CN208370283U - A kind of apple-picking machinery hand - Google Patents
A kind of apple-picking machinery hand Download PDFInfo
- Publication number
- CN208370283U CN208370283U CN201821104189.9U CN201821104189U CN208370283U CN 208370283 U CN208370283 U CN 208370283U CN 201821104189 U CN201821104189 U CN 201821104189U CN 208370283 U CN208370283 U CN 208370283U
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- CN
- China
- Prior art keywords
- apple
- picking
- connecting rod
- frame
- sliding block
- 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
Links
- 235000013399 edible fruits Nutrition 0.000 abstract description 4
- 241000220225 Malus Species 0.000 description 32
- 238000000034 method Methods 0.000 description 4
- 238000012271 agricultural production Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model belongs to agricultural machinery technological field, and in particular to a kind of apple-picking machinery hand.The utility model discloses a kind of apple-picking machinery hands, including power mechanism and picking mechanism；The power mechanism provides power for the picking mechanism；The picking mechanism does pendulum motion to clamp apple；Predetermined angle is turned to after the picking mechanism clamping apple.A kind of apple-picking machinery hand provided by the utility model solves existing pulling formula fruits picking mechanical device bracing wire since the technical issues of fracture and interior bar can not reset easily occurs for improper use.
Description
Technical field
The utility model belongs to agricultural machinery technological field, and in particular to a kind of apple-picking machinery hand.
Background technique
Nowadays, mechanization, intellectualization times have been marched toward in terms of the agricultural production in China.The rule of China's agricultural production industry
Mould is increasing, and type is also more and more, so that the agricultural production in China is faced with bigger difficulty and is chosen in operation process
War.Currently, existing automatic apple device for picking on the market needs manpower to press based on still manually picking in China's apple-picking
Handle pulls down bracing wire or pulling down interior bar makes handgrip gather crawl apple, needs manpower to shut down apple after grabbing apple, is using
It will appear wire breakage in the process or situations such as interior bar can not reset.
Therefore solve to still need to manpower after grabbing apple in the prior art and shut down apple, so as to cause wire breakage and interior bar without
Method is reset to the technical problem urgently to be resolved for those skilled in the art.
Utility model content
In view of this, the present invention provides a kind of apple-picking machinery hands, solve and grab apple in the prior art
After the technical issues of still needing to manpower and shutting down apple, can not be resetted so as to cause wire breakage and interior bar.
The utility model provides a kind of apple-picking machinery hand, including power mechanism and picking mechanism；
The power mechanism provides power for the picking mechanism；
The picking mechanism does pendulum motion to clamp apple；
Predetermined angle is turned to after the picking mechanism clamping apple.
Preferably, the power mechanism includes motor, and the picking mechanism includes frame, screw rod, sliding block boss and groove
And stripper unit；
Screw rod, sliding block boss and the groove are provided in the frame；
The screw rod is mounted on the first end of the frame and the second end of the frame by bearing；
The motor drives the screw rod rotation；
The sliding block boss inner surface is provided with the screw thread to match with the screw rod；
Setting is fluted in the frame, and the outer surface of the sliding block boss and the groove are cooperatively connected, and along described
Groove linear motion；
The stripper unit is flexibly connected with the sliding block boss, and the sliding block boss moves along a straight line simultaneously in the groove
The stripper unit is driven to swing；
After the sliding block boss moves to the bottom portion of groove, the screw rod is continued to rotate so that the frame member is to institute
Predetermined angle is stated, and the stripper unit is driven to rotate.
Preferably, the picking mechanism includes linkage；
The linkage includes the first connecting rod device and second connecting rod device for being mounted on sliding block boss both ends；
The sliding block boss, which moves in a straight line, drives the linkage to swing.
Preferably, each linkage includes the first connecting rod being hinged, second connecting rod, third connecting rod and wins
Component；
Wherein one end of the first connecting rod is connect with the sliding block boss, the first end of the other end and the second connecting rod
Hingedly；
The second end of the second connecting rod and the first end of the third connecting rod are hinged
The end of the second end of the third connecting rod, which is connected with, wins component；
The first connecting rod drives the second connecting rod, and then drives the third connecting rod to do pendulum motion, and pass through institute
It states and wins component clamping apple.
