CN208143854U - A kind of flexibility fruit picking apparatus - Google Patents
A kind of flexibility fruit picking apparatus Download PDFInfo
- Publication number
- CN208143854U CN208143854U CN201820467018.6U CN201820467018U CN208143854U CN 208143854 U CN208143854 U CN 208143854U CN 201820467018 U CN201820467018 U CN 201820467018U CN 208143854 U CN208143854 U CN 208143854U
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- hole
- bolt
- spud pile
- fruit
- workbench
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Abstract
The utility model discloses a kind of flexible fruit picking apparatus, to solve the problems such as existing fruit picking apparatus cuticular breakdown and the working efficiency that there is fruit to accept difficulty in picking process, collision generates are low.The utility model includes grabbing device, support device and gripper three parts, and wherein grabbing device, which is connected through a screw thread, is fixed in support device, and gripper is arranged on the tube wall of support device.The grabbing device of the utility model can wrap up the fruit of different size, it is flexible contact between fruit, firm grip and fruit will not be damaged, fruit is fallen into steadily in storage basket by multi-stage speed-reducing, reduce the labor intensity and human cost of orchard worker, picking efficiency is improved, is with a wide range of applications in terms of crops picker.
Description
Technical field
The utility model relates to a kind of flexible fruit picking apparatus, belong to crops picker technical field.
Background technique
Currently, orchard worker mainly passes through the modes such as instrument auxiliary of climbing tree or ascend a height in the fruit pickings link such as traditional peach
The fruit of eminence is picked.But aforesaid way can have the problems such as amount of labour is big, risk is high, picking efficiency is low；And
Easy fruit of damaging, reduces the quality of fruit, leads to not save for a long time, injury fruit tree minor matters is also easy, after influencing fruit tree
The yield of phase growth and fruit.
In view of the above problems, people design some fruit picking apparatus to realize and not have to upper tree and directly in ground progress water
Fruit picking.Existing fruit picking apparatus relatively mostly uses the structures such as cutter, collecting bag and gripper, accepts and is stranded there is the fruit of picking
The difficult, problems such as working efficiency is low, structure is many and diverse.Based on the above issues, the utility model devises a kind of flexible fruit and adopts
Pluck device.The device is easy to carry about with one, flexibility is high, is used conveniently and safely and not damaged to fruit, ensure that fruit quality.
Summary of the invention
It is broken to solve the existing fruit picking apparatus epidermis that there is fruit to accept difficulty in picking process, collision generates
It damages the problems such as low with working efficiency, the utility model discloses a kind of flexible fruit picking apparatus, leads for crops picker technology
Domain provides a kind of flexible operation, the device that work efficiency is high.
A kind of flexible fruit picking apparatus includes grabbing device, support device and gripper three parts；The crawl
Device, which is connected through a screw thread, to be fixed in support device, and the gripper is arranged on the tube wall of support device.
The grabbing device is provided with workbench, protective jacket, gripper components and bolt I, and the gripper components are circumferentially
In the outer wall of workbench, it is fastenedly connected by bolt I, it is close with the inner wall of workbench in the protective jacket insertion workbench
Fitting, damage when fruit being avoided to fall.
