CN208490263U - A kind of circumferential direction multistation shearing fruit picking robot - Google Patents
A kind of circumferential direction multistation shearing fruit picking robot Download PDFInfo
- Publication number
- CN208490263U CN208490263U CN201820661495.6U CN201820661495U CN208490263U CN 208490263 U CN208490263 U CN 208490263U CN 201820661495 U CN201820661495 U CN 201820661495U CN 208490263 U CN208490263 U CN 208490263U
- Authority
- CN
- China
- Prior art keywords
- circumferential
- connecting rod
- handle
- coil
- moving
- 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 title claims abstract description 62
- 238000010008 shearing Methods 0.000 title claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 230000033001 locomotion Effects 0.000 claims description 26
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 241000207199 Citrus Species 0.000 abstract description 3
- 235000011511 Diospyros Nutrition 0.000 abstract description 3
- 244000236655 Diospyros kaki Species 0.000 abstract description 3
- 241000220225 Malus Species 0.000 abstract description 3
- 235000011430 Malus pumila Nutrition 0.000 abstract description 3
- 235000015103 Malus silvestris Nutrition 0.000 abstract description 3
- 241000220324 Pyrus Species 0.000 abstract description 3
- 235000020971 citrus fruits Nutrition 0.000 abstract description 3
- 235000021017 pears Nutrition 0.000 abstract description 3
- 230000003139 buffering effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a kind of hand-held picking robots, and in particular to a kind of circumferential direction multistation shearing fruit picking robot is suitable for the picking fruits equipment such as apple, citrus, pears, persimmon.A kind of circumferential direction multistation shearing fruit picking robot, including circumferential multistation shear, expansion link mechanism, shearing power mechanism, collecting fruit sleeve；The upper end of the expansion link mechanism is connected with circumferential multistation shear, and the shearing power mechanism is mounted on expansion link mechanism；Collecting fruit sleeve is set on circumferential multistation shear.Efficient picking fruit may be implemented in the utility model, reduces picking cost.
Description
Technical field
The utility model relates to a kind of hand-held picking robots, are suitable for the picking fruits such as apple, citrus, pears, persimmon
Equipment.
Background technique
The fruits such as apple, citrus, pears, persimmon, picking are usually manually to be plucked with hand getting, inefficiency, and picking rate is not high.
And large scale equipment, it is difficult to be put to good use in hillside.
Utility model content
It, can be with to solve the above problems, the utility model discloses a kind of circumferential multistation to shear fruit picking robot
It realizes efficient picking fruit, reduces picking cost.
In order to achieve the above objectives, the technical solution of the utility model is as follows: a kind of circumferential direction multistation shearing fruit picking
Device people, it is characterised in that: the circumferential direction multistation shearing fruit picking robot includes circumferential multistation shear, telescopic rod
Mechanism, shearing power mechanism, collecting fruit sleeve；The upper end of the expansion link mechanism is connected with circumferential multistation shear
It connects, the shearing power mechanism is mounted on expansion link mechanism；Collecting fruit sleeve is set on circumferential multistation shear；
The circumferential direction multistation shear is made of the moving-coil and retainer plate of circular ring shape, and moving-coil is arranged on the outside of retainer plate,
Moving-coil can be rotated relative to retainer plate；It is circumferentially with the blade of several first bands guiding on retainer plate, is circumferentially on moving-coil
Several second blades with guiding, the blade of first band guiding, the second blade with guiding are towards on the contrary；When moving-coil rotates
When, the blade that the second blade with guiding on moving-coil is oriented to first band corresponding on retainer plate is arranged in a crossed manner to be combined into shearing
Knife；
The expansion link mechanism includes telescoping tube and support tube, and telescoping tube passes through rod piece fixing piece, support rod and retainer plate
It is connected；Telescoping tube lower end is arranged in support tube, and telescoping tube is height-adjustable；
The movement output ends of the shearing power mechanism are connected with connecting rod, and constitute revolute pair；Connecting rod connects moving-coil and structure
At revolute pair；Movement output ends, connecting rod, moving-coil and the retainer plate for shearing power mechanism form crank block drive mechanism, shearing
The movement output ends of power mechanism generate vertical displacement, and the movement output ends for shearing power mechanism drive moving-coil opposite by connecting rod
It is rotated in retainer plate.