Preferably, the stripper unit further includes spring, and component is won with described in the second end end of the third connecting rod
Between be provided with the spring.
Preferably, the component of winning is sucker.
Preferably, the picking mechanism further includes the gear being arranged in the frame；
The motor shaft of the motor is connect with the gear, and the gear and the screw rod are keyed.
Preferably, the motor is stepper motor.
Preferably, the picking mechanism further includes frame cover；
The frame cover is flexibly connected with the frame.
Preferably, the top surface of the frame cover is provided with chuck, and the bottom surface of the frame is provided with card slot；
After the frame member predetermined angle, the chuck and the card slot are cooperatively connected.
A kind of apple-picking machinery hand provided by the utility model, uses power mechanism to provide power for picking mechanism, adopts
It moves in a straight line and is picked after off-hook structure acquisition power；Rotate by a certain angle generation shearing after the picking mechanism picking apple
Power cuts off apple stem, and the utility model realizes the crawl and picking of apple by mechanically operated mode, solves drawing
The problem of thread breakage and pull rod can not restore automatically, improves the efficiency of apple-picking.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the sectional view of apple-picking machinery hand provided by the embodiment of the utility model；
Fig. 2 is the sectional view of sliding block boss provided by the embodiment of the utility model；
Fig. 3 is the sectional view of shrinkage pool provided by the embodiment of the utility model；
Fig. 4 is the schematic diagram of card slot provided by the embodiment of the utility model；
Fig. 5 is the schematic diagram of stripper unit provided by the embodiment of the utility model；
Fig. 6 is the structural schematic diagram of apple-picking machinery hand provided by the embodiment of the utility model；
Wherein, appended drawing reference is as follows:
1, frame cover；2a, first bearing；2b, second bearing；3, card slot；4, motor；5, support frame；6, second gear；7,
First gear；8, screw rod；9, sliding block boss；10, component is won；11, third connecting rod；12, second connecting rod；13, first connecting rod；
14, Supporting cover；15, groove；16, support rod；17, chuck；18, slide block slot.
Specific embodiment
Below by the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
In order to which the utility model is described in more detail, below with reference to embodiment to a kind of apple-picking provided by the utility model
Manipulator is specifically described.
The utility model embodiment provides a kind of apple-picking machinery hand, including power mechanism and picking mechanism；Power
Mechanism provides power for picking mechanism；Picking mechanism does pendulum motion to clamp apple；It is turned to after picking mechanism clamping apple
Predetermined angle.
A kind of apple-picking machinery hand provided by the embodiment of the utility model, uses power mechanism to provide for picking mechanism dynamic
Power, picking mechanism are moved in a straight line and are picked after obtaining power；Rotate by a certain angle production after the picking mechanism picking apple
Raw shearing force cuts off apple stem, and the utility model realizes the crawl and picking of apple by mechanically operated mode, solution
Existing pulling formula fruit picker of having determined easily causes what wire breakage and pull rod can not restore automatically to ask due to improper use
Topic, improves the efficiency of apple-picking.
Further, Fig. 1, Fig. 2 and Fig. 3 are please referred to, above-mentioned power mechanism includes motor 4, and picking mechanism includes frame, spiral shell
Bar 8, sliding block boss 9, groove 15 and stripper unit；Screw rod 8, sliding block boss 2 and groove 15 are provided in frame；Screw rod 8 passes through
Bearing is mounted on the first end of frame and the second end of frame；Motor 4 drives screw rod 8 to rotate；The inner surface of sliding block boss 9 is arranged
There is the screw thread to match with screw rod 8；Setting fluted 15 in frame, the outer surface of sliding block boss 9 and groove 15 are cooperatively connected, and
It moves along a straight line along groove 15；
Stripper unit is flexibly connected with sliding block boss 9, and sliding block boss 9, which is moved in a straight line and driven in groove 15, wins dress
Set swing；
After sliding block boss 9 moves to 15 bottom of groove, screw rod 8 is continued to rotate so that frame member is to predetermined angle, and band
Dynamic stripper unit rotation.
Further, frame includes the Supporting cover 14 being fixedly connected and support frame 5；One end of screw rod 8 passes through first axle
It holds 2a to be mounted in Supporting cover 14, the other end is mounted on the bottom of support frame by second bearing 2b；The setting of sliding block boss 9 is being propped up
It supports in lid 14.
Further, picking mechanism further includes the gear being arranged in the frame；The motor shaft and gear of motor 4 connect
It connects, gear and screw rod 8 are keyed.
Further, motor 4 drives the first gear 7 on motor shaft, and is driven on screw rod 8 by the first gear 7
Second gear 6 rotate, while make screw rod 8 rotate.Sliding block boss 9 is done directly by being threadedly coupled with screw rod 8, and in groove 15
Line movement.Stripper unit is successively connect with Supporting cover 14 and sliding block boss 9 by first connecting rod 13.When sliding block boss 9 is in groove
In 15 when movement, although stripper unit is flexibly connected with groove 15, due to the mating connection of sliding block boss 9 and groove 15, make
Sliding block boss 9 can not rotate so that sliding block boss 9 is when moving in a straight line, drive stripper unit to swing to
Clamp apple.
When 9 straight line of sliding block boss is moved downward to 15 bottom of groove, screw rod 8 continues to rotate and groove 15 is driven to rotate,
And then stripper unit rotation is driven, so that apple stem is generated shearing force.
As shown in Figures 2 and 3, further, it is provided with 4 convex blocks on sliding block boss 9, and is provided in Supporting cover 14
Circular hole, the surrounding of circular hole are provided with 4 slide block slots 18, and convex block and slide block slot 18 are cooperatively connected.
Further, picking mechanism includes linkage；Linkage includes being mounted on the first of 9 both ends of sliding block boss to connect
Lever apparatus and second connecting rod device；Sliding block boss 9, which moves in a straight line, drives linkage to swing.
Further, each linkage includes the first connecting rod 13 being hinged, second connecting rod 12,11 and of third connecting rod
Win component 10；Wherein one end of first connecting rod 13 is connect with sliding block boss 9, and the first end of the other end and second connecting rod 12 is cut with scissors
It connects；The second end of second connecting rod 12 and the first end of third connecting rod 11 are hinged；The second end end of third connecting rod 11, which is connected with, plucks
Take component 10；First connecting rod 13 drives second connecting rod 12, and then drives third connecting rod 11 to do pendulum motion, and by winning component
10 clamping apples.
It should be noted that first connecting rod 13, second connecting rod 12 and third connecting rod 11 are mutually 120 °, when sliding block boss 9 is straight
When line moves, due to being hinged between connecting rod, so that first connecting rod 13 drives second connecting rod 12 and then drives third connecting rod 11
Pendulum motion is done, the third connecting rod on both sides swings formation simultaneously and closes up shape for clamping apple.
Further, above-mentioned stripper unit further includes spring, the end of the second end of third connecting rod 11 and wins component 10
Between be provided with spring.Third connecting rod 11 and win between component 10 by spring connect, may be implemented to different size of apple
Fruit is plucked.
The distance that 9 straight line of sliding block boss moves down is designed according to the minimum apple that can be clamped, larger when picking
Apple when, due to linear motion also continuing, sucker 10 can squeeze spring formed a buffer function and be unlikely to damage apple
Fruit surface.
Further, winning component 10 is sucker.
Further, motor 4 is stepper motor.
Further, picking mechanism further includes frame cover 1；Frame cover 1 is flexibly connected with frame.
Further, Supporting cover 14 and support frame 5 form frame entirety, and are flexibly connected with frame cover 1
As shown in fig. 6, being located at the weight of the support rod 16 of 1 bottom of frame cover by increasing, and installed using suitable position,
Make entire apple-picking machinery hand and 16 weight balancing of support rod, after apple under picking, since the weight of apple loses device
It weighs and inverts stepper motor, stripper unit discharges apple, and apple is made to fall to collection basket along collecting net, is walked by control
Positive and negative rotation into motor can be completed crawl picking and decontrol the movement of apple, this kind of mode scope of application is relatively wide and flexible operation
It is reversible.
Further, as shown in Figure 1 and Figure 4, the top surface of frame cover 1 is provided with chuck 17, and the bottom surface of frame is provided with card
Slot 3；
After frame member predetermined angle, chuck 17 and card slot 3 are cooperatively connected.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (10)
1. a kind of apple-picking machinery hand, which is characterized in that including power mechanism and picking mechanism；
The power mechanism provides power for the picking mechanism；
The picking mechanism does pendulum motion to clamp apple；
Predetermined angle is turned to after the picking mechanism clamping apple.
2. a kind of apple-picking machinery hand according to claim 1, which is characterized in that the power mechanism includes motor,
The picking mechanism includes frame, screw rod, sliding block boss and groove and stripper unit；
Screw rod, sliding block boss and the groove are provided in the frame；
The screw rod is mounted on the first end of the frame and the second end of the frame by bearing；
The motor drives the screw rod rotation；
The sliding block boss inner surface is provided with the screw thread to match with the screw rod；
Setting is fluted in the frame, and the outer surface of the sliding block boss and the groove are cooperatively connected, and along the groove
Linear motion；
The stripper unit is flexibly connected with the sliding block boss, and the sliding block boss moves along a straight line and drives in the groove
The stripper unit is swung；
After the sliding block boss moves to the bottom portion of groove, the screw rod is continued to rotate so that the frame member is to described pre-
If angle, and the stripper unit is driven to rotate.
3. a kind of apple-picking machinery hand according to claim 2, which is characterized in that the picking mechanism includes connecting rod dress
It sets；
The linkage includes the first connecting rod device and second connecting rod device for being mounted on sliding block boss both ends；
The sliding block boss, which moves in a straight line, drives the linkage to swing.
4. a kind of apple-picking machinery hand according to claim 3, which is characterized in that each linkage includes mutual
Hinged first connecting rod, second connecting rod, third connecting rod and win component；
Wherein one end of the first connecting rod is connect with the sliding block boss, and the first end of the other end and the second connecting rod is cut with scissors
It connects；
The second end of the second connecting rod and the first end of the third connecting rod are hinged
The end of the second end of the third connecting rod, which is connected with, wins component；
The first connecting rod drives the second connecting rod, and then drives the third connecting rod to do pendulum motion, and pluck by described
Component is taken to clamp apple.
5. a kind of apple-picking machinery hand according to claim 4, which is characterized in that the stripper unit further includes spring,
The second end end of the third connecting rod and described win are provided with the spring between component.
6. a kind of apple-picking machinery hand according to claim 4, which is characterized in that the component of winning is sucker.
7. a kind of apple-picking machinery hand according to claim 2, which is characterized in that the picking mechanism further includes setting
Gear in the frame；
The motor shaft of the motor is connect with the gear, and the gear and the screw rod are keyed.
8. a kind of apple-picking machinery hand according to claim 2, which is characterized in that the motor is stepper motor.
9. a kind of apple-picking machinery hand according to claim 2, which is characterized in that the picking mechanism further includes frame
Lid；
The frame cover is flexibly connected with the frame.
10. a kind of apple-picking machinery hand according to claim 9, which is characterized in that the top surface of the frame cover is provided with
The bottom surface of chuck, the frame is provided with card slot；
After the frame member predetermined angle, the chuck and the card slot are cooperatively connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821104189.9U CN208370283U (en) | 2018-07-12 | 2018-07-12 | A kind of apple-picking machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821104189.9U CN208370283U (en) | 2018-07-12 | 2018-07-12 | A kind of apple-picking machinery hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208370283U true CN208370283U (en) | 2019-01-15 |
Family
ID=64962681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821104189.9U Expired - Fee Related CN208370283U (en) | 2018-07-12 | 2018-07-12 | A kind of apple-picking machinery hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208370283U (en) |
-
2018
- 2018-07-12 CN CN201821104189.9U patent/CN208370283U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20190115 |