The workbench outer wall is milled with eight faces, is symmetrically provided with counter sink I, and the counter sink I is matched with bolt I
It closes, fixed gripper components is installed, the roof platform is located at the upper end of workbench, is coupled with the boss of protective jacket, described
The bottom end of workbench is provided with installation screw thread, and the installation screw thread is threadedly coupled with internal screw thread；The protective jacket outer wall is provided with
Eight faces, to the inner wall fitting with workbench, the boss is arranged in position of the protective jacket close to top, to fixed protection
Set；The gripper components include sketch plate, spud pile I, spud pile II, software manipulator, bolt II and bolt III, the fixation
Stake I and spud pile II are mounted on sketch plate by bolt II, and the software manipulator is caught between spud pile I and spud pile II
It in the inner cavity of formation, is fastened by bolt III, prevents software manipulator from channeling bit；Three faces of the sketch plate are respectively arranged with logical
Hole I is fixed on workbench, uniform cloth on the principal plane of the sketch plate to cooperate with counter sink I by bolt I
It is equipped with counter sink II, the counter sink II cooperates with spud pile I and spud pile II, installs and fasten by bolt II；The fixation
Stake I is provided with baffle I, through-hole II and through-hole III, and the baffle I prevents software manipulator from channeling bit, the bottom edge of the spud pile I and
Top is respectively equipped with through-hole II and through-hole III, and the through-hole II is coupled with bolt II, and the through-hole III cooperates with bolt III
Installation；The spud pile II is provided with baffle II, through-hole IV and through-hole V, and the baffle II prevents software manipulator from channeling bit, institute
The bottom edge and top for stating spud pile II are respectively equipped with through-hole IV and through-hole V, and the through-hole IV is coupled with bolt II, described
Through-hole V is coupled with bolt III；The software manipulator is provided with through-hole VI, blow vent and air bag, and the through-hole VI is located at
Board position is stretched out in the upper end of software manipulator, and the bottom end of software manipulator is arranged in the blow vent, for being connected to tracheae, institute
It states air bag to be arranged in the middle part of software manipulator, the bending of compressing software manipulator, realizes the purpose of crawl fruit after ventilation expansion；Institute
It states protective jacket and software manipulator is completed the production by elastic material encapsulating die.
The support device includes support arm, elastic pipeline and fan-shaped buffer board, and the support arm top is provided with interior spiral shell
Line is connected and fixed with installation screw thread, and the elastic pipeline packs into inside support arm, and the elastic pipeline inner wall is provided with
Multilayer speed ring, for slowing down fruits speed, described sector buffer board circumferential array four are used as one group, are bonded in respectively
Elastic pipeline upper and lower ends, the elastic pipeline and fan-shaped buffer board are made of elastic material；M is arranged in the elastic pipeline
Section, the sector buffer board are arranged N group, meet relational expression N=M+1, M >=1, to realize the purpose of multi-stage speed-reducing, avoid fruit
It is damaged when falling.
The gripper is provided with sleeve, supporting rod, floor and installation bolt, the side arrangement of the sleeve outer surface
There is floor, the floor is equipped with mounting hole, the mounting hole and installation bolt cooperation, for pre-tightening floor, is fixed on sleeve
On the outer wall of support arm, the supporting rod is fixed on the outer surface of sleeve, for allowing user to operate and grasping；It is described to grab
It holds there are two component layouts, the grasping angular range between the supporting rod of the two is at 100 ° ~ 150 °, value in the content of present invention
120°。
The utility model has the beneficial effects that：Air compressor of the utility model outside provides power, passes through tune
The uninterrupted of section input gas, can wrap up the fruit of different size, be flexible contact, clamping between fruit
Securely and fruit will not be damaged, and then fruit is completely picked；The fruit picking apparatus overall construction design is new
Grain husk, light weight are easy to carry about with one and flexibility is high, greatly reduce the labor intensity of orchard worker.
Detailed description of the invention
Fig. 1 show the utility model proposes a kind of flexible fruit picking apparatus structural schematic diagram；
Fig. 2 show the utility model proposes a kind of flexible fruit picking apparatus in grabbing device structural schematic diagram；
Fig. 3 show the utility model proposes a kind of flexible fruit picking apparatus in workbench structural schematic diagram；
Fig. 4 show the utility model proposes a kind of flexible fruit picking apparatus in protective jacket structural schematic diagram；
Fig. 5 show the utility model proposes a kind of flexible fruit picking apparatus in gripper components structural schematic diagram；
Fig. 6 show the utility model proposes a kind of flexible fruit picking apparatus in sketch plate structural schematic diagram；
Fig. 7 show the utility model proposes a kind of flexible fruit picking apparatus in spud pile I structural schematic diagram；
Fig. 8 show the utility model proposes a kind of flexible fruit picking apparatus in spud pile II structural schematic diagram；
Fig. 9 show the utility model proposes a kind of flexible fruit picking apparatus in software manipulator structural schematic diagram；
Figure 10 show the utility model proposes a kind of flexible fruit picking apparatus in support arm structural schematic diagram；
Figure 11 show the utility model proposes a kind of flexible fruit picking apparatus in elastic pipeline structural schematic diagram；
Figure 12 show the utility model proposes a kind of flexible fruit picking apparatus in fan-shaped buffer board structural schematic diagram；
Figure 13 show the utility model proposes a kind of flexible fruit picking apparatus in gripper structural schematic diagram.