Preferably, the shearing power mechanism includes electric putter body, and electric putter body is fixed on by electric putter bracket
On telescoping tube, electric putter telescopic rod is connected by connecting rod with retainer plate；Connecting rod and telescopic rod, connecting rod and moving-coil, which separately constitute, to be turned
Dynamic pair；Electric putter telescopic rod, connecting rod, retainer plate, moving-coil constitute slider-crank mechanism, when the movement of electric putter telescopic rod, driving
Moving-coil rotation.
Preferably, the shearing power mechanism includes upper connecting rod, lower pull rod；Upper connecting rod is mounted in telescoping tube, flexible
It is provided with several holes on pipe, boss is provided on upper connecting rod, boss is corresponding with the position of flexible pore；Lower pull rod is mounted on branch
In stay tube, lower rod head is fluted, and there is hole in upper end in support tube, and upper end hole is corresponding with the position of groove in support tube, under
The groove of pull rod is matched with the boss on upper connecting rod；Support tube is equipped with positioning sleeve, is equipped with positioning elastic tune on positioning sleeve
Save handle；When needing adjusting rod long, positioning elastic regulation handle is pressed, the pin of positioning elastic regulation handle front end is lifted, will be stretched
The hole of the draw corresponds to the hole of support tube, puts down positioning elastic regulation handle, the pin of positioning elastic regulation handle front end passes through branch
Upper connecting rod is simultaneously withstood in the hole of stay tube, the hole of telescoping tube, and the boss of upper connecting rod is embedded in the groove of lower rod head；Instantly pull rod produces
When raw mobile, upper connecting rod movement is driven.
Preferably, the lower pull rod is connected by handle connecting rod with handle handle；Handle handle and support tube, handle
Handle and handle connecting rod respectively constitute rotary pair, and lower pull rod and handle connecting rod constitute rotary pair, and lower pull rod and support tube constitute movement
It is secondary；When handle rotatable handle, drives lower pull rod to generate pulling force and vertical displacement, bullet is housed between handle handle and support tube
Spring.
Preferably, the telescoping tube is connected by flexible connector with support tube, and flexible connector lower end is equipped with support
Pipe mounting hole, support tube mounting hole is interior to install support tube, and flexible connector upper end is equipped with telescoping tube mounting hole, telescoping tube mounting hole
Interior installation telescoping tube locks flexible connector and support tube, flexible connector and telescoping tube by corresponding bolt respectively.
Preferably, several balls are installed between the moving-coil and retainer plate；Multiple horizontal pins are installed on moving-coil, it is horizontal
Pin inner end is arranged in the circumferential level trough of retainer plate.
Preferably, the picking robot further includes image displaying part, and image displaying part includes camera and mobile phone,
Camera is connected to the upper end of expansion link mechanism by camera bracket, and camera power supply unit is connected by power supply unit bracket
In the middle upper end of expansion link mechanism, camera power supply unit supplies electricity to camera by power supply line；Mobile phone is connected by handset bracket
It connects in the middle lower end of expansion link mechanism；Camera is communicated with mobile phone.
Preferably, several annulus are equipped in the collecting fruit sleeve from top to bottom, elastic rib is installed on annulus；It is fixed
Along there is several circumferential apertures, collecting fruit sleeve is connected on retainer plate the peripheral edge of circle by circumferential aperture.
Preferably, the retainer plate outer edge is equipped with circumferential slot, and moving-coil is arranged in circumferential slot, moving-coil inner sidewall and week
To being equipped with several balls between slot inner sidewall；Several balls are installed between the moving-coil bottom and circumferential trough floor.
Compared with prior art, the utility model has the following beneficial effects:
The utility model circumferential direction multistation shears fruit picking robot, including circumferential multistation shear, telescopic rod
Partially, power section, image displaying part, the collecting fruit sleeve with buffering are sheared.
Circumferential multistation shear: circumferential multistation shear is made of circular moving-coil and retainer plate；Moving-coil and
Retainer plate is fixed more the blade with guiding respectively in circumferential direction；Multiple balls are installed, to lower friction between moving-coil and retainer plate；
Multiple horizontal pins are installed, horizontal pin plays limitation and guiding role in the circumferential direction of retainer plate, level trough on moving-coil.Retainer plate week
While having multiple apertures, to install the collecting fruit sleeve with buffering.Retainer plate is mounted on telescopic rod end, circumferential multistation shearing
Device is fixedly connected with support rod, and support rod and expansion link mechanism upper end are fixed together by rod piece fixing piece.When moving-coil is opposite
When retainer plate relatively rotates, the blade for being fixed on moving-coil and retainer plate circumferential direction generates mutual shear motion, thus by fruit
It cuts in moving-coil, and is fallen by the collecting fruit sleeve with buffering in fact.
