object contact disc 11.It picks object contact disc 11 to be arranged in jig frame, is picking object in present embodiment
Contact disc 11 is connect through hydraulic tube 8 with jig frame；It picks object contact disc 11 and is embedded in connection hydraulic tube 8 (mobilizable connection),
The insertion connection hydraulic tube 8 of piston 7 (mobilizable connection).Clipper is fixedly connected (welding) with piston 7, and piston 7 drives shearing
Device moves.The cylindrical rods for picking object contact disc 11 can be by pushing the fluid in hydraulic tube 8 to realize that piston 7 drives clipper fortune
It is dynamic, realize the shearing of picking object connecting portion.Wherein hydraulic tube 8 can be replaced with pneumatic tube, and hydraulic-driven is converted to air pressure drive
It is dynamic.
Clipper can be scissors or two groups of blades 10, and blade 10 can be fixedly welded on two pistons 7 (two respectively
Direction of motion end when piston 7 moves toward one another), piston 7 selects cylindric piston (cross section is circle), and blade 10 is selected transversal
Face is the cutter of triangle.Two branches of the handle end of scissors are fixedly welded on respectively on two pistons 7.Contact surface is selected soft
Material, further to reduce the damage to picking object, such as silica gel material.
The course of work is：Pick object take apple as an example, sensor detects ripe apple and its position, this practicality is new
First fission 2 seperated with second 3 of type is in open configuration, is placed in the both sides of apple to be picked, sensor detection picking contact
Face clamps the case where apple and transmits gripping signal, and control steering engine rotation, steering engine drives ring flange 4 to rotate, and ring flange 4 rotates,
And the first rotary connection plate 5 and the second rotary connection plate 6 is driven to be moved to combined direction, the first seperated 23 phases seperated with second
To movement, i.e. two jig frames are moved toward one another along 1 slideway of support plate, until picking object contact disc 11 contacts and clamps apple completely
Fruit, steering engine stop operating.When picking 11 gripping apple of object contact disc, picking object contact disc 11 is transported to 8 direction of hydraulic tube of connection
Dynamic, spring 9 is compressed at this time, and the cylindrical rods of picking object contact disc 11 give 8 lower section of hydraulic tube (the one of connection picking object contact disc 11
End) oil liquid pressure so that the pressure imbalance at 8 inner fluid both ends of hydraulic tube, the liquid-driving piston 7 in hydraulic tube 8 move,
Piston 7 drives clipper (such as blade 10) to move, and shears apple branch.The apple won is transported to appointed place, and (this practicality is new
Type is installed on the robotic arm, and mechanical arm drives clamping type fruit picking apparatus to move to appointed place), steering engine rotates backward, and band
Dynamic first rotary connection plate 5 and the second rotary connection plate 6 are moved to the direction of separation, and the first fission 2 seperated with second 3 is gradually remote
From release apple.Picking object contact disc 11 resets under the action of spring 9, then liquid pressure at two ends is uneven again in hydraulic tube 8
Weighing apparatus, piston 7 move (7 back movement of two-piston) to original state, restore to original state.
Claims (10)
1. clamping type fruit picking apparatus, including：Shear for shearing picking object connecting portion, which is characterized in that also wrap
Include support plate (1)；
Jig frame in support plate (1) is set, can be slided in support plate (1)；
Clamp regulating device in support plate (1), control jig frame gripping picking object are set；
The shear is arranged in jig frame.
2. clamping type fruit picking apparatus as described in claim 1, which is characterized in that the jig frame includes first seperated
(2), second seperated (3) and two picking object contact discs (11)；The shear includes clipper, two shearing power dresses
It sets；
First seperated (2) and the second fission (3) are separately connected clamp regulating device, and with support plate (1) slidable connection, the
One seperated (2) and the second seperated structure of (3) are identical and arranged symmetrically；Two shearing power plants are separately positioned on the first fission
(2) and on second seperated (3)；Two picking object contact discs (11) connect shearing power plant；Shear power plant and clipper
It is fixedly connected；
Two picking object contact discs (11) control shearing power plant, shearing power plant control clipper movement.
3. clamping type fruit picking apparatus as claimed in claim 2, which is characterized in that the clamp regulating device includes sensing
Device, steering engine, ring flange (4), the first rotary connection plate (5) and the second rotary connection plate (6), sensor detection clamp assembly are clamped
It picks principle condition and steering engine work is controlled according to detection information；Steering engine mounting flange (4) simultaneously drives ring flange (4) to rotate；Method
Blue disk (4) is rotatably fixed in support plate (1)；The both ends of first rotary connection plate (5) are separately connected ring flange (4) and
One seperated (2)；The both ends of second rotary connection plate (6) are separately connected ring flange (4) and second seperated (3)；First rotatable connection
The different holes of plate (5) and the second rotary connection plate (6) mounting flange (4) position.
4. clamping type fruit picking apparatus as claimed in claim 3, which is characterized in that the sensor can also detect and select to adopt
Pluck the position of object, detection picking object.
5. clamping type fruit picking apparatus as claimed in claim 2, which is characterized in that the clipper is blade (10) or cuts
Knife.
6. clamping type fruit picking apparatus as claimed in claim 5, which is characterized in that the cross section of the blade (10) is triangle
Shape.
7. clamping type fruit picking apparatus as claimed in claim 2, which is characterized in that the shearing power plant includes piston
(7), hydraulic tube (8) and spring (9), jig frame are equipped with hydraulic tube through hole, and hydraulic tube (8) is solid by hydraulic tube through hole
It is scheduled in jig frame, hydraulic tube (8) both ends are separately connected picking object contact disc (11) and piston (7), and clipper is fixedly connected
On piston (7), picking object contact disc (11) is by pushing hydraulic tube (8) inner fluid to realize that piston (7) drives clipper movement；
Spring (9) is located on picking object contact disc (11) and connects hydraulic tube (8), the reset for picking object contact disc (11).
8. clamping type fruit picking apparatus as claimed in claim 7, which is characterized in that the picking object contact disc (11) includes one
Body formed contact surface and cylindrical rods, contact surface are contacted with picking object, and cylindrical rods insertion connection hydraulic tube (8), spring (9) is located at
In cylindrical rods.
9. clamping type fruit picking apparatus as claimed in claim 7, which is characterized in that the clipper is welded on piston (7).
10. clamping type fruit picking apparatus as claimed in claim 7, which is characterized in that the cross section of the piston (7) is circle
Shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721776507.1U CN207665528U (en) | 2017-12-18 | 2017-12-18 | Clamping type fruit picking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721776507.1U CN207665528U (en) | 2017-12-18 | 2017-12-18 | Clamping type fruit picking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207665528U true CN207665528U (en) | 2018-07-31 |
Family
ID=62969065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721776507.1U Expired - Fee Related CN207665528U (en) | 2017-12-18 | 2017-12-18 | Clamping type fruit picking apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207665528U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111615928A (en) * | 2020-06-29 | 2020-09-04 | 广西师范大学 | Semi-automatic mulberry twig supporting device |
-
2017
- 2017-12-18 CN CN201721776507.1U patent/CN207665528U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111615928A (en) * | 2020-06-29 | 2020-09-04 | 广西师范大学 | Semi-automatic mulberry twig supporting device |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180731 Termination date: 20181218 |