CN208143857U - It is classified slowdown type fruit picking - Google Patents

Abstract

A kind of classification slowdown type fruit picking includes picking mechanism, fruit grading deceleration transfer device, rack, collecting box, the fruit grading deceleration transfer device is mounted on the rack, and it is located at the lower section of picking mechanism, rack is equipped with support platform, to hold collecting box, the open upper end of collecting box and it is connected to the lower end of fruit grading deceleration transfer device.The picking mechanism includes mechanical claw assembly, gripper bracket, traction component, the machinery claw assembly includes at least three mechanical fingers, mechanical finger is uniformly arranged on gripper bracket, mechanical finger includes first knuckle, second knuckle, third knuckle, traction component includes the first draw bar, second draw bar, third draw bar, first traction rope, gripper bracket is ring-type, the lower end of gripper bracket is connected to fruit transfer device, the fruit picked successively is passed through gripper bracket, fruit transfer device enters collecting box, the rack includes angle adjusting mechanism, walker.

Description

It is classified slowdown type fruit picking

Technical field

The utility model relates to fruit picking technical field more particularly to a kind of classification slowdown type fruit pickings.

Background technique

The trunk of many fruit is relatively high, while fruit type is larger, and picking is more difficult.Such as coconut, durian, shaddock. If efficiency is relatively low by being picked by hand.The prior art also has the example picked by manipulator.Example Such as, application No. is 201310381637.5, technical solution that the Chinese invention patent of entitled " a kind of coconut picking machine " uses For：A kind of coconut picking machine, including swing arm unit, the swing arm driving component for driving swing arm unit, coconut picking machine is also wrapped A picking handgrip is included, picking handgrip is connected by the upper end of machine head connecting rod and swing arm unit, and the picking handgrip is mounted on machine The front end of head connecting rod；The picking handgrip includes：Stepper motor, servo motor, lead screw, conical sliding sleeve, cylinder step are sliding Set, interior hand is grabbed, the right-hand side is grabbed, bearing；The shaft of one end connection stepper motor of the lead screw, the cone sliding sleeve and cylinder table Rank sliding sleeve is set in the middle part of lead screw, conical sliding sleeve and cylinder step sliding sleeve and threads of lead screw cooperates；Before the right-hand side is grabbed The portion of grabbing is hinged to the outer ring of bearing, and the rear end that the right-hand side is grabbed and the conical surface of conical sliding sleeve are connect by ball sliding Touching；The interior hand is grabbed portion and is rotatablely connected by the pin shaft being fixed in bearing inner ring before grabbing, the rear end and cylinder that interior hand is grabbed The intrados sliding contact of step sliding sleeve；The shaft of the servo motor and the inner ring of bearing connect, and interior hand is driven to grab rotation.

Above scheme is twisted into two parts base of fruit by the cooperation of interior handgrip and outer handgrip, avoids artificial climbing picking, picking The danger of rounding machine cutter cutting picking, improves picking operational security.But the program one coconut of every picking just needs to pass through The flexible of hydraulic system carries coconut, and efficiency is lower and higher cost.The interior handgrip and outer handgrip of above scheme simultaneously The cavity of formation is column, but fruit is generally in olive shape or pyriform, therefore grabs process and inconvenient.

Summary of the invention

In view of this, a kind of it is necessary to provide structures simple, efficient work classification slowdown type fruit picking.

A kind of classification slowdown type fruit picking includes picking mechanism, fruit grading deceleration transfer device, rack, collection The lower end of case, the picking mechanism is fixedly connected with the upper end of fruit grading deceleration transfer device, fruit grading deceleration transfer Structure is arranged on the rack, and rack is additionally provided with support platform, to hold collecting box, the open upper end of collecting box and is subtracted with fruit grading The lower end of fast transfer device is connected to, and the picking mechanism includes mechanical claw assembly, gripper bracket, traction component, the machinery Claw assembly includes at least three mechanical fingers, and the mechanical finger is uniformly arranged on gripper bracket, and mechanical finger includes the One finger joint, second knuckle, third knuckle, the lower end of first knuckle and the upper end of second knuckle are hinged, the lower end of second knuckle and The upper end of third knuckle is hinged, and the lower end of third knuckle and the upper end of gripper bracket are hinged, and traction component includes the first traction Bar, the second draw bar, third draw bar, the first traction rope, the upper end of the first draw bar and the lower end of first knuckle are hinged, and first The lower end of draw bar and the first end of the second draw bar are hinged, and the second end of the second draw bar and the lower end of second knuckle are hinged, Second knuckle, third knuckle, the second draw bar have the same hinged shaft, the lower end of the first draw bar also with third draw bar Upper end it is hinged, first knuckle, second knuckle, the first draw bar, the second draw bar constitute four-bar linkage, second knuckle, Third knuckle, the second draw bar, third draw bar constitute four-bar linkage, the lower end of third draw bar and the first traction rope Upper end connection, to drive the movement of third draw bar by the first traction rope, so that first knuckle, second knuckle, third be driven to refer to Section rotation, to complete the crawl to fruit, the gripper bracket is ring-type, and lower end and the fruit grading of gripper bracket subtract Fast transfer device connection, successively passes through gripper bracket for the fruit picked, fruit grading deceleration transfer device enters receipts Header, the rack include angle adjusting mechanism, walker, and the angle adjusting mechanism is arranged on walker, angular adjustment The lower end of mechanism is equipped with shaft, and the upper end of walker is equipped with the bearing matched, and the shaft of angle adjusting mechanism is set in walking On frame, so that angle adjusting mechanism horizontally rotates on walker.