Telescopic rod: lower pull rod is mounted in support tube, and there is hole in upper end in support tube, the correspondence position of upper end hole in support tube
It sets, lower rod head is fluted；Upper connecting rod is mounted in telescoping tube, and multiple apertures are provided on telescoping tube, in telescoping tube aperture
Corresponding position, upper connecting rod are provided with boss；Positioning sleeve is mounted on the outside of support tube upper end, is equipped with positioning elastic tune on positioning sleeve
Save handle；When needing adjusting rod long, positioning elastic regulation handle is pressed, telescoping tube aperture is corresponded to the aperture of support tube, is put
The pin of lower positioning elastic regulation handle, positioning elastic regulation handle front end is withstood by aperture, the telescoping tube aperture of support tube
Pull rod, it is fluted that the boss of upper connecting rod is embedded in lower rod head.Instantly when pull rod generates mobile, upper connecting rod movement is driven.
Shearing power section: can be the hand-drive rod piece mechanism of people, generate vertical displacement and power；It can also be by electromagnetism
Valve generates vertical displacement and power.
Image displaying part: picture is real-time transmitted on the screen of mobile phone by camera by wifi.Camera can be by
Battery power supply or charger baby power supply；Camera, battery/charger baby, mobile phone are each attached on telescopic rod.
Collecting fruit sleeve with buffering: retainer plate periphery is fixed on by aperture, multiple annulus are mounted in sleeve, bullet
Property muscle be mounted on annulus, annulus is light rigid materials, elastic rib install light rigid materials annulus, can keep elasticity
The elasticity of muscle.
There is a plurality of elastic element to be fixed on sleeve lining in collecting fruit sleeve with buffering, and is staggered by certain angle.
The fruit fallen is sheared, when collection set is fallen, elastic element is hampered by, in this way, the kinetic energy fallen is absorbed, slowly falls.
The utility model circumferential direction multistation shears the explanation of fruit picking robot mass motion transmitting:
Scheme 1, electric putter scheme: electric putter body is fixed on telescoping tube by electric putter bracket, and electric putter is stretched
This four component of bar, connecting rod, moving-coil, retainer plate constitutes typical slider-crank mechanism, when electric putter (being equivalent to sliding block) movement,
Drive moving-coil (being equivalent to crank) rotation.Telescoping tube is connected by flexible connector with support tube, and the lower end of flexible connector has
Diameter teaches big hole, interior to install support tube, its locking support pipe of bolt effect on the right side of flexible connector lower end；Elastic connection
The upper end of part has diameter to teach small hole, interior to install telescoping tube, its locking telescoping tube of the bolt on the right side of flexible connector upper end is made
With when the release of its bolt, position of the adjustable telescoping tube in support tube.
Scheme 2, manual drive handle handle generate power.Handle handle, handle connecting rod, lower pull rod, support tube constitute bent
Handle slide block mechanism, wherein handle handle constitutes rotary pair with support tube, connecting rod respectively, and lower pull rod and connecting rod constitute rotary pair, under
Pull rod and support tube constitute prismatic pair.When handle rotatable handle (being equivalent to crank), lower pull rod (being equivalent to sliding block) is driven to generate
Pulling force and vertical displacement.Spring is housed, to reset between handle rotatable handle and support tube.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model circumferential direction multistation shearing fruit picking robot；
Fig. 2 is the section view of the circumferential multistation shear of the utility model circumferential direction multistation shearing fruit picking robot
Structural schematic diagram；
Fig. 3 is the vertical view of the circumferential multistation shear of the utility model circumferential direction multistation shearing fruit picking robot
Structural schematic diagram；
Fig. 4 is structural schematic diagram (the shearing power mechanism of the utility model circumferential direction multistation shearing fruit picking robot
For electric putter)；
Fig. 5 is the structural schematic diagram of the flexible connector of Fig. 4；
Fig. 6 is structural schematic diagram (the shearing power mechanism of the utility model circumferential direction multistation shearing fruit picking robot
For handle handle crank block slider structure)；
Fig. 7 is the knot of the handle handle crank block slider structure of the utility model circumferential direction multistation shearing fruit picking robot
Structure schematic diagram；
Fig. 8 is the structural representation of the collecting fruit sleeve of the utility model circumferential direction multistation shearing fruit picking robot
Figure；
In figure: 1, circumferential multistation shear, the blade of 1-2-1, first band guiding, 1-2-2, the second knife with guiding
Piece, 1-3, retainer plate, 1-4, moving-coil, 1-5, ball, 1-6, circumferential aperture, 1-7, horizontal pin, 1-8, connecting rod, 1-9, support rod,
2-1, telescoping tube, 2-2, positioning elastic regulation handle, 2-3, positioning sleeve, 2-4, support tube, 2-6, upper connecting rod, 2-10, lower pull rod,
3-1, camera, 3-2, camera bracket, 3-3, power supply unit bracket, 3-4, power supply unit, 3-5, mobile phone, 3-6, mobile phone branch
Frame, 4-1, collecting fruit sleeve, 4-2, annulus, 4-3, elastic rib, 5, handle handle, 5-1, handle connecting rod, 6, rod piece fixing piece,
7-1, electric putter telescopic rod, 7-2, electric putter bracket, 7-3, electric putter body, 7-5, flexible connector.