Specific embodiment
Specific embodiment：Illustrate present embodiment in conjunction with Fig. 1 ~ Figure 13.
Present embodiments provide for a kind of specific embodiments of flexible fruit picking apparatus.A kind of flexible fruit picking
Device includes 3 three parts of grabbing device 1, support device 2 and gripper；The grabbing device 1 is connected through a screw thread installation and fixes
In support device 2, the gripper 3 is arranged on the tube wall of support device 2.
The grabbing device 1 is provided with workbench 1-1, I 1-4 of protective jacket 1-2, gripper components 1-3 and bolt, the crawl
Component 1-3 is arranged circumferentially in the outer wall of workbench 1-1, is fastenedly connected by I 1-4 of bolt, and the protective jacket 1-2 is embedded in workbench
In 1-1, fits closely with the inner wall of workbench 1-1, be damaged when fruit being avoided to fall.
The workbench 1-1 outer wall is milled with eight faces, is symmetrically provided with I 1-1-1 of counter sink, I 1- of counter sink
1-1 and I 1-4 of bolt cooperates, and installs fixed gripper components 1-3, roof platform 1-1-2 is located at the upper end of workbench 1-1, with protection
The boss 1-2-1 of set 1-2 is coupled, and the bottom end of the workbench 1-1 is provided with installation screw thread 1-1-3, the installation screw thread
1-1-3 is threadedly coupled with internal screw thread 2-1-1；The protective jacket 1-2 outer wall is provided with eight faces, to in workbench 1-1
Wall fitting, the boss 1-2-1 are arranged in protective jacket 1-2 close to the position on top, cover 1-2 to fixed protection；The crawl
Component 1-3 includes sketch plate 1-3-1, I 1-3-2 of spud pile, II 1-3-3 of spud pile, software manipulator 1-3-4, II 1-3-5 of bolt
Sketch plate 1-3-1 is mounted on by II 1-3-5 of bolt with III 1-3-6 of bolt, I 1-3-2 of spud pile and II 1-3-3 of spud pile
On, the software manipulator 1-3-4 is caught in the inner cavity formed between II 1-3-3 of I 1-3-2 of spud pile and spud pile, passes through spiral shell
III 1-3-6 of bolt fastening, prevents software manipulator 1-3-4 from channeling bit；Three faces of the sketch plate 1-3-1 are respectively arranged with through-hole I
1-3-1-1, I 1-3-1-1 of through-hole and I 1-1-1 of counter sink cooperation, install sketch plate 1-3-1 by I 1-4 of bolt and fix
On workbench 1-1, II 1-3-1-2 of counter sink, the counter sink II have been evenly arranged on the principal plane of the sketch plate 1-3-1
1-3-1-2 and I 1-3-2 of spud pile and II 1-3-3 of spud pile cooperates, and is installed and is fastened by II 1-3-5 of bolt；The spud pile I
1-3-2 is provided with III 1-3-2-3 of I 1-3-2-1 of baffle, II 1-3-2-2 of through-hole and through-hole, and I 1-3-2-1 of baffle prevents software
Manipulator 1-3-4 is channeled bit, and the bottom edge and top of I 1-3-2 of spud pile is respectively equipped with III 1-3- of II 1-3-2-2 of through-hole and through-hole
2-3, II 1-3-2-2 of through-hole and II 1-3-5 of bolt are coupled, and III 1-3-2-3 of through-hole and III 1-3-6 of bolt cooperate
Installation；II 1-3-3 of spud pile is provided with V 1-3-3-3 of II 1-3-3-1 of baffle, IV 1-3-3-2 of through-hole and through-hole, the gear
II 1-3-3-1 of plate prevents software manipulator 1-3-4 from channeling bit, and the bottom edge and top of II 1-3-3 of spud pile is respectively equipped with through-hole