Preferably, the gripper bracket includes level-one fixed ring, leading axle, secondary activities ring, three-level connection ring, level-one Fixed ring is hinged with mechanical finger, and level-one fixed ring is fixedly connected with the upper end of leading axle, and secondary activities ring set is located at leading axle On, secondary activities ring is also hinged with third draw bar, and third draw bar is located at the inside of level-one fixed ring, on secondary activities ring Equipped with the first traction hangers, the first traction rope is fixedly connected with the first traction hangers, to drive second level living by the first traction rope Rotating ring is moved downward along leading axle, so that mechanical finger be made to collapse, the first spring, the first traction rope band are also arranged on leading axle When dynamic secondary activities ring moves downward, the first spring is in contraction state, after the first traction rope unclamps, the first spring reset, and It drives secondary activities ring to move upwards, opens mechanical finger.

Preferably, the gripper bracket further includes wrist swivel becket, and the wrist swivel becket is located at three-level connection ring The both ends of lower section, wrist swivel becket tilt, and wrist swivel becket is made to form two tops faced and two bottoms faced, The top of wrist swivel becket and three-level connection ring are hinged, which is top hinge joint；The bottom of wrist swivel becket and water Fruit classification deceleration transfer device is hinged, which is bottom hinge joint, is additionally provided with the second traction at the top of wrist swivel becket Hangers, the second traction hangers are equipped with the second traction rope, to make wrist swivel becket drive three cascades by stretching the second traction rope The bottom hinge joint that ring and level-one fixed ring are connect around wrist swivel becket rotates, and is additionally provided with the second bullet at the top of wrist swivel becket Spring is fixedly connected at the top of the upper end of second spring and wrist swivel becket, and the lower end of wrist swivel becket and fruit grading, which slow down, to be turned Telephone-moving structure is fixedly connected, so that wrist swivel becket can set back after the pulling of the second traction rope；The bottom of wrist swivel becket The three-level connection ring of the surface of portion's hinge joint is equipped with third and draws hangers, and third draws hangers and is equipped with third traction rope, To drive three-level connection ring and level-one fixed ring to turn around the top hinge joint of wrist swivel becket by stretching third traction rope Dynamic, the bottom of wrist swivel becket is additionally provided with third spring, and the upper end of third spring is fixedly connected with three-level connection ring, third spring Lower end be fixedly connected with the bottom of wrist swivel becket so that wrist swivel becket can restore former after the pulling of third traction rope Position.

Preferably, the fruit grading deceleration transfer device includes two section transfer passages, several cushions, and the conveying of two sections is logical The side in road is hinged, and the other side of two section transfer passages is equipped with pin hole, and when needing fruit-picking, two section transfer passages are by inserting Pin is fixedly connected, and when fruit picking leaves unused, two section transfer passages are folded, and the upper end of the transfer passage of top and wrist rotate Ring is hinged, and the lower end of the transfer passage of lower section is located at the surface of collecting box, cushion be uniformly arranged in transfer passage and with The side wall of transfer passage is fixedly connected, and the centre of cushion is equipped with cushion hole, so that fruit passes through, the edge of cushion hole is equipped with umbrella The protrusion of skirt, protrusion on be uniformly arranged several strias, to be buffered to fruit.

Preferably, the inner wall of the transfer passage is set there are three support column, the areas that three support round hearts of column section surround Domain is equilateral triangle, and the corresponding shape of cushion is also triangle, and the corner of cushion is equipped with to be formed with three support columns The hole of three full skirt shapes of secure fit makes fruit in descent to increase the friction of cushion and support column, will not make Cushion is relatively moved with support column, while the corner in the hole of three full skirt shapes is provided with notch, replacement easy to disassemble.