Specific embodiment
As Figure 1-Figure 8, a kind of circumferential multistation shears fruit picking robot, including circumferential multistation shear
1, expansion link mechanism, shearing power mechanism, collecting fruit sleeve 4-1；It is cut with circumferential multistation the upper end of the expansion link mechanism
Cutting apparatus 1 is connected, and the shearing power mechanism is mounted on expansion link mechanism；Fruit is set on circumferential multistation shear 1
Paid collection sleeve 4-1.
Circumferential multistation shear 1 is made of the moving-coil 1-4 and retainer plate 1-3 of circular ring shape, and retainer plate is arranged in moving-coil 1-4
On the outside of 1-3, moving-coil 1-4 can be rotated relative to retainer plate 1-3；The knife of several first bands guiding is circumferentially on retainer plate 1-3
Several the second blade 1-2-2 with guiding, the blade 1-2-1 of first band guiding, the are circumferentially on piece 1-2-1, moving-coil 1-4
The two blade 1-2-2 with guiding are towards on the contrary；The second blade 1-2-2 with guiding when moving-coil 1-4 rotation, on moving-coil 1-4
The blade 1-2-1 being oriented to first band corresponding on retainer plate 1-3 is arranged in a crossed manner to be combined into shear knife.
Expansion link mechanism includes telescoping tube 2-1 and support tube 2-4, and telescoping tube 2-1 passes through rod piece fixing piece 6, support rod 1-9
It is connected with retainer plate 1-3；The lower end telescoping tube 2-1 is arranged in support tube 2-4, and telescoping tube 2-1 is height-adjustable.
The movement output ends of shearing power mechanism are connected with connecting rod 1-8, and constitute revolute pair；Connecting rod 1-8 connection moving-coil 1-4
And constitute revolute pair；Movement output ends, connecting rod 1-8, moving-coil 1-4 and the retainer plate 1-3 for shearing power mechanism form crank block
Drive mechanism, the movement output ends for shearing power mechanism generate vertical displacement, and the movement output ends for shearing power mechanism pass through company
Bar 1-8 driving moving-coil 1-4 is rotated relative to retainer plate 1-3.
As shown in Figure 4, Figure 5, shearing power mechanism includes electric putter body 7-3, and electric putter body 7-3 passes through electric putter branch
Frame 7-2 is fixed on telescoping tube 2-1, and electric putter telescopic rod 7-1 is connected by connecting rod 1-8 with retainer plate 1-3；Connecting rod 1-8 with
Telescopic rod 7-1, connecting rod 1-8 and moving-coil 1-4 separately constitute revolute pair；Electric putter telescopic rod 7-1, it connecting rod 1-8, retainer plate 1-3, moves
It encloses 1-4 and constitutes slider-crank mechanism, when electric putter telescopic rod 7-1 movement, driving moving-coil 1-4 rotation.
As shown in Figure 6, Figure 7, shearing power mechanism includes upper connecting rod 2-6, lower pull rod 2-10；Upper connecting rod 2-6, which is mounted on, to be stretched
In draw 2-1, it is provided with several holes on telescoping tube 2-1, boss, boss and the hole telescoping tube 2-1 are provided on upper connecting rod 2-6
Position is corresponding；Lower pull rod 2-10 is mounted in support tube 2-4, and the lower head pull rod 2-10 is fluted, there is upper end in support tube 2-4
Hole, upper end hole is corresponding with the position of groove in support tube 2-4, groove and the boss phase on upper connecting rod 2-6 of lower pull rod 2-10
Cooperation；
Support tube 2-4 is equipped with positioning sleeve 2-3, is equipped with positioning elastic regulation handle 2-2 on positioning sleeve 2-3；It needs to adjust
When pole is long, positioning elastic regulation handle 2-2 is pressed, the pin of the front end positioning elastic regulation handle 2-2 lifts, by telescoping tube 2-1
Hole correspond to the hole of support tube 2-4, put down positioning elastic regulation handle 2-2, the pin of the front end positioning elastic regulation handle 2-2 is logical
It crosses the hole of support tube 2-4, the hole of telescoping tube 2-1 and withstands upper connecting rod 2-6, the boss of upper connecting rod 2-6 is embedded in lower pull rod 2-10 head
In the groove in portion；Instantly when pull rod 2-10 generates mobile, upper connecting rod 2-6 movement is driven.
