CN208095243U - A kind of Picker arm - Google Patents
A kind of Picker arm Download PDFInfo
- Publication number
- CN208095243U CN208095243U CN201820624315.7U CN201820624315U CN208095243U CN 208095243 U CN208095243 U CN 208095243U CN 201820624315 U CN201820624315 U CN 201820624315U CN 208095243 U CN208095243 U CN 208095243U
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- CN
- China
- Prior art keywords
- arm body
- picking hands
- arm
- bottom end
- hemispherical cavity
- 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 Picker arms, including Picker arm body, Picker arm body includes intersect hinged the first arm body and the second arm body, the top of first arm body is provided with the first picking hands, the top of second arm body is provided with the second picking hands, and the palm of the first picking hands and the second picking hands is opposite；The palm position of first picking hands is provided with the first hemispherical cavity, and the end of the first picking hands is provided with the first cutting edge, and the palm position of the second picking hands is provided with the second hemispherical cavity, and the end of the second picking hands is provided with the second cutting edge；When the bottom end of the second arm body moves to predeterminated position with respect to the bottom end of the first arm body, the first hemispherical cavity and the second hemispherical cavity fasten the fruit cavity for constituting and accommodating fruit, and the first cutting edge offsets with the second cutting edge.Above-mentioned Picker arm in actual use, avoids fruit and directly drops down onto the problem of bottom surface causes fruit to damage.
Description
Technical field
The utility model relates to agricultural product seed harvester technical field more particularly to a kind of Picker arms.
Background technique
The limb of some high bar fruit trees is higher, and such as apple, shaddock, orange etc. causes orchard worker to pick difficult.It is adopted to improve
Efficiency is plucked, the security risk that high altitude operation is brought is reduced, generallys use picking machine at present and picked.Existing picking machine is adopted
Plucking arm uses top that shearing blade is arranged, and falls down fruit from strut by the carpopodium that cutting fruit closes on and carries out receipts fruit,
But this kind of mode, the fruit due to cutting carpopodium, which freely drops down onto bottom surface, to be caused to damage to fruit, to be not easy to the length of fruit
Kubo is deposited.
In conclusion fruit drops down onto ground and be easy to cause fruit impaired without easy to maintain when how to solve picking fruit
Problem, it has also become those skilled in the art's technical problem urgently to be resolved.
Utility model content
The purpose of the utility model is to provide a kind of Picker arms, and when solving picking fruit, fruit drops down onto ground and is easy to make
It is impaired without problem easy to maintain at fruit.
To achieve the goals above, the utility model provides a kind of Picker arm, including Picker arm body, the Picker arm body
Including hinged the first arm body and the second arm body of intersecting, the top of the first arm body is provided with the first picking hands, described
The top of second arm body is provided with the second picking hands, and the palm of first picking hands and second picking hands is opposite；
The palm position of first picking hands is provided with the first hemispherical cavity, the end setting of first picking hands
There is the first cutting edge, the palm position of second picking hands is provided with the second hemispherical cavity, the end of second picking hands
End is provided with the second cutting edge；
When the bottom end of the relatively described first arm body in the bottom end of the second arm body moves to predeterminated position, described the first half
Spherical cavity and second hemispherical cavity fasten the fruit cavity for constituting and accommodating fruit, first cutting edge and described the
Two cutting edges offset.
Preferably, the outer profile of first picking hands and second picking hands is hemispherical, first hemisphere
Shape cavity and second hemispherical cavity are semielliptical shape cavity, and first picking hands and second picking hands
Vertical section is crescent.
Preferably, the Picker arm body further includes the bottom for driving the bottom end of the second arm body to the first arm body
Hold close and separate driving mechanism.
Preferably, the driving mechanism includes bogie and the driving assembly that is arranged on the bogie, and described first
The bottom end of arm body is fixed on the bogie, and bottom end and the bogie of the second arm body are slidably matched, the driving
Component is for driving the bottom end of the second arm body close and separate to the bottom end of the first arm body.
Preferably, the driving component includes the rack gear being fixedly connected with the bottom end of the second arm body and the rack gear
Compatible gear and motor for driving the gear.
