CN208754730U - The one automatic picking machine of type ball fruit - Google Patents
The one automatic picking machine of type ball fruit Download PDFInfo
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- CN208754730U CN208754730U CN201821149559.0U CN201821149559U CN208754730U CN 208754730 U CN208754730 U CN 208754730U CN 201821149559 U CN201821149559 U CN 201821149559U CN 208754730 U CN208754730 U CN 208754730U
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- fruit
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- arm
- rotating disk
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Abstract
The utility model provides an automatic picking machine of type ball fruit, it include mounting seat, finger hinge-rod and rotating disk on picking paw, the upper end of picking claw finger is equipped with occlusion blade, when each picking claw finger is in open configuration, picking paw, which is moved to, is located at fruit to be picked among each picking claw finger, the rotation of external drive power drive rotating disk, rotating disk is mutually twisted by synchronous realize of occlusion blade that finger hinge-rod pushes corresponding picking claw finger synchronization to be closed inwardly to catch fruit, positioned at picking claw finger upper end to cut off the carpopodium of fruit.The utility model structure is simple, the angle of rotating disk rotation can be adjusted by the size of external motivating force, and then control the folding angle that picking paw refers to, while picking claw finger is closed crawl fruit, by the way of the synchronous occlusion of occlusion blade, cutting carpopodium that can be more laborsaving, and replacement particular tool is not needed, it improves picking efficiency and reduces tool wear.
Description
Technical field
The utility model relates to agricultural production apparatus fields, and in particular to an automatic picking machine of type ball fruit.
Background technique
With striding forward for well-off society, demand of the our people to fruit all increasingly improves in quantity and quality, people
Start that the scale with fruit ranche is started to grow fruit, fruits output also rises year by year.Harvest picking is straight in Production of fruit operation
Storage, processing and the sale for influencing fruit are connect, but the complexity due to picking operating environment and operation, fruit picking automate
Degree is still very low, needs to pick fruit using artificial, however, since rural area person between twenty and fifty labour is to urban migration etc.
Reason, fruit harvesting lack labour, cause cost needed for manually harvesting fruit shared in the entire production cost of fruit
Ratio is up to 33%-50% unexpectedly.
With the development of robot technology, it is expected to solve manpower shortage, reduces labor intensity of workers, improves worker's labour
Furthermore comfort level, the labour risk for reducing worker also improve the economic benefit of orchard worker, thus improve picking mechanization of operation
Degree has important meaning.During picking from fruit tree, due to different fruit, the size of fruit is also different, existing
Fruit picking in, different size of fruit uses different picking machines, simultaneously because the carpopodium of some fruit is tougher,
General picking machine is difficult to cut off, also bigger to the abrasion of cutter, needs using artificial or specific cutter, the effect of picking
Rate is low.
Utility model content
To solve the above problems, being suitable for different size fruit the purpose of the utility model is to provide a kind of structure is simple
Picking and the automatic picking machine of class ball fruit for cutting off carpopodium that can be more labor-saving.
The utility model provides an automatic picking machine of type ball fruit, including picking paw and Picker arm, picking paw peace
In Picker arm, it is characterised in that: picking paw includes mounting seat, finger hinge-rod and rotating disk, is cut with scissors in mounting seat
It is connected to picking claw finger, the bottom of mounting seat and the upper end of Picker arm connect, and the top of mounting seat is hinged at least two
Picking claw finger, rotating disk be sheathed on mounting seat it is outer and can the rotation of relative rotation disk, one end of finger hinge-rod with it is corresponding
Picking claw finger it is hinged, the other end and rotating disk of finger hinge bar are hinged, and the upper end of picking claw finger is equipped with occlusion knife
Piece；Picking machine further includes the driver for driving rotating disk rotation, and when each picking claw finger is in open configuration, picking paw is mobile
To being located at fruit to be picked among each picking claw finger；Driver drives rotating disk rotation, and rotating disk passes through finger hinge
The occlusion blade that bar pushes corresponding picking claw finger synchronization to be closed inwardly to catch fruit, positioned at picking claw finger upper end is same
Step closure realizes the carpopodium for being mutually twisted to cut off fruit.
Further, the automatic picking machine of the type ball fruit further includes connecting rod, and driver is cylinder, and cylinder is installed on
Picker arm, one end of connecting rod and the piston rod of cylinder are hinged, and the other end and rotating disk of connecting rod are hinged, and the piston rod of cylinder is stretched
Contracting is able to drive link motion to drive the rotation of rotating disk.
Further, picking claw finger is the arc spoon shape of indent.