Preferably, the classification slowdown type fruit picking further includes traction rope control mechanism, to facilitate control first to lead Messenger, the second traction rope, third traction rope, the traction rope control mechanism include guide the first traction rope the first guiding tube, Guide the second guiding tube, the fixed bracket, movable support, drag spring thimble, second handle of the second traction rope and third traction rope, institute It states the first guiding tube and the second guiding tube is arranged on the side wall of transfer passage, fixed bracket is fixedly connected with rack, fixed branch It is provided with the first guide hole, the first guide hole direction is downward, and the upper end of movable support is column and is set in support bracket fastened the In one guide hole, so that movable support horizontally rotates in the first guide hole, the lower end of movable support is equipped with the second guide hole, the Two guide hole directions are horizontal, and the first end of drag spring thimble is hinged by the second guide hole and movable support, so that on drag spring thimble Lower movement, the second end of drag spring thimble are equipped with guidance disk, guide disk and drag spring thimble coaxial, the first traction rope, the second traction rope It is fixedly connected with guidance disk, to horizontally rotate or rotate upwardly and downwardly the first traction rope of stretching or the second traction by drag spring thimble Rope, second handle are set in drag spring thimble, and the first end of second handle is fixedly connected with the first traction rope, to pass through second-hand Back-and-forth motion of the handle in drag spring thimble stretches the first traction rope.

Preferably, the angle adjusting mechanism includes support platform, worm bearing, worm screw, third handle, worm gear, limitation Frame, the lower end of support platform is equipped with the shaft matched with the bearing of walker, so that support platform rotates, worm bearing setting In support platform, the both ends of worm bearing are equipped with bearing, and worm screw is set on the bearing of worm bearing, one end of worm bearing Equipped with driven wheel of differential, one end of corresponding third handle is equipped with drive bevel gear, and worm screw rotation is driven when third handle rotates, The top of worm screw is arranged in worm gear, and engages and connect with worm screw with me, and the shaft of worm gear is fixedly connected with the side of limit frame, snail Worm gear rotation is driven when bar rotates, so that limit frame be driven to rotate upwardly and downwardly, fruit grading deceleration transfer device is set in limit frame In, and be fixedly connected with limit frame, to adjust the inclination angle of fruit grading deceleration transfer device.

Preferably, the classification slowdown type fruit picking further includes height adjustment mechanism, to adjust fruit grading deceleration The height of transfer device, the height adjustment mechanism include the 4th handle, the second pawl, the second ratchet, the 4th traction rope, first Pulley, second pulley, the 4th handle and the second pawl are arranged on the rack, and the second pawl is matched with the second ratchet, with Rotate the second ratchet one-way, the side of the shaft of the second ratchet is fixedly connected with the 4th handle, the shaft of the second ratchet it is another Side is fixedly connected with the first end of the 4th traction rope, and to wind the 4th traction rope, the second end of the 4th traction rope is successively bypassed First pulley and second pulley are simultaneously fixedly connected with second pulley, and the bottom of fruit grading deceleration transfer device is arranged in first pulley Portion, second pulley are arranged on the rack, described to adjust the height of fruit grading deceleration transfer device by the 4th handle of rotation The inside of limit frame is equipped with guide rail wheel, and the side wall of fruit grading deceleration transfer device is equipped with the guide rail matched, so that fruit Classification deceleration transfer device moves up and down in limit frame.

Beneficial effect：The classification slowdown type fruit picking of the utility model includes picking mechanism, fruit grading deceleration turn Telephone-moving structure, rack, collecting box, picking mechanism include mechanical claw assembly, gripper bracket, traction component, pass through traction component band Motivation machinery claw component movement can more neatly pick fruit from tree, and be slowed down transfer by fruit grading Structure is transported in collecting box.Gripper bracket is cyclic annular, and the cooperation of traction component, so that the fruit picked is passing through water Fruit does not hinder when being classified deceleration transfer device, improves picking efficiency.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the classification slowdown type fruit picking of the utility model.

Fig. 2 is the structural representation of a preferred angle of the picking mechanism of the classification slowdown type fruit picking of the utility model Figure.

Fig. 3 is the structural representation of another angle of the picking mechanism of the classification slowdown type fruit picking of the utility model Figure.

Fig. 4 is a partial structural diagram of the classification slowdown type fruit picking of the utility model.

Fig. 5 is another partial structural diagram of the classification slowdown type fruit picking of the utility model.

Fig. 6 is another partial structural diagram of the classification slowdown type fruit picking of the utility model.

Fig. 7 is the structural schematic diagram of the cushion of the classification slowdown type fruit picking of the utility model.

Fig. 8 is the working principle diagram of the height adjusting structure of the classification slowdown type fruit picking of the utility model.