Preferably, the gear is the partial gear that teeth are only provided in default radian.
Preferably, the inner surface of first hemispherical cavity and the inner surface of second hemispherical cavity are provided with
Flexible layer.
Preferably, the flexible layer is flexible rubber layer.
Preferably, the flexible rubber layer using bonding by the way of be fixed on first hemispherical cavity inner surface and
The inner surface of second hemispherical cavity.
Content, above-mentioned Picker arm, including Picker arm body are introduced compared to background technique, Picker arm body includes the hinge that intersects
The the first arm body and the second arm body connect, the top of the first arm body are provided with the first picking hands, and the top of the second arm body is provided with
Two picking hands, and the palm of the first picking hands and the second picking hands is opposite；The palm position of first picking hands is provided with the first half
Spherical cavity, the end of the first picking hands are provided with the first cutting edge, and the palm position of the second picking hands is provided with the second hemisphere
Shape cavity, the end of the second picking hands are provided with the second cutting edge；When the bottom end of the second arm body is transported with respect to the bottom end of the first arm body
When moving to predeterminated position, the first hemispherical cavity and the second hemispherical cavity fasten the fruit cavity for constituting and accommodating fruit, and first
Cutting edge offsets with the second cutting edge.Above-mentioned Picker arm in actual use, passes through the first picking hands on the first arm body
Corresponding second hemispherical cavity is fastened on one on the second picking hands in upper corresponding first hemispherical cavity and the second arm body
It rises, is located at entire fruit in the fruit cavity that the first hemispherical cavity and the second hemispherical cavity are constituted, simultaneously because first
The end of picking hands is provided with the first cutting edge, and the end of the second picking hands is provided with the second cutting edge, in the first hemispherical cavity
While body and the second hemispherical cavity fasten, the first cutting edge offsets with the second cutting edge, and then can will correspond on fruit
Carpopodium cutting, fall into fruit in fruit cavity, take out fruit from fruit cavity after then withdrawing Picker arm.Entirely adopt
Process is plucked, fruit is avoided and directly drops down onto the problem of bottom surface causes fruit to damage.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Picker arm provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram of driving assembly provided by the embodiment of the utility model.
In figure 1 above and Fig. 2,
First arm body 1, the second arm body 2, the first picking hands 3, the second picking hands 4, the cutting of the first hemispherical cavity 5, first
Sword 6, the second hemispherical cavity 7, the second cutting edge 8, bogie 9, driving assembly 10, rack gear 11, gear 12.
Specific embodiment
The core of the utility model is to provide a kind of Picker arm, and when solving picking fruit, fruit drops down onto ground and is easy to make
It is impaired without problem easy to maintain at fruit.
In order to make those skilled in the art more fully understand technical solution provided by the utility model, below in conjunction with attached
The utility model is described in further detail with specific embodiment for figure.
As depicted in figs. 1 and 2, a kind of Picker arm provided by the embodiment of the utility model, including Picker arm body, feature exist
In Picker arm body includes intersect hinged the first arm body 1 and the second arm body 2, and the top of the first arm body 1 is provided with first and adopts
Hand 3 is plucked, the top of the second arm body 2 is provided with the second picking hands 4, and the palm of the first picking hands 3 and the second picking hands 4 is opposite；
The palm position of first picking hands 3 is provided with the first hemispherical cavity 5, and the end of the first picking hands 3 is provided with the first cutting edge
6, the palm position of the second picking hands 4 is provided with the second hemispherical cavity 7, and the end of the second picking hands 4 is provided with the second cutting
Sword 8；When the bottom end of the second arm body 2 moves to predeterminated position with respect to the bottom end of the first arm body 1, the first hemispherical cavity 5 and the
Two hemispherical cavities 6 fasten the fruit cavity for constituting and accommodating fruit, and the first cutting edge 6 offsets with the second cutting edge 8.