Lower pull rod 2-10 is connected by handle connecting rod 5-1 with handle handle 5；Handle handle 5 and support tube 2-4, handle
Handle 5 and handle connecting rod 5-1 respectively constitute rotary pair, and lower pull rod 2-10 and handle connecting rod 5-1 constitute rotary pair, lower pull rod 2-10
Prismatic pair is constituted with support tube 2-4；When handle handle 5 rotates, pull rod 2-10 generates pulling force and vertical displacement, handle under driving
Spring is housed between handle 5 and support tube 2-4.
Telescoping tube 2-1 is connected by flexible connector 7-5 with support tube 2-4, and the lower end flexible connector 7-5 is equipped with support
Pipe mounting hole, support tube mounting hole is interior to install support tube 2-4, and the upper end flexible connector 7-5 is equipped with telescoping tube mounting hole, telescoping tube
Telescoping tube 2-1 is installed in mounting hole, flexible connector 7-5 and support tube 2-4, elastic connection are locked by corresponding bolt respectively
Part 7-5 and telescoping tube 2-1.
Several balls 1-5 is installed between moving-coil 1-4 and retainer plate 1-3；Multiple horizontal pin 1-7 are installed on moving-coil 1-4,
The inner end horizontal pin 1-7 is arranged in the circumferential level trough of retainer plate 1-3.
Picking robot further includes image displaying part, and image displaying part includes camera 3-1 and mobile phone 3-5, camera shooting
Head 3-1 is connected to the upper end of expansion link mechanism by camera bracket 3-2, and camera power supply unit 3-4 passes through power supply unit branch
Frame 3-3 is connected to the middle upper end of expansion link mechanism, and camera power supply unit 3-4 supplies electricity to camera 3-1 by power supply line；Mobile phone
3-5 is connected to the middle lower end of expansion link mechanism by handset bracket 3-6；Camera 3-1 is communicated with mobile phone 3-5.
Several annulus 4-2 is equipped in collecting fruit sleeve 4-1 from top to bottom, elastic rib 4-3 is installed on annulus 4-2；Gu
Surely the peripheral edge edge for enclosing 1-3 has several circumferential directions aperture 1-6, collecting fruit sleeve 4-1 to be connected to fixation by circumferential direction aperture 1-6
It encloses on 1-3.
Retainer plate 1-3 outer edge is equipped with circumferential slot, and moving-coil 1-4 is arranged in circumferential slot, moving-coil 1-4 inner sidewall and circumferential direction
Several balls are installed between slot inner sidewall；Several balls are installed between the bottom the moving-coil 1-4 and circumferential trough floor.
Circumferential multistation shear: circumferential multistation shear is made of circular moving-coil and retainer plate；Moving-coil and
Retainer plate is fixed more the blade with guiding respectively in circumferential direction；Multiple balls are installed, to lower friction between moving-coil and retainer plate；
Multiple horizontal pins are installed, horizontal pin plays limitation and guiding role in the circumferential direction of retainer plate, level trough on moving-coil.Retainer plate week
While having multiple apertures, to install the collecting fruit sleeve with buffering.Retainer plate is mounted on telescopic rod end, circumferential multistation shearing
Device is fixedly connected with support rod, and support rod and expansion link mechanism upper end are fixed together by rod piece fixing piece.When moving-coil is opposite
When retainer plate relatively rotates, the blade for being fixed on moving-coil and retainer plate circumferential direction generates mutual shear motion, thus by fruit
It cuts in moving-coil, and is fallen by the collecting fruit sleeve with buffering in fact.