Further, the inside of picking claw finger is equipped with flexible protection pad.
Further, occlusion blade is arc-shaped occlusion blade.
Further, the inside of the mounting seat is equipped with the hole passed through for the fruit under picking, and the inside of Picker arm is set
There is the channel passed through for the fruit under picking, the hole inside mounting seat is connected with the channel inside Picker arm, picks cleft hand
Refer to that the fruit under picking flows into the channel of Picker arm via the hole of mounting seat.
Further, the automatic picking machine of type ball fruit further includes storage fruit case and flexible fruit channel, flexibility
Fruit one end of the channel is connected with Picker arm, and the other end in flexible fruit channel is connected with storage fruit case, in the channel of Picker arm
Fruit through flexible fruit channel flow into storage fruit case in.
Further, the Picker arm includes upper arm, cloud disk, axle bed and lower arm, and the upper end of lower arm and the bottom of cloud disk connect
Connect, the lower end of upper arm is connected with the top of cloud disk, and picking paw is installed on the upper end of upper arm, upper arm by cloud disk can relatively under
Arm is freely rotated, and the lower end of lower arm and axle bed are hinged.
Further, the automatic picking machine of type ball fruit further includes pedestal, hydraulic cylinder and mounting plate, the axis
Seat is mounted in the top of mounting plate, and the upper end of the hydraulic stem on hydraulic cylinder and the bottom of mounting plate connect, and hydraulic cylinder fills on the base,
When hydraulic stem stretches out, mounting plate and axle bed can be pushed to move up, so that Picker arm be made to increase.
Further, bottom can place the carton for holding fruit or drawer type compartmentalized box for holding assorted fruits and candies in the case of the storage fruit case.
The utility model has the beneficial effects that
The utility model provides an automatic picking machine of type ball fruit, including picking paw and Picker arm, picking paw peace
In Picker arm, wherein on picking paw include mounting seat, finger hinge-rod and rotating disk, the bottom of mounting seat with
The connection of Picker arm upper end, the top of mounting seat are hinged at least two picking claw fingers, and rotating disk is sheathed on outside mounting seat
And can relative rotation disk rotation, one end of finger hinge-rod and corresponding picking claw finger are hinged, finger hinge bar it is another
End is hinged with rotating disk, and the upper end of picking claw finger is equipped with occlusion blade, when each picking claw finger is in open configuration, picking
Gripper, which is moved to, is located at fruit to be picked among each picking claw finger, and driver drives rotating disk rotation, and rotating disk passes through
Finger hinge-rod pushes corresponding picking claw finger synchronization to be closed inwardly to catch fruit, positioned at stinging for picking claw finger upper end
It closes blade synchronizing close and realizes the carpopodium for being mutually twisted to cut off fruit.The utility model structure is simple, can pass through outside
The size of driving force adjusts the angle of rotating disk rotation, and then controls the folding angle that refers to of picking paw, when picking claw finger
While closure crawl fruit, in such a way that occlusion blade synchronizing close realizes occlusion, cutting carpopodium that can be more laborsaving,
And replacement particular tool is not needed, it improves picking efficiency and reduces tool wear.
Detailed description of the invention
Using attached drawing, the utility model is described in further detail, but the embodiment in attached drawing is not constituted to the utility model
Any restrictions for those of ordinary skill in the art without creative efforts, can also be according to following attached
Figure obtains other attached drawings.
Fig. 1 is the structural schematic diagram of the picking paw under the closed state of the utility model；
Fig. 2 is the structural schematic diagram of the picking paw under the open configuration of the utility model；
Fig. 3 is the picking paw of the utility model and the partial structural diagram of Picker arm；
Fig. 4 is the picking paw of the utility model and the structural schematic diagram of Picker arm.
Fig. 5 is the cross-sectional view of the Picker arm a-quadrant in Fig. 4；
Fig. 6 is the picking machine overall structure diagram of the utility model.
Drawing reference numeral of the Fig. 1 into Fig. 5 is as follows:
1, crawler type car body walking mechanism；2, picking paw；3, Picker arm；4, Chu Guoxiang；5, hydraulic cylinder；6, mounting plate；
7, pedestal；8, flexible fruit channel；23, picking claw finger；24, flexible protection pad；25, mounting seat；26, it is engaged blade；27, hand
Refer to hinge-rod；28, rotating disk；30, connecting rod；31, cylinder；32, upper arm；33, cloud disk；34, lower arm；35, axle bed.
Specific embodiment
The utility model is further described with the following Examples.
The utility model is further described with the following Examples.