In figure：Fruit picking 10, picking mechanism 20, mechanical claw assembly 201, mechanical finger 2011, first knuckle 2012, Second knuckle 2013, third knuckle 2014, gripper bracket 202, level-one fixed ring 2021, leading axle 2022, the first spring 2023, secondary activities ring 2024, first draws hangers 2025, three-level connection ring 2026, wrist swivel becket 2027, top hinge joint 20271, bottom hinge joint 20272, second draws hangers 20273, the second traction rope 20274, third traction hangers 20275, the Three traction ropes 20276, traction component 203, the first draw bar 2031, the second draw bar 2032, third draw bar 2033, first are led It is messenger 2034, fruit grading deceleration transfer device 30, transfer passage 301, cushion 302, cushion hole 3021, protrusion 3022, thin Slot 3023, rack 40, traction rope control mechanism 50, fixed bracket 501, the first guide hole 5011, movable support 502, second are drawn Guide hole 5021, drag spring thimble 503, guidance disk 5031, second handle 504, angle adjusting mechanism 60, support platform 601, worm screw branch Seat 602, worm screw 603, third handle 604, worm gear 605, limit frame 606, height adjustment mechanism 70, the 4th handle 701, the second spine Pawl 702, the second ratchet 703, the 4th traction rope 704, first pulley 705, second pulley 706.

Specific embodiment

It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the utility model, for this For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others Attached drawing.

Fig. 1 to Fig. 8 is please referred to, classification slowdown type fruit picking 10 includes picking mechanism 20, fruit grading deceleration transfer Mechanism 30, rack 40, collecting box, the fixed company in the lower end of the picking mechanism 20 and the upper end of fruit grading deceleration transfer device 30 It connecing, fruit grading deceleration transfer device 30 is arranged in rack 40, and rack 40 is additionally provided with support platform 601, to hold collecting box, It the open upper end of collecting box and is connected to the lower end of fruit grading deceleration transfer device 30, the picking mechanism 20 includes gripper Component 201, gripper bracket 202, traction component 203, the machinery claw assembly 201 includes at least three mechanical fingers 2011, The mechanical finger 2011 is uniformly arranged on gripper bracket 202, and mechanical finger 2011 refers to including first knuckle 2012, second 2013, third knuckle 2014 are saved, the lower end of first knuckle 2012 and the upper end of second knuckle 2013 are hinged, second knuckle 2013 Lower end and the upper end of third knuckle 2014 are hinged, and the lower end of third knuckle 2014 and the upper end of gripper bracket 202 are hinged, traction Component 203 includes the first draw bar 2031, the second draw bar 2032, third draw bar 2033, the first traction rope 2034, and first leads The upper end for drawing bar 2031 and the lower end of first knuckle 2012 are hinged, the lower end of the first draw bar 2031 and the second draw bar 2032 First end is hinged, and the second end of the second draw bar 2032 and the lower end of second knuckle 2013 are hinged, and second knuckle 2013, third refer to Save the 2014, second draw bar 2032 have the same hinged shaft, the lower end of the first draw bar 2031 also with third draw bar 2033 upper end is hinged, and first knuckle 2012, second knuckle 2013, the first draw bar 2031, the second draw bar 2032 constitute flat Face four-bar mechanism, second knuckle 2013, third knuckle 2014, the second draw bar 2032, third draw bar 2033 constitute plane four Linkage, the lower end of third draw bar 2033 are connect with the upper end of the first traction rope 2034, to pass through 2034 band of the first traction rope Dynamic third draw bar 2033 moves, so that first knuckle 2012, second knuckle 2013, third knuckle 2014 is driven to rotate, thus The crawl to fruit is completed, the gripper bracket 202 is ring-type, and the lower end of gripper bracket 202 and fruit grading, which slow down, to be turned Telephone-moving structure 30 is connected to, and the fruit picked successively is passed through gripper bracket 202, fruit grading deceleration transfer device 30 enters Collecting box.

In a better embodiment, mechanical claw assembly 201 includes four mechanical fingers 2011, four mechanical fingers 2011 It is uniformly arranged on gripper bracket 202, the finger that two of them face is long finger, other two just opposite finger is It cuts off the hands finger, so that gripper is more stable when grasping fruit.

The mechanical finger 2011 of the classification slowdown type fruit picking 10 of the utility model includes first knuckle 2012, second Finger joint 2013, third knuckle 2014, two adjacent knucklejoints, therefore mechanical finger 2011 are more flexible, mechanical finger 2011 are drawn by traction component 203, and traction component 203 includes the first draw bar 2031, the second draw bar 2032, third traction Bar 2033, the first traction rope 2034, hitch frame can be to not similar shapes by the cooperation of mechanical finger 2011 and traction component 203 Shape and the fruit of size are picked, and the range of fruit picking is larger, and adaptability is stronger.Traction component 203 is capable of forming itself The cavity for adjusting space size, is conducive to fruit and passes through from traction component 203, it is not easy to block, pass through draw groups After part 203, gripper bracket 202 is ring-type, therefore also can smoothly be passed through from gripper bracket 202, and then falls into fruit point In grade deceleration transfer device 30, it is delivered in collecting box eventually by fruit grading deceleration transfer device 30.

