CN208924683U - A kind of aspiration curries formula medlar-picking machine - Google Patents
A kind of aspiration curries formula medlar-picking machine Download PDFInfo
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- CN208924683U CN208924683U CN201821654670.5U CN201821654670U CN208924683U CN 208924683 U CN208924683 U CN 208924683U CN 201821654670 U CN201821654670 U CN 201821654670U CN 208924683 U CN208924683 U CN 208924683U
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- cantilever beam
- fruit
- collection device
- picking machine
- end effector
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Abstract
The utility model provides a kind of aspiration and curries the structures such as formula medlar-picking machine, including end effector, end joint, vertical cantilever beam, limited block, horizontal cantilever beam, arm joint, delivery pipe, screening collection device, air-introduced machine.When work, branch is sandwiched into the currying between work head of two counter-rotatings, carpopodium is become horizontal from sagging type after air-introduced machine starting, when branch passes through the work head of two backwards rotations, relative motion is generated with it, fruit is dropped into delivery pipe, do not stop to move with end effector position, ripening fruits is successively plucked from branch comb, is fallen into the fruit in screening collection device by simple filtering, can be separated the impurity such as a small amount of leaf.
Description
Technical field:
The utility model provides a kind of aspiration and curries formula medlar-picking machine, belongs to agricultural machinery technological field.
Background technique:
Fructus lycii has the characteristics that while blooming, result, maturation, and branch is thin and delicate, and fruit is sagging, artificial picking need for a long time with
The same posture is directed at carpopodium, and labor intensity is very big.It can be seen that it is too low and waste money manually to pick expensive, efficiency
Source.Domestic medlar-picking machine is mostly oscillatory type, and when picking is easy to damage Chinese wolfberry fruit.
Utility model content:
The purpose of this utility model is to provide a kind of aspirations to curry formula medlar-picking machine, is replaced manually, significantly with electronic
Ground improves picking efficiency, saves labour, while overcoming the deficiency of oscillatory type medlar-picking machine common on the market, can have
Effect reduces the mechanical injury to fruit.
The technical solution of the utility model is: a kind of aspiration curries formula medlar-picking machine, including end effector (1), end
Joint (2), vertical cantilever beam (3), limited block (4), horizontal cantilever beam (5), arm joint (6), delivery pipe (7), screening is held to collect dress
Set (8), air-introduced machine (9), mobile power source (10), chassis (11), walking wheel (12), receiver module (13) and steering vehicle
It takes turns (14).
Screen collection device (8), air-introduced machine (9), mobile power source (10), receiver module (13) with by end joint (2),
The mechanical arm of vertical cantilever beam (3), horizontal cantilever beam (5), arm joint (6) and limited block (4) composition is mounted on chassis (11),
Wheel (14) are used in chassis (11) both ends of the surface and equipped with walking wheel (12) and steering, realization is prolonged x-axis