The automatic picking machine of type ball fruit provided by the utility model, as shown in fig. 6, a type ball fruit is picked automatically
Machine uses crawler type car body walking mechanism 1 to advance, specifically, crawler type car body walking mechanism 1 includes rectangular parallelepiped structure
Pedestal 7 and it is mounted on the crawler belt walking mechanism that 7 two sides of pedestal are driven by motor.It is equipped with anti-slop serrations on the outside of crawler belt, prevents fruit from adopting
Off-hook skids during advancing.
7 top of pedestal is additionally provided with the hydraulic device for adjusting two 3 height of Picker arm, and hydraulic device includes four hydraulic cylinders 5
With mounting plate 6, mounting plate 6 is specifically preferably U-shaped mounting plate, and two Picker arms 3 are respectively arranged in the two-arm of U-shaped mounting plate
On.Four hydraulic cylinders 5 are separately mounted near four angles of pedestal 7,6 bottom of upper end and mounting plate of the hydraulic stem on hydraulic cylinder 5
Portion is connected, and the top of mounting plate 6 is fixedly mounted there are two axle bed 35, as shown in figure 4, the lower end of axle bed 35 and Picker arm 3 is cut with scissors
It connects.When hydraulic stem stretches out, mounting plate and axle bed can be pushed to move up, so that Picker arm be made to increase.
Storage fruit case 4 is additionally provided with above pedestal 7, the area of absence among U-shaped mounting plate is inserted on the top of storage fruit case 4.Chu Guo
Being equipped in case 4 prevents the cushioning rail of fruit tumble injury and blocks fruit net and the blower to fruit cleaning action, specific preferred,
The carton or drawer type compartmentalized box for holding assorted fruits and candies that bottom placement holds fruit can also be filled in storage fruit case, the fruit after picking is facilitated to be directly entered
Carton or compartmentalized box for holding assorted fruits and candies, after taking-up can directly entrucking transport.
As shown in Fig. 1,4 and 5, two Picker arms 3 all include upper arm 32, cloud disk 33 and lower arm 34, the lower end of lower arm 34 and
Axle bed 35 is hinged, and the upper end of lower arm 34 is connected with 33 bottom of cloud disk, and the lower end of upper arm 32 is connected with the top of cloud disk 33, and
Upper arm 32 can be freely rotated by cloud disk 33 with respect to lower arm 34.Enable the arm of from Picker arm 3 to people it is the same can bend,
It is flexible.All it is hollow structure inside upper arm 32, cloud disk 33 and lower arm 34, i.e., is designed with inside upper arm 32, cloud disk 33 and lower arm 34
The channel that can pass through for fruit.The inner passage of upper arm 32, cloud disk 33 and lower arm 34 is connected to logical, i.e., fruit can be from upper
The inner passage of arm 32 reaches the inner passage of lower arm 34 by cloud disk 33.As shown in fig. 6, two 3 upper arm 32 of Picker arm is upper
End is connected separately with the picking paw 2 for picking fruit.As shown in figure 3, picking paw 2 passes through the installation bottom positioned at its bottom
Seat 25 is connect with the upper arm 32 of Picker arm 3, and mounting seat 25 is specifically preferably O-shaped mounting seat.It is supplied inside mounting seat 25
The hole that fruit passes through, 25 internal holes of mounting seat are connected to logical after connecting with 32 inner passage of upper arm of Picker arm 3.Such as Fig. 6
Shown, the lower arm 32 of two Picker arms 3 is respectively provided with the flexible fruit channel 8 being connected with the fruit import on storage fruit case 4, i.e.,
Flexible 8 one end of fruit channel is connected with the inner passage of lower arm 34, and the other end is connected with the fruit import of storage fruit case 3.Fruit warp
Flow into 3 upper arm inner passage of Picker arm by 25 internal holes of mounting seat, successively by cloud disk 33, the channel inside lower arm 34 and
Flexible fruit channel 6 finally flows into storage fruit case 4.