Further, the gripper bracket 202 includes level-one fixed ring 2021, leading axle 2022, secondary activities ring 2024, three-level connection ring 2026, level-one fixed ring 2021 and mechanical finger 2011 are hinged, level-one fixed ring 2021 and leading axle 2022 upper end is fixedly connected, and secondary activities ring 2024 is set on leading axle 2022, and secondary activities ring 2024 is also led with third It is hinged to draw bar 2033, and third draw bar 2033 is located at the inside of level-one fixed ring 2021, secondary activities ring 2024 is equipped with the One traction hangers 2025, the first traction rope 2034 is fixedly connected with the first traction hangers 2025, to pass through the first traction rope 2034 Secondary activities ring 2024 is driven to move downward along leading axle 2022, to make mechanical finger 2011 collapse, on leading axle 2022 It is also arranged the first spring 2023, when the first traction rope 2034 drives secondary activities ring 2024 to move downward, at the first spring 2023 In contraction state, after the first traction rope 2034 unclamps, the first spring 2023 resets, and secondary activities ring 2024 is driven to transport upwards It is dynamic, open mechanical finger 2011.

First traction rope 2034 during moving downward, first collapses mechanical finger 2011, not to mechanical finger 2011 When carrying out gathering movement again, continue to pull the first traction rope 2034, mechanical finger 2011 will move downward, to drop fruit It moves downward, completes picking.After picking, the first traction rope 2034 is unclamped, the first spring 2023 resets, mechanical finger 2011 It opens.

Further, the gripper bracket 202 further includes wrist swivel becket 2027, and the wrist swivel becket 2027 is located at The both ends of the lower section of three-level connection ring 2026, wrist swivel becket 2027 tilt, and so that wrist swivel becket 2027 is formed two and face Top and two bottoms faced, the top of wrist swivel becket 2027 and three-level connection ring 2026 are hinged, the articulated position For top hinge joint 20271；The bottom of wrist swivel becket 2027 and fruit grading deceleration transfer device 30 are hinged, the articulated position For bottom hinge joint 20272, the top of wrist swivel becket 2027 is additionally provided with the second traction hangers 20273, the second traction hangers 20273 are equipped with the second traction rope 20274, to make wrist swivel becket 2027 drive three-level by stretching the second traction rope 20274 Connection ring 2026 and level-one fixed ring 2021 are rotated around the bottom hinge joint 20272 of wrist swivel becket 2027, wrist rotation The top of ring 2027 is additionally provided with second spring, and the upper end of second spring is fixedly connected with the top of wrist swivel becket 2027, wrist The lower end of swivel becket 2027 is fixedly connected with fruit grading deceleration transfer device 30, so that wrist swivel becket 2027 is in the second traction It can set back after the pulling of rope 20274；The three-level of the surface of the bottom hinge joint 20272 of wrist swivel becket 2027 connects Ring 2026 is equipped with third and draws hangers 20275, and third draws hangers 20275 and is equipped with third traction rope 20276, is drawn with passing through Stretching third traction rope 20276 drives three-level connection ring 2026 and level-one fixed ring 2021 around the top of wrist swivel becket 2027 Hinge joint 20271 rotates, and the bottom of wrist swivel becket 2027 is additionally provided with third spring, the upper end of third spring and three-level connection ring 2026 are fixedly connected, and the lower end of third spring is fixedly connected with the bottom of wrist swivel becket 2027, so that wrist swivel becket 2027 It can set back after the pulling of third traction rope 20276.

By wrist swivel becket 2027, three-level swivel becket, fruit grading deceleration transfer device 30, the second traction rope 20274, The cooperation of third traction rope 20276, second spring, third spring, can make gripper rack 40 as wrist all around It shakes, to be more favorable for fruit picking.

Further, the fruit grading deceleration transfer device 30 includes two section transfer passages 301, several cushions 302, The side of two section transfer passages 301 is hinged, and the other side of two section transfer passages 301 is equipped with pin hole, when needing fruit-picking, two Section transfer passage 301 be fixedly connected by bolt, when fruit picking leaves unused, two section transfer passages 301 fold, top it is defeated Send upper end and the wrist swivel becket 2027 in channel 301 hinged, the lower end of the transfer passage 301 of lower section be located at collecting box just on Side, cushion 302 are uniformly arranged in transfer passage 301 and are fixedly connected with the side wall of transfer passage 301, cushion 302 Centre is equipped with cushion hole 3021, so that fruit passes through, the edge of cushion hole 3021 is equipped with the protrusion 3022 of full skirt shape, protrusion 3022 On be uniformly arranged several strias 3023, to be buffered to fruit.

In a better embodiment, the inner wall of transfer passage is set there are three support column, and the section of three support columns surrounds Region be equilateral triangle, the corresponding shape of cushion is triangle, and the corner of cushion sets the hole there are three full skirt shape, To increase the friction of cushion and support column, make fruit in descent, will not make cushion and support column that opposite move occur It is dynamic, while the corner in the hole of three full skirt shapes is provided with notch, replacement easy to disassemble.