Telescopic rod: lower pull rod is mounted in support tube, and there is hole in upper end in support tube, the correspondence position of upper end hole in support tube
It sets, lower rod head is fluted；Upper connecting rod is mounted in telescoping tube, and multiple apertures are provided on telescoping tube, in telescoping tube aperture
Corresponding position, upper connecting rod are provided with boss；Positioning sleeve is mounted on the outside of support tube upper end, is equipped with positioning elastic tune on positioning sleeve
Save handle；When needing adjusting rod long, positioning elastic regulation handle is pressed, telescoping tube aperture is corresponded to the aperture of support tube, is put
The pin of lower positioning elastic regulation handle, positioning elastic regulation handle front end is withstood by aperture, the telescoping tube aperture of support tube
Pull rod, it is fluted that the boss of upper connecting rod is embedded in lower rod head.Instantly when pull rod generates mobile, upper connecting rod movement is driven.
Shearing power section: can be the hand-drive rod piece mechanism of people, generate vertical displacement and power；It can also be by electromagnetism
Valve generates vertical displacement and power.
Image displaying part: picture is real-time transmitted on the screen of mobile phone by camera by wifi.Camera can be by
Battery power supply or charger baby power supply；Camera, battery/charger baby, mobile phone are each attached on telescopic rod.
Collecting fruit sleeve with buffering: retainer plate periphery is fixed on by aperture, multiple annulus are mounted in sleeve, bullet
Property muscle be mounted on annulus, annulus is light rigid materials, elastic rib install light rigid materials annulus, can keep elasticity
The elasticity of muscle.
There is a plurality of elastic element to be fixed on sleeve lining in collecting fruit sleeve with buffering, and is staggered by certain angle.
The fruit fallen is sheared, when collection set is fallen, elastic element is hampered by, in this way, the kinetic energy fallen is absorbed, slowly falls.
The utility model circumferential direction multistation shears the explanation of fruit picking robot mass motion transmitting:
Scheme 1, electric putter scheme: as shown in Figure 4, Figure 5, electric putter body is fixed on telescoping tube by electric putter bracket
On, telescopic rod, connecting rod, moving-coil, this four component of retainer plate of electric putter constitute typical slider-crank mechanism, when electric putter (phase
When in sliding block) movement when, driving moving-coil (being equivalent to crank) rotation.Telescoping tube is connected by flexible connector with support tube, bullet
Property connector lower end there is diameter to teach big hole, in support tube is installed, its locking branch of the bolt on the right side of flexible connector lower end
Stay tube effect；The upper end of flexible connector has diameter to teach small hole, interior to install telescoping tube, the spiral shell on the right side of flexible connector upper end
It locks telescoping tube effect to bolt, when the release of its bolt, position of the adjustable telescoping tube in support tube.
Scheme 2, manual drive handle handle generate power.As shown in Figure 6, Figure 7, handle handle, handle connecting rod, drop-down
Bar, support tube constitute slider-crank mechanism, and wherein handle handle constitutes rotary pair, lower pull rod and company with support tube, connecting rod respectively
Bar constitutes rotary pair, and lower pull rod and support tube constitute prismatic pair.When handle rotatable handle (being equivalent to crank), lower pull rod is driven
(being equivalent to sliding block) generates pulling force and vertical displacement.Spring is housed, to reset between handle rotatable handle and support tube.
Claims (9)
1. a kind of circumferential direction multistation shears fruit picking robot, it is characterised in that: the circumferential direction multistation shears picking fruit
Robot includes circumferential multistation shear (1), expansion link mechanism, shearing power mechanism, collecting fruit sleeve (4-1)；Institute
The upper end for stating expansion link mechanism is connected with circumferential multistation shear (1), and the shearing power mechanism is mounted on telescopic rod
In mechanism；Collecting fruit sleeve (4-1) is set on circumferential multistation shear (1)；
The circumferential direction multistation shear (1) is made of the moving-coil (1-4) and retainer plate (1-3) of circular ring shape, moving-coil (1-4) peace
On the outside of fixed circle (1-3), moving-coil (1-4) can be rotated relative to retainer plate (1-3)；It is circumferentially on retainer plate (1-3) several
The blade (1-2-1) of a first band guiding is circumferentially with the blade (1-2-2) that several second bands are oriented on moving-coil (1-4), the
One blade (1-2-1) with guiding, the second blade (1-2-2) with guiding are towards on the contrary；When moving-coil (1-4) rotation, moving-coil
The blade (1-2-1) that the second blade (1-2-2) with guiding on (1-4) is oriented to first band corresponding on retainer plate (1-3)
It is arranged in a crossed manner to be combined into shear knife；
The expansion link mechanism includes telescoping tube (2-1) and support tube (2-4), telescoping tube (2-1) by rod piece fixing piece (6),
Support rod (1-9) is connected with retainer plate (1-3)；The setting of the telescoping tube lower end (2-1) is in support tube (2-4), telescoping tube (2-1)
It is height-adjustable；
The movement output ends and connecting rod (1-8) connection of the shearing power mechanism, and constitute revolute pair；Connecting rod (1-8) connection is dynamic
Circle (1-4) simultaneously constitutes revolute pair；Shear movement output ends, connecting rod (1-8), moving-coil (1-4) and the retainer plate (1-3) of power mechanism
Crank block drive mechanism is formed, the movement output ends for shearing power mechanism generate vertical displacement, shear the movement of power mechanism
Output end is rotated by connecting rod (1-8) driving moving-coil (1-4) relative to retainer plate (1-3).