As shown in Figure 1,2 and 3, in the bottom of picking paw 2, picking paw 2 further includes three and adopts the mounting seat 25
It plucks cleft hand and refers to 23, finger hinge-rod 27 and rotating disk 28, in specific implementation, three picking claw fingers 23 are the arc spoon of indent
Shape.Three picking claw fingers 23 are distributed in the annular surrounding in mounting seat 25, and three pickings with 120 ° of even angle
Cleft hand refers to that 23 is hinged with the top of mounting seat 25 respectively.It is picked respectively with corresponding three one end of three finger hinge-rods 27
Cleft hand refers to that 23 is hinged, and the other end of three finger hinge bars 27 is hinged with rotating disk 28, and rotating disk 28 is installed on mounting seat
On 25, and rotating disk 28 can be rotated relative to mounting seat 25.The medial surface of picking claw finger 23 is equipped with flexible protection pad 24, adopts
It plucks cleft hand and refers to that 23 upper end is equipped with occlusion blade 26, occlusion blade is preferably arc-shaped occlusion blade.The upper arm of Picker arm 3
Cylinder 31, cylinder 31 and rotating disk 28 are installed to connect by connecting rod 30 on 32.Specifically, one end of connecting rod 30 and cylinder 31
Piston rod is hinged, and the other end of connecting rod 30 is hingedly hinged with rotating disk 28.The piston rod of cylinder 31 is shunk, and pulls connecting rod 30 downward
Movement is to make rotating disk 28 rotate, to push shifting movement on finger hinge-rod 27, and then picking claw finger 23 is pushed to be closed
Crawl is located at the fruit in picking paw 2, while three occlusion 26 synchronizing movings of blade of 23 upper end of picking claw finger are realized
It is mutually twisted to cut off carpopodium, to complete the picking of fruit.When 31 piston rod of cylinder stretches out, rotating disk 28 goes back to original position,
Picking claw finger 23 opens, convenient for fruit to be put into picking paw 2.Fruit in the present embodiment is spherical fruit.
Specific picking process, an automatic picking machine of type ball fruit are advanced under fruit tree, are mounted on hydraulic on pedestal 7
Device picks the height telescopic hydraulic bar of fruit as needed, pushes mounting plate 6 and is mounted on mounting plate 6 by axle bed 35
Picker arm 3 rise or fall, reach and need to pick the height of position.3 lower arm 34 of Picker arm can be according to picking paw 2 and fruit
Real position is correspondingly rotated, and picking position is adjusted.Picking position is further adjusted, upper arm 32 is rotated, makes picking paw 2
Close to objective fruit.Picking paw 2 is after the fruit for needing to pick, and the piston rod of cylinder 31 stretches out, and picking claw finger 23 is beaten
It opens.After fruit wait need to pick enters in picking paw 2,31 piston rod of cylinder is shunk, and the movement of connecting rod 30 is pulled to make rotating disc
28 rotations, three finger hinge-rods 27 being mounted in rotating disk 28 keep three picking claw fingers 23 same by the promotion of rotating disk 28
Step is closed synchronous realize of three occlusion blades 26 to catch fruit, positioned at 23 upper end of picking claw finger inwardly and is mutually twisted
It, will be under fruit to cut off carpopodium.In specific implementation preferably, picking paw refers to that 23 medial surface is equipped with flexible protection pad 24, can
To prevent from scratching fruit.The inside that fruit after picking passes sequentially through the upper arm 32 of 25 internal holes of mounting seat, Picker arm 3 is logical
Road, the inner passage of cloud disk 33, Picker arm 3 lower arm 34 inner passage and flexible fruit channel 8, finally reach storage fruit case 4.
The one automatic picking machine of type ball fruit of the utility model is described in detail above, it is used herein specifically
A example is expounded the principles of the present invention and embodiment.The above embodiments are only used to help understand originally
The core concept of utility model；At the same time, for those skilled in the art, based on the idea of the present invention, specific
There will be changes in embodiment and application range, in conclusion the content of the present specification should not be construed as to originally practical new
The limitation of type.
Claims (10)
1. an automatic picking machine of type ball fruit, including picking paw and Picker arm, picking paw are mounted in Picker arm, special
Sign is: picking paw includes mounting seat, finger hinge-rod and rotating disk, and picking claw finger is hinged in mounting seat, peace
The upper end of the bottom and Picker arm that fill pedestal connects, and the top of mounting seat is hinged at least two picking claw fingers, rotating disk
Be sheathed on mounting seat it is outer and can the rotation of relative rotation disk, one end of finger hinge-rod and corresponding picking claw finger are hinged,
The other end of finger hinge bar and rotating disk are hinged, and the upper end of picking claw finger is equipped with occlusion blade；Picking machine further includes driving
The driver of dynamic rotating disk rotation, when each picking claw finger is in open configuration, picking paw, which is moved to, makes fruit to be picked
Among each picking claw finger；Driver drives rotating disk rotation, and rotating disk pushes corresponding picking by finger hinge-rod
The occlusion blade synchronizing close realization that pawl finger synchronization is closed inwardly to catch fruit, positioned at picking claw finger upper end is mutually stung
It closes to cut off the carpopodium of fruit.