Further, the classification slowdown type fruit picking 10 further includes traction rope control mechanism 50, to facilitate control First traction rope 2034, the second traction rope 20274, third traction rope 20276, the traction rope control mechanism 50 include guidance the First guiding tube of one traction rope 2034, is consolidated the second guiding tube for guiding the second traction rope 20274 and third traction rope 20276 Fixed rack 501, movable support 502, drag spring thimble 503, second handle 504, first guiding tube and the setting of the second guiding tube On the side wall of transfer passage 301, fixed bracket 501 is fixedly connected with rack 40, and fixed bracket 501 is equipped with the first guide hole 5011,5011 direction of the first guide hole is downward, and the upper end of movable support 502 is column and is set in the first of fixed bracket 501 In guide hole 5011, so that movable support 502 horizontally rotates in the first guide hole 5011, the lower end of movable support 502 is equipped with Second guide hole 5021,5021 direction of the second guide hole are horizontal, the first end of drag spring thimble 503 by the second guide hole 5021 with Movable support 502 is hinged, so that drag spring thimble 503 moves up and down, the second end of drag spring thimble 503 is equipped with guidance disk 5031, draws Godet 5031 and drag spring thimble 503 are coaxial, and the first traction rope 2034, the second traction rope 20274 are fixedly connected with guidance disk 5031, With horizontally rotating or rotating upwardly and downwardly and stretch the first traction rope 2034 or the second traction rope 20274 by drag spring thimble 503, second Handle 504 is set in drag spring thimble 503, and the first end of second handle 504 is fixedly connected with the first traction rope 2034, to pass through Back-and-forth motion of the second handle 504 in drag spring thimble 503 stretches the first traction rope 2034.

By operating traction rope control mechanism 50, the picking to fruit can be readily achieved.If will be to gripper group Part 201 carries out gathering movement, then just operation second handle 504 moves backward in drag spring thimble 503, tightens the first traction rope 2034, so that mechanical claw assembly 201 is shunk, further moves downward mechanical claw assembly 201, fruit is picked.Such as Fruit carpopodium is more solid, then just operation second handle 504 drives traction sleeve to rotate up and down, so shakes gripper group Part 201, so that mechanical claw assembly 201 is movable as wrist, in favor of picking.

Further, the angle adjusting mechanism 60 includes support platform 601,603 support 602 of worm screw, worm screw 603, the Three handles 604, worm gear 605, limit frame 606, the lower end of support platform 601 are equipped with the shaft matched with the bearing of walker, So that support platform 601 rotates, 603 support 602 of worm screw is arranged in support platform 601, and the both ends of 603 support 602 of worm screw are set There is bearing, worm screw 603 is set on the bearing of 603 support 602 of worm screw, and one end of 603 support 602 of worm screw is equipped with from mantle tooth Wheel, one end of corresponding third handle 604 are equipped with drive bevel gear, drive worm screw 603 to rotate when third handle 604 rotates, snail The top of worm screw 603 is arranged in wheel 605, and engages and connect with worm screw 603 with me, the shaft of worm gear 605 and the side of limit frame 606 While being fixedly connected, worm gear 605 is driven to rotate when worm screw 603 rotates, so that limit frame 606 be driven to rotate upwardly and downwardly, fruit grading subtracts Fast transfer device 30 is set in limit frame 606, and is fixedly connected with limit frame 606, to adjust fruit grading deceleration transfer The inclination angle of structure 30.

Further, the classification slowdown type fruit picking 10 further includes height adjustment mechanism 70, to adjust fruit point The height of grade deceleration transfer device 30, the height adjustment mechanism 70 include the 4th handle 701, the second pawl 702, the second ratchet 703, the 4th traction rope 704, first pulley 705, second pulley 706, the 4th handle 701 and the setting of the second pawl 702 exist In rack 40, the second pawl 702 is matched with the second ratchet 703, so that the second ratchet 703 one-directionally rotates, the second ratchet 703 The side of shaft is fixedly connected with the 4th handle 701, and the of the other side of the shaft of the second ratchet 703 and the 4th traction rope 704 One end is fixedly connected, and to wind the 4th traction rope 704, the second end of the 4th traction rope 704 successively bypasses first pulley 705 and Two pulleys 706 are simultaneously fixedly connected with second pulley 706, and the bottom of fruit grading deceleration transfer device 30 is arranged in first pulley 705 Portion, second pulley 706 are arranged in rack 40, to adjust fruit grading deceleration transfer device 30 by the 4th handle 701 of rotation Height, the inside of the limit frame 606 is equipped with guide rail wheel, and the side wall of fruit grading deceleration transfer device 30, which is equipped with, to be matched Guide rail so that fruit grading deceleration transfer device 30 moves up and down in limit frame 606.

Above disclosures are merely preferred embodiments of the utility model, the utility model cannot be limited with this certainly Interest field, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and according to this reality The equivalent variations made by novel claim, still falls within the scope of the utility model.

Claims (8)

1. a kind of classification slowdown type fruit picking, it is characterised in that：Including picking mechanism, fruit grading deceleration transfer device, The lower end of rack, collecting box, the picking mechanism is fixedly connected with the upper end of fruit grading deceleration transfer device, and fruit grading subtracts Fast transfer device is arranged on the rack, and rack is additionally provided with support platform, to hold collecting box, the open upper end of collecting box and and water Fruit is classified the lower end connection of deceleration transfer device, and the picking mechanism includes mechanical claw assembly, gripper bracket, traction component, The machinery claw assembly includes at least three mechanical fingers, and the mechanical finger is uniformly arranged on gripper bracket, manipulator Refer to include first knuckle, second knuckle, third knuckle, the lower end of first knuckle and the upper end of second knuckle are hinged, second knuckle Lower end and third knuckle upper end it is hinged, the lower end of third knuckle and the upper end of gripper bracket are hinged, and traction component includes First draw bar, the second draw bar, third draw bar, the first traction rope, the upper end of the first draw bar and the lower end of first knuckle Hingedly, the lower end of the first draw bar and the first end of the second draw bar are hinged, the second end of the second draw bar and second knuckle Lower end is hinged, second knuckle, third knuckle, the second draw bar have the same hinged shaft, the lower end of the first draw bar also with The upper end of third draw bar is hinged, and first knuckle, second knuckle, the first draw bar, the second draw bar constitute four-bar linkage, Second knuckle, third knuckle, the second draw bar, third draw bar constitute four-bar linkage, the lower end of third draw bar and the The upper end of one traction rope connects, to drive the movement of third draw bar by the first traction rope, so that first knuckle, second be driven to refer to Section, third knuckle rotation, to complete crawl to fruit, the gripper bracket is ring-type, the lower end of gripper bracket with The fruit picked successively is passed through gripper bracket by the connection of fruit grading deceleration transfer device, fruit grading slows down and shifts Mechanism enters collecting box, and the rack includes angle adjusting mechanism, walker, and the angle adjusting mechanism is arranged in walker On, the lower end of angle adjusting mechanism is equipped with shaft, and the upper end of walker is equipped with the bearing matched, the shaft of angle adjusting mechanism It is set on walker, so that angle adjusting mechanism horizontally rotates on walker.

2. classification slowdown type fruit picking as described in claim 1, it is characterised in that：The gripper bracket includes level-one Fixed ring, leading axle, secondary activities ring, three-level connection ring, level-one fixed ring and mechanical finger are hinged, level-one fixed ring and guidance The upper end of axis is fixedly connected, and secondary activities ring set is located on leading axle, and secondary activities ring is also hinged with third draw bar, and third Draw bar is located at the inside of level-one fixed ring, and secondary activities ring is equipped with the first traction hangers, the first traction rope and the first traction Hangers is fixedly connected, to drive secondary activities ring to move downward along leading axle by the first traction rope, to make mechanical finger It collapses, the first spring is also arranged on leading axle, when the first traction rope drives secondary activities ring to move downward, the first spring, which is in, to be received Contracting state, after the first traction rope unclamps, the first spring reset, and secondary activities ring is driven to move upwards, open mechanical finger.

3. classification slowdown type fruit picking as claimed in claim 2, it is characterised in that：The gripper bracket further includes wrist Portion's swivel becket, the wrist swivel becket are located at the lower section of three-level connection ring, and the both ends of wrist swivel becket tilt, and make wrist swivel becket Two tops faced and two bottoms faced are formed, the top of wrist swivel becket and three-level connection ring are hinged, the hinge Connecing position is top hinge joint；The bottom of wrist swivel becket and fruit grading deceleration transfer device are hinged, which is bottom Portion's hinge joint is additionally provided with the second traction hangers at the top of wrist swivel becket, and the second traction hangers is equipped with the second traction rope, with logical The second traction rope of overstretching makes wrist swivel becket drive three-level connection ring and level-one fixed ring around the bottom of wrist swivel becket Hinge joint rotates, and second spring is additionally provided at the top of wrist swivel becket, and the upper end of second spring and the top of wrist swivel becket are solid Fixed connection, the lower end of wrist swivel becket is fixedly connected with fruit grading deceleration transfer device, so that wrist swivel becket is led second It can set back after the pulling of messenger；The three-level connection ring of the surface of the bottom hinge joint of wrist swivel becket is equipped with third Draw hangers, third draw hangers be equipped with third traction rope, with by stretch third traction rope drive three-level connection ring and Level-one fixed ring is rotated around the top hinge joint of wrist swivel becket, and the bottom of wrist swivel becket is additionally provided with third spring, third The upper end of spring is fixedly connected with three-level connection ring, and the lower end of third spring is fixedly connected with the bottom of wrist swivel becket, so that Wrist swivel becket can set back after the pulling of third traction rope.

4. classification slowdown type fruit picking as claimed in claim 3, it is characterised in that：The fruit grading deceleration transfer Structure includes two section transfer passages, several cushions, and the side of two section transfer passages is hinged, and the other side of two section transfer passages is equipped with Pin hole, when needing fruit-picking, two section transfer passages are fixedly connected by bolt, and when fruit picking leaves unused, two sections are defeated Channel is sent to fold, the upper end of the transfer passage of top and wrist swivel becket are hinged, and the lower end of the transfer passage of lower section, which is located at, collects The surface of case, cushion are uniformly arranged in transfer passage and are fixedly connected with the side wall of transfer passage, the centre of cushion Equipped with cushion hole, so that fruit passes through, the edge of cushion hole is equipped with the protrusion of full skirt shape, is uniformly arranged several strias in protrusion, To be buffered to fruit.

5. classification slowdown type fruit picking as claimed in claim 4, it is characterised in that：The inner wall of the transfer passage is equipped with Three support columns, the region that three support round hearts of column section surround is equilateral triangle, and the shape of cushion is corresponding to be also Triangle, the corner of cushion is equipped with the hole that three full skirt shapes of secure fit are formed with three support columns, to increase cushion With the friction of support column, make fruit in descent, cushion will not be made to relatively move with support column, while three umbrellas The corner in the hole of skirt is provided with notch, replacement easy to disassemble.

6. classification slowdown type fruit picking as claimed in claim 4, it is characterised in that：The classification slowdown type fruit picking Machine further includes traction rope control mechanism, to facilitate control the first traction rope, the second traction rope, third traction rope, the traction rope Control mechanism includes the second guidance of the first guiding tube for guiding the first traction rope, the second traction rope of guidance and third traction rope Pipe, fixed bracket, movable support, drag spring thimble, second handle, first guiding tube and the setting of the second guiding tube are logical in conveying On the side wall in road, fixed bracket is fixedly connected with rack, and fixed branch is provided with the first guide hole, and the first guide hole direction is downward, The upper end of movable support is column and is set in support bracket fastened first guide hole, so that movable support is in the first guide hole Horizontally rotate, the lower end of movable support is equipped with the second guide hole, and the second guide hole direction is horizontal, and the first end of drag spring thimble passes through Second guide hole and movable support are hinged, so that drag spring thimble moves up and down, the second end of drag spring thimble is equipped with guidance disk, guidance Disk is coaxial with drag spring thimble, and the first traction rope, the second traction rope are fixedly connected with guidance disk, to be turned by the level of drag spring thimble It is dynamic or rotate upwardly and downwardly and stretch the first traction rope or the second traction rope, second handle are set in drag spring thimble, the of second handle One end is fixedly connected with the first traction rope, to stretch the first traction rope by back-and-forth motion of the second handle in drag spring thimble.

7. classification slowdown type fruit picking as claimed in claim 6, it is characterised in that：The angle adjusting mechanism includes branch Platform, worm bearing, worm screw, third handle, worm gear, limit frame are supportted, the lower end of support platform is equipped with the bearing phase with walker The shaft of cooperation, so that support platform rotates, worm bearing is arranged in support platform, and the both ends of worm bearing are equipped with bearing, Worm screw is set on the bearing of worm bearing, and one end of worm bearing is equipped with driven wheel of differential, one end of corresponding third handle Worm screw rotation is driven equipped with drive bevel gear, when third handle rotates, the top of worm screw is arranged in worm gear, and nibbles with me with worm screw Connection is closed, the shaft of worm gear is fixedly connected with the side of limit frame, worm gear rotation is driven when worm screw rotates, to drive limit frame It rotates upwardly and downwardly, fruit grading deceleration transfer device is set in limit frame, and is fixedly connected with limit frame, to adjust fruit grading The inclination angle of deceleration transfer device.

8. classification slowdown type fruit picking as claimed in claim 7, it is characterised in that：The classification slowdown type fruit picking Machine further includes height adjustment mechanism, and to adjust the height of fruit grading deceleration transfer device, the height adjustment mechanism includes the Four handles, the second pawl, the second ratchet, the 4th traction rope, first pulley, second pulley, the 4th handle and the second pawl It being arranged on the rack, the second pawl is matched with the second ratchet, so that the second ratchet one-way rotates, the one of the shaft of the second ratchet Side is fixedly connected with the 4th handle, and the other side of the shaft of the second ratchet is fixedly connected with the first end of the 4th traction rope, to twine Around the 4th traction rope, the second end of the 4th traction rope, which successively bypasses first pulley and second pulley and fixes with second pulley, to be connected It connects, the bottom of fruit grading deceleration transfer device is arranged in first pulley, and second pulley is arranged on the rack, to pass through rotation the Four handles adjust the height of fruit grading deceleration transfer device, and the inside of the limit frame is equipped with guide rail wheel, and fruit grading slows down The side wall of transfer device is equipped with the guide rail matched, so that fruit grading deceleration transfer device moves up and down in limit frame.