Above-mentioned Picker arm in actual use, passes through corresponding first hemisphere on the first picking hands on the first arm body
Corresponding second hemispherical cavity snaps together on the second picking hands on shape cavity and the second arm body, is located at entire fruit
In the fruit cavity that first hemispherical cavity and the second hemispherical cavity are constituted, simultaneously because the end of the first picking hands is provided with
First cutting edge, the end of the second picking hands are provided with the second cutting edge, in the first hemispherical cavity and the second hemispherical cavity
While fastening, the first cutting edge offsets with the second cutting edge, and then can cut off carpopodium corresponding on fruit, falls fruit
Enter in fruit cavity, takes out fruit from fruit cavity after then withdrawing Picker arm.Entire picking process, it is straight to avoid fruit
It connects and drops down onto the problem of bottom surface causes fruit to damage.
In some specific embodiments, the outer profile of above-mentioned first picking hands 3 and the second picking hands 4 is hemisphere
Shape, the first hemispherical cavity 5 and the second hemispherical cavity 7 are semielliptical shape cavity, and the first picking hands 3 and the second picking hands
4 vertical section is crescent.Of course, it should be understood that above-mentioned is only the structure to the first picking hands and the second picking hands
The citing of form in actual application, can also select corresponding other structures form, such as water chestnut according to actual needs
The structure etc. of shape, as long as can be realized the accommodating chamber for fastening and constituting fruit.
In some more specifical embodiments, above-mentioned Picker arm body further includes the bottom end for driving the second arm body 2
The driving mechanism close and separate to the bottom end of the first arm body 1.The degree of automation so that Picker arm is driven by driving mechanism
It is higher.
The specific structure of the driving mechanism may include bogie 9 and the driving assembly 10 that is arranged on bogie 9, and first
The bottom end of arm body 1 is fixed on bogie 9, and bottom end and the bogie 9 of the second arm body 2 are slidably matched, and driving assembly 10 is for driving
The bottom end of dynamic second arm body 2 is close and separate to the bottom end of the first arm body 1.And the concrete form of above-mentioned driving assembly 10 can be with
Including rack gear 11, the gear 12 compatible with rack gear 11 and for driving gear 12 being fixedly connected with the bottom end of the second arm body 2
Motor.It is rotated by motor-driven gear, and then with carry-over bar horizontal movement, since the bottom end of rack gear and the second arm body is solid
It is fixed so that the bottom end of the second arm body is slided with respect to bogie, also can be thus achieved opposite first arm body bottom end it is close and
Separate movement.Of course, it should be understood that the forms of motion of said gear and rack gear is only the utility model embodiment
Preferable examples can also be the common other structures form of those skilled in the art, such as the first arm body and the second arm body
Between be provided with and strut spring, the connection of the second arm body with rear-pulling rope, by pull drawstring be able to drive the bottom end of the second arm body to
The bottom end of first arm body moves, and then realizes the snap action of the first picking hands and the second picking hands.
In addition, in order to reduce the production cost of gear, corresponding gear 12 can be designed to only be provided in default radian
The partial gear of teeth.In actual application, said gear presets the modulus of the number of teeth and gear in radian, can basis
The distance between the length of Picker arm and two Picker arms are set, and using partial gear, can reduce the difficulty of processing in this way
Degree, to reduce processing cost.
In order to further ensure entering the fruit of fruit accommodating chamber from damage, corresponding first hemispherical cavity and the second half
Spherical cavity inner surface is provided with flexible layer, the fixed form of the flexible layer can using the fixed form of bonding, and or
It is other common fixed forms of those skilled in the art, such as the mode fixation of welding etc..It is further to note that this is soft
Property layer can be flexible rubber layer, or be other common flexible material layers of those skilled in the art, such as cavernous body layer
Deng.
Picker arm provided by the utility model is described in detail above.It should be noted that in this specification
Various embodiments are described in a progressive manner, the highlights of each of the examples are it is different from other embodiments it
Place, the same or similar parts between the embodiments can be referred to each other.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that article or equipment including a series of elements not only include those elements, but also
It including other elements that are not explicitly listed, or further include for this article or the intrinsic element of equipment.Do not having
In the case where more limitations, the element that is limited by sentence "including a ...", it is not excluded that in the article including above-mentioned element
Or there is also other identical elements in equipment.