2. the automatic picking machine of type ball fruit as described in claim 1, it is characterised in that: fruit picking further includes connecting
Bar, driver are cylinder, and cylinder is installed on Picker arm, and one end of connecting rod and the piston rod of cylinder are hinged, the other end of connecting rod with
Rotating disk is hinged, and the piston rod of cylinder stretches, and is able to drive link motion to drive the rotation of rotating disk.
3. the automatic picking machine of type ball fruit as described in claim 1, it is characterised in that: the picking claw finger is indent
Arc spoon shape.
4. the automatic picking machine of type ball fruit as described in claim 1, it is characterised in that: the inside of the picking claw finger
Equipped with flexible protection pad.
5. the automatic picking machine of type ball fruit as described in claim 1, it is characterised in that: the occlusion blade is arc-shaped
It is engaged blade.
6. the automatic picking machine of type ball fruit as described in claim 1, it is characterised in that: the inside of the mounting seat is set
There is a hole passed through for picking lower fruit, the inside of Picker arm is equipped with the channel passed through for the fruit under picking, in mounting seat
The hole in portion is connected with the channel inside Picker arm, and the fruit under picking claw picking finger flows into picking via the hole of mounting seat
In the channel of arm.
7. the automatic picking machine of type ball fruit as claimed in claim 6, it is characterised in that: further include storage fruit case and flexible fruit
Real channel, flexible fruit one end of the channel are connected with Picker arm, and the other end in flexible fruit channel is connected with storage fruit case, pick
Fruit in the channel of arm flows into storage fruit case through flexible fruit channel.
8. the automatic picking machine of type ball fruit as claimed in claim 6, it is characterised in that: the Picker arm include upper arm,
Cloud disk, axle bed and lower arm, the upper end of lower arm are connected with the bottom of cloud disk, and the lower end of upper arm is connected with the top of cloud disk, picking hands
Pawl is installed on the upper end of upper arm, and upper arm can be freely rotated by cloud disk with respect to lower arm, and the lower end of lower arm and axle bed are hinged.
9. the automatic picking machine of type ball fruit as claimed in claim 8, it is characterised in that: further include pedestal, hydraulic cylinder and
Mounting plate, the axle bed are mounted in the top of mounting plate, and the upper end of the hydraulic stem on hydraulic cylinder and the bottom of mounting plate connect, hydraulic
Cylinder fills on the base, when hydraulic stem stretches out, mounting plate and axle bed can be pushed to move up, so that Picker arm be made to increase.
10. the automatic picking machine of type ball fruit as claimed in claim 7, it is characterised in that: bottom in the case of the storage fruit case
Portion can place the carton for holding fruit or drawer type compartmentalized box for holding assorted fruits and candies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821149559.0U CN208754730U (en) | 2018-07-18 | 2018-07-18 | The one automatic picking machine of type ball fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821149559.0U CN208754730U (en) | 2018-07-18 | 2018-07-18 | The one automatic picking machine of type ball fruit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208754730U true CN208754730U (en) | 2019-04-19 |
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ID=66129598
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821149559.0U Active CN208754730U (en) | 2018-07-18 | 2018-07-18 | The one automatic picking machine of type ball fruit |
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| CN (1) | CN208754730U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111684922A (en) * | 2020-06-18 | 2020-09-22 | 三峡大学 | Semi-automatic orange and tangerine collecting and shearing system and using method |
| CN113397189A (en) * | 2021-07-02 | 2021-09-17 | 张向阳 | Stem removing device for processing jackfruit |
| CN113442152A (en) * | 2021-06-24 | 2021-09-28 | 华南农业大学 | Flexible finger with lateral wrapping property for fruit picking |
| CN113994813A (en) * | 2021-10-13 | 2022-02-01 | 大连理工大学 | Single-motor-driven rotary picking end effector |
-
2018
- 2018-07-18 CN CN201821149559.0U patent/CN208754730U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111684922A (en) * | 2020-06-18 | 2020-09-22 | 三峡大学 | Semi-automatic orange and tangerine collecting and shearing system and using method |
| CN113442152A (en) * | 2021-06-24 | 2021-09-28 | 华南农业大学 | Flexible finger with lateral wrapping property for fruit picking |
| CN113397189A (en) * | 2021-07-02 | 2021-09-17 | 张向阳 | Stem removing device for processing jackfruit |
| CN113994813A (en) * | 2021-10-13 | 2022-02-01 | 大连理工大学 | Single-motor-driven rotary picking end effector |
| CN113994813B (en) * | 2021-10-13 | 2022-08-02 | 大连理工大学 | Single-motor-driven rotary picking end effector |
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