IV 1-3-3-2 and through-hole V 1-3-3-3, IV 1-3-3-2 of through-hole and II 1-3-5 of bolt are coupled, V 1- of through-hole
3-3-3 is coupled with III 1-3-6 of bolt；The software manipulator 1-3-4 is provided with VI 1-3-4-1 of through-hole, blow vent 1-3-
4-2 and air bag 1-3-4-3, Board position is stretched out in the upper end that VI 1-3-4-1 of through-hole is located at software manipulator 1-3-4, described logical
The bottom end of software manipulator 1-3-4 is arranged in port 1-3-4-2, and for being connected to tracheae, the air bag 1-3-4-3 is arranged in soft
In the middle part of body manipulator 1-3-4, the bending of compressing software manipulator, realizes the purpose of crawl fruit after ventilation expansion；The protective jacket
1-2 and software manipulator 1-3-4 are completed the production by elastic material encapsulating die.
The support device 2 includes support arm 2-1, elastic pipeline 2-2 and fan-shaped buffer board 2-3, the top support arm 2-1
End is provided with internal screw thread 2-1-1, is threadedly coupled fixation with installation screw thread 1-1-3, the elastic pipeline 2-2 packs into support arm 2-
1 the inside, the elastic pipeline 2-2 inner wall are provided with decelerating ring 2-2-2, for slowing down fruits speed, the fan-shaped buffering
Plate 2-3 circumferential array four are used as one group, are bonded in elastic pipeline 2-2 upper and lower ends, the elastic pipeline 2-2 and sector respectively
Buffer board 2-3 is made of elastic material；The elastic pipeline 2-2 setting M is saved, and N group is arranged in the sector buffer board 2-3, full
Sufficient relational expression N=M+1, M >=1, thus realize the purpose of multi-stage speed-reducing, damage when fruit being avoided to fall.
The gripper 3 is provided with sleeve 3-1, supporting rod 3-2, floor 3-3 and installation bolt 3-4, the sleeve 3-1
The side of outer surface is disposed with floor 3-3, and the floor 3-3 is equipped with mounting hole 3-3-1, the mounting hole 3-3-1 and installation spiral shell
Bolt 3-4 cooperation is fixed on sleeve 3-1 on the outer wall of support arm 2-1, the supporting rod 3-2 installation for pre-tightening floor 3-3
It is fixed on the outer surface of sleeve 3-1, for allowing user to operate and grasping；There are two the arrangements of gripper 3, the folder of the two
Holding the grasping angular range between bar 3-2 is 100 ° ~ 150 °, 120 ° of value in present embodiment.
A kind of flexibility fruit picking apparatus designed by the utility model is passed through using external air compressor offer power
The uninterrupted for adjusting input gas, can wrap up the fruit of different size, the grabbing device 1 of this kind of fruit picking apparatus
It is flexible contact between fruit, firm grip and fruit will not be damaged, is detached from fruit by reversing gripper 3
Fruit tree falls into the pipeline of support device 2, and by the multi-stage speed-reducing of fan-shaped buffer board 2-3 and decelerating ring 2-2-2, fruit is steady
It falls into storage basket, completes a fruit collection process.The utility model overall construction design novelty, is easy to carry about with one at light weight
And flexibility is high, ensure that fruit quality, reduces the labor intensity and human cost of orchard worker, picking efficiency is improved, in agriculture
It is with a wide range of applications in terms of crop picker.
Claims (6)
1. a kind of flexibility fruit picking apparatus, it is characterised in that：The described fruit picking apparatus includes grabbing device（1）, support device
（2）And gripper（3）Three parts；The grabbing device（1）It is connected through a screw thread and is fixed on support device（2）On, institute
State gripper（3）It is arranged in support device（2）Tube wall on；The grabbing device（1）It is provided with workbench（1-1）, protection
Set（1-2）, gripper components（1-3）With bolt I（1-4）, the gripper components（1-3）It is arranged circumferentially in workbench（1-1）It is outer
Wall passes through bolt I（1-4）It is fastenedly connected, the protective jacket（1-2）It is embedded in workbench（1-1）It is interior, protective jacket（1-2）With work
Platform（1-1）Inner wall fit closely；The support device（2）Including support arm（2-1）, elastic pipeline（2-2）It is buffered with sector
Plate（2-3）；The gripper（3）It is provided with sleeve（3-1）, supporting rod（3-2）, floor（3-3）With installation bolt（3-4）.
2. a kind of flexible fruit picking apparatus according to claim 1, it is characterised in that：The workbench（1-1）Outer wall milling
There are eight faces, is symmetrically provided with counter sink I（1-1-1）, the counter sink I（1-1-1）With bolt I（1-4）Cooperation, installation
Fasten gripper components（1-3）, roof platform（1-1-2）Positioned at workbench（1-1）Upper end, with protective jacket（1-2）Boss（1-
2-1）It is coupled, the workbench（1-1）Bottom end be provided with installation screw thread（1-1-3）, the installation screw thread（1-1-3）With
Internal screw thread（2-1-1）It is threadedly coupled；The protective jacket（1-2）Outer wall is provided with eight faces, protective jacket（1-2）With workbench（1-
1）Inner wall fitting, the boss（1-2-1）It is arranged in protective jacket（1-2）Close to the position on top；The gripper components（1-3）
Including sketch plate（1-3-1）, spud pile I（1-3-2）, spud pile II（1-3-3）, software manipulator（1-3-4）, bolt II（1-
3-5）With bolt III（1-3-6）, the spud pile I（1-3-2）With spud pile II（1-3-3）Pass through bolt II（1-3-5）Installation
In sketch plate（1-3-1）On, the software manipulator（1-3-4）It is caught in spud pile I（1-3-2）With spud pile II（1-3-3）It
Between in the inner cavity that is formed, pass through bolt III（1-3-6）Fastening；The sketch plate（1-3-1）Three faces be respectively arranged with through-hole I
（1-3-1-1）, the through-hole I（1-3-1-1）With counter sink I（1-1-1）Cooperation, passes through bolt I（1-4）Sketch plate（1-3-
1）It is fixed on workbench（1-1）On, the sketch plate（1-3-1）Principal plane on be evenly arranged counter sink II（1-3-
1-2）, counter sink II（1-3-1-2）With spud pile I（1-3-2）With spud pile II（1-3-3）Cooperation, passes through bolt II（1-3-5）
Installation fastening；The spud pile I（1-3-2）It is provided with baffle I（1-3-2-1）, through-hole II（1-3-2-2）With through-hole III（1-3-
2-3）, the spud pile I（1-3-2）Bottom edge and top be respectively equipped with through-hole II（1-3-2-2）With through-hole III（1-3-2-3）,
The through-hole II（1-3-2-2）With bolt II（1-3-5）It is coupled, the through-hole III（1-3-2-3）With bolt III（1-3-6）
It is coupled；The spud pile II（1-3-3）It is provided with baffle II（1-3-3-1）, through-hole IV（1-3-3-2）With through-hole V（1-
3-3-3）, the spud pile II（1-3-3）Bottom edge and top be respectively equipped with through-hole IV（1-3-3-2）With through-hole V（1-3-3-
3）, the through-hole IV（1-3-3-2）With bolt II（1-3-5）It is coupled, the through-hole V（1-3-3-3）With bolt III（1-
3-6）It is coupled；The software manipulator（1-3-4）It is provided with through-hole VI（1-3-4-1）, blow vent（1-3-4-2）And air bag
（1-3-4-3）, the through-hole VI（1-3-4-1）Positioned at software manipulator（1-3-4）Upper end stretch out Board position, the blow vent
（1-3-4-2）It is arranged in software manipulator（1-3-4）Bottom end, the air bag（1-3-4-3）It is arranged in software manipulator（1-3-
4）Middle part.
3. a kind of flexible fruit picking apparatus according to claim 1, it is characterised in that：The protective jacket（1-2）And software
Manipulator（1-3-4）Material is elastic material.
4. a kind of flexible fruit picking apparatus according to claim 1, it is characterised in that：The support arm（2-1）Top is set
It is equipped with internal screw thread（2-1-1）, internal screw thread（2-1-1）With installation screw thread（1-1-3）It is threadedly coupled and fixes, the elastic pipeline（2-
2）Pack into support arm（2-1）The inside, the elastic pipeline（2-2）Inner wall is provided with decelerating ring（2-2-2）, the sector buffer board
（2-3）Circumferential array four are used as one group, are bonded in elastic pipeline respectively（2-2）Upper and lower ends, the elastic pipeline（2-2）If
Set M section, the sector buffer board（2-3）N group is set, relational expression N=M+1, M >=1 are met.
5. a kind of flexible fruit picking apparatus according to claim 1, it is characterised in that：The elastic pipeline（2-2）And fan
Shape buffer board（2-3）Material is elastic material.
6. a kind of flexible fruit picking apparatus according to claim 1, it is characterised in that：The sleeve（3-1）Outer surface
Side is disposed with floor（3-3）, the floor（3-3）Equipped with mounting hole（3-3-1）, the mounting hole（3-3-1）With installation spiral shell
Bolt（3-4）Cooperation, the supporting rod（3-2）It is fixed on sleeve（3-1）Outer surface；The gripper（3）It is disposed with
Two, two supporting rods（3-2）Between grasping angular range be 100 ° ~ 150 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820467018.6U CN208143854U (en) | 2018-04-04 | 2018-04-04 | A kind of flexibility fruit picking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820467018.6U CN208143854U (en) | 2018-04-04 | 2018-04-04 | A kind of flexibility fruit picking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208143854U true CN208143854U (en) | 2018-11-27 |
Family
ID=64380246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820467018.6U Expired - Fee Related CN208143854U (en) | 2018-04-04 | 2018-04-04 | A kind of flexibility fruit picking apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208143854U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553512A (en) * | 2017-10-12 | 2018-01-09 | 谷新运 | A kind of gasbag-type cucumber picking tool hand end effector and picking method |
| CN112720410A (en) * | 2020-12-25 | 2021-04-30 | 浙江理工大学 | Double-arm small fruit and vegetable harvesting robot |
| CN112930868A (en) * | 2021-03-30 | 2021-06-11 | 南京农业大学 | Flexible grasping and sucking type picking end effector for small spherical fruits and picking method thereof |
| CN112997692A (en) * | 2021-02-24 | 2021-06-22 | 湖州瑞讯机电设备有限公司 | Pneumatic picking equipment for agricultural fruit picking |
-
2018
- 2018-04-04 CN CN201820467018.6U patent/CN208143854U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553512A (en) * | 2017-10-12 | 2018-01-09 | 谷新运 | A kind of gasbag-type cucumber picking tool hand end effector and picking method |
| CN112720410A (en) * | 2020-12-25 | 2021-04-30 | 浙江理工大学 | Double-arm small fruit and vegetable harvesting robot |
| CN112997692A (en) * | 2021-02-24 | 2021-06-22 | 湖州瑞讯机电设备有限公司 | Pneumatic picking equipment for agricultural fruit picking |
| CN112930868A (en) * | 2021-03-30 | 2021-06-11 | 南京农业大学 | Flexible grasping and sucking type picking end effector for small spherical fruits and picking method thereof |
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| 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: 20181127 Termination date: 20190404 |