2. a kind of circumferential multistation according to claim 1 shears fruit picking robot, characterized in that the shearing is dynamic
Force mechanisms contain electric putter body (7-3), and electric putter body (7-3) is fixed on telescoping tube (2-1) by electric putter bracket (7-2)
On, electric putter telescopic rod (7-1) is connected by connecting rod (1-8) with retainer plate (1-3)；Connecting rod (1-8) and telescopic rod (7-1),
Connecting rod (1-8) and moving-coil (1-4) separately constitute revolute pair；Electric putter telescopic rod (7-1), retainer plate (1-3), moves connecting rod (1-8)
It encloses (1-4) and constitutes slider-crank mechanism, when electric putter telescopic rod (7-1) movement, driving moving-coil (1-4) rotation.
3. a kind of circumferential multistation according to claim 1 shears fruit picking robot, characterized in that the shearing is dynamic
Force mechanisms include upper connecting rod (2-6), lower pull rod (2-10)；Upper connecting rod (2-6) is mounted in telescoping tube (2-1), in telescoping tube (2-
1) it is provided with several holes on, boss is provided on upper connecting rod (2-6), boss is corresponding with the position in the hole telescoping tube (2-1)；Drop-down
Bar (2-10) is mounted in support tube (2-4), and lower pull rod (2-10) head is fluted, and there is hole in the interior upper end support tube (2-4), support
Pipe (2-4) interior upper end hole is corresponding with the position of groove, and the groove of lower pull rod (2-10) and the boss on upper connecting rod (2-6) match
It closes；
Support tube (2-4) is equipped with positioning sleeve (2-3), is equipped with positioning elastic regulation handle (2-2) on positioning sleeve (2-3)；It needs
It when wanting adjusting rod long, presses positioning elastic regulation handle (2-2), the pin of the front end positioning elastic regulation handle (2-2) lifts, and will stretch
The hole of the draw (2-1) corresponds to the hole of support tube (2-4), puts down positioning elastic regulation handle (2-2), positioning elastic regulation handle
The pin of the front end (2-2) is by the hole of support tube (2-4), the hole of telescoping tube (2-1) and withstands upper connecting rod (2-6), upper connecting rod (2-6)
Boss be embedded in the groove on lower head pull rod (2-10)；Instantly when pull rod (2-10) generates mobile, upper connecting rod (2-6) fortune is driven
It is dynamic.
4. a kind of circumferential multistation according to claim 3 shears fruit picking robot, characterized in that the lower pull rod
(2-10) is connected by handle connecting rod (5-1) with handle handle (5)；Handle handle (5) and support tube (2-4), handle handle
(5) rotary pair is respectively constituted with handle connecting rod (5-1), lower pull rod (2-10) and handle connecting rod (5-1) constitute rotary pair, lower pull rod
(2-10) and support tube (2-4) constitute prismatic pair；When handle handle (5) rotation, lower pull rod (2-10) is driven to generate pulling force and erect
To displacement, between handle handle (5) and support tube (2-4) be equipped with spring.
5. a kind of circumferential direction multistation shearing fruit picking robot described in any one of -4 according to claim 1, characterized in that
The telescoping tube (2-1) is connected by flexible connector (7-5) with support tube (2-4), and the lower end flexible connector (7-5) is equipped with
Support tube mounting hole, support tube mounting hole is interior to install support tube (2-4), and the flexible connector upper end (7-5) is installed equipped with telescoping tube
Hole, telescoping tube mounting hole is interior to install telescoping tube (2-1), locks flexible connector (7-5) and support respectively by corresponding bolt
Manage (2-4), flexible connector (7-5) and telescoping tube (2-1).
6. a kind of circumferential multistation according to claim 5 shears fruit picking robot, characterized in that the moving-coil
Several balls (1-5) are installed between (1-4) and retainer plate (1-3)；Multiple horizontal pins (1-7), water are installed on moving-coil (1-4)
The flat-sale inner end (1-7) is arranged in the circumferential level trough of retainer plate (1-3).