Specific case used herein is expounded the principles of the present invention and embodiment, above embodiments
Explanation be merely used to help understand the core concept of the utility model.It should be pointed out that for the ordinary skill of the art
For personnel, without departing from the principle of this utility model, several improvements and modifications can be made to this utility model,
Modifications and modifications also fall within the protection scope of the claims of the utility model.
Claims (9)
1. a kind of Picker arm, including Picker arm body, which is characterized in that the Picker arm body includes the first hinged arm that intersects
Body (1) and the second arm body (2), the top of the first arm body (1) are provided with the first picking hands (3), the second arm body (2)
Top is provided with the second picking hands (4), and the palm of first picking hands (3) and second picking hands (4) is opposite；
The palm position of first picking hands (3) is provided with the first hemispherical cavity (5), the end of first picking hands (3)
End is provided with the first cutting edge (6), and the palm position of second picking hands (4) is provided with the second hemispherical cavity (7), described
The end of second picking hands (4) is provided with the second cutting edge (8)；
When the bottom end of the relatively described first arm body (1) in the bottom end of the second arm body (2) moves to predeterminated position, described first
Hemispherical cavity (5) and second hemispherical cavity (7) fasten the fruit cavity for constituting and accommodating fruit, first cutting edge
(6) it offsets with second cutting edge (8).
2. Picker arm as described in claim 1, which is characterized in that first picking hands (3) and second picking hands (4)
Outer profile be hemispherical, first hemispherical cavity (5) and second hemispherical cavity (7) are semielliptical shape chamber
Body, and the vertical section of first picking hands (3) and second picking hands (4) is crescent.
3. Picker arm as described in claim 1, which is characterized in that the Picker arm body further includes for driving second arm
The bottom end of body (2) driving mechanism close and separate to the bottom end of the first arm body (1).
4. Picker arm as claimed in claim 3, which is characterized in that the driving mechanism includes bogie (9) and is arranged in institute
The driving assembly (10) on bogie (9) is stated, the bottom end of the first arm body (1) is fixed on the bogie (9), and described
The bottom end of two arm bodies (2) is slidably matched with the bogie (9), and the driving component (10) is for driving the second arm body
(2) bottom end is close and separate to the bottom end of the first arm body (1).
5. Picker arm as claimed in claim 4, which is characterized in that the driving component (10) includes and the second arm body
(2) rack gear (11) that bottom end is fixedly connected, with the rack gear (11) compatible gear (12) and for driving the gear
(12) motor.
6. Picker arm as claimed in claim 5, which is characterized in that the gear (12) is arranged in default radian with teeth for only
The partial gear of tooth.
7. such as Picker arm of any of claims 1-6, which is characterized in that first hemispherical cavity (5) it is interior
The inner surface of surface and second hemispherical cavity (7) is provided with flexible layer.
8. Picker arm as claimed in claim 7, which is characterized in that the flexible layer is flexible rubber layer.
9. Picker arm as claimed in claim 8, which is characterized in that the flexible rubber layer is fixed on institute by the way of bonding
State the inner surface of the first hemispherical cavity (5) and the inner surface of second hemispherical cavity (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820624315.7U CN208095243U (en) | 2018-04-27 | 2018-04-27 | A kind of Picker arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820624315.7U CN208095243U (en) | 2018-04-27 | 2018-04-27 | A kind of Picker arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208095243U true CN208095243U (en) | 2018-11-16 |
Family
ID=64114462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820624315.7U Expired - Fee Related CN208095243U (en) | 2018-04-27 | 2018-04-27 | A kind of Picker arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208095243U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112470708A (en) * | 2020-11-16 | 2021-03-12 | 江苏大学 | Robot picking and recycling system and operation method for mandarin orange fruits |
-
2018
- 2018-04-27 CN CN201820624315.7U patent/CN208095243U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112470708A (en) * | 2020-11-16 | 2021-03-12 | 江苏大学 | Robot picking and recycling system and operation method for mandarin orange fruits |
| CN112470708B (en) * | 2020-11-16 | 2022-01-11 | 江苏大学 | Robot picking and recycling system and operation method for mandarin orange fruits |
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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: 20181116 |