7. a kind of circumferential multistation according to claim 1 shears fruit picking robot, characterized in that the picking machine
Device people further includes image displaying part, and image displaying part includes camera (3-1) and mobile phone (3-5), and camera (3-1) passes through
Camera bracket (3-2) is connected to the upper end of expansion link mechanism, and camera power supply unit (3-4) passes through power supply unit bracket (3-
3) it is connected to the middle upper end of expansion link mechanism, camera power supply unit (3-4) supplies electricity to camera (3-1) by power supply line；Hand
Machine (3-5) is connected to the middle lower end of expansion link mechanism by handset bracket (3-6)；Camera (3-1) is led to mobile phone (3-5)
Letter.
8. a kind of circumferential multistation according to claim 6 shears fruit picking robot, characterized in that the fruit is received
Collect and be equipped with several annulus (4-2) in sleeve (4-1) from top to bottom, elastic rib (4-3) is installed on annulus (4-2)；Retainer plate (1-
3) along there is several circumferential apertures (1-6), collecting fruit sleeve (4-1) passes through circumferential aperture (1-6) and is connected to admittedly peripheral edge
On fixed circle (1-3).
9. a kind of circumferential multistation according to claim 8 shears fruit picking robot, characterized in that the retainer plate
(1-3) outer edge is equipped with circumferential slot, and moving-coil (1-4) is arranged in circumferential slot, moving-coil (1-4) inner sidewall and circumferential slot inner sidewall
Between several balls are installed；Several balls are installed between the moving-coil bottom (1-4) and circumferential trough floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820661495.6U CN208490263U (en) | 2018-05-05 | 2018-05-05 | A kind of circumferential direction multistation shearing fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820661495.6U CN208490263U (en) | 2018-05-05 | 2018-05-05 | A kind of circumferential direction multistation shearing fruit picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208490263U true CN208490263U (en) | 2019-02-15 |
Family
ID=65298304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820661495.6U Expired - Fee Related CN208490263U (en) | 2018-05-05 | 2018-05-05 | A kind of circumferential direction multistation shearing fruit picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208490263U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108464116A (en) * | 2018-05-05 | 2018-08-31 | 乔玉兰 | A kind of circumferential direction multistation shearing fruit picking robot |
-
2018
- 2018-05-05 CN CN201820661495.6U patent/CN208490263U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108464116A (en) * | 2018-05-05 | 2018-08-31 | 乔玉兰 | A kind of circumferential direction multistation shearing fruit picking robot |
| CN108464116B (en) * | 2018-05-05 | 2024-08-30 | 乔玉兰 | Circumferential multi-station fruit shearing and picking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208490263U (en) | A kind of circumferential direction multistation shearing fruit picking robot | |
| CN208523246U (en) | A kind of machinery aperture-type fruit picking apparatus | |
| CN203663413U (en) | Intelligent ping-pong serving machine | |
| CN208273632U (en) | A kind of indirect labor's hit the date device | |
| CN202095297U (en) | Fruit picking device | |
| CN109429718B (en) | Fruit auxiliary picking device and application method thereof | |
| CN108834568A (en) | A kind of fruit picker | |
| CN108464116A (en) | A kind of circumferential direction multistation shearing fruit picking robot | |
| CN109924007B (en) | Telescopic portable fruit picker | |
| CN208924693U (en) | Inertia device for picking | |
| CN111567220A (en) | Handheld telescopic Chinese chestnut vibration picking device | |
| CN209489170U (en) | A kind of adjustable picking lever | |
| CN209283751U (en) | A kind of de- picker of handheld portable woods fruit comb | |
| CN111298394A (en) | Table tennis ball collecting device for table tennis training and using method thereof | |
| CN207706747U (en) | A kind of fruit picking device | |
| CN208175407U (en) | High-altitude fruit picking device | |
| CN106797756A (en) | The automatic picking machine of walnut | |
| CN109220162A (en) | A kind of agricultural machinery harvesting apparatus | |
| CN109568908A (en) | A kind of training football gate | |
| CN108522020A (en) | A kind of indirect labor's hit the date device | |
| CN208258449U (en) | A kind of fruit picker | |
| CN201216071Y (en) | Fruit picker | |
| CN208260155U (en) | A kind of football training real-time monitoring system | |
| CN208001560U (en) | A kind of fruit picker | |
| CN209930951U (en) | Telescopic portable fruit picker |
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: 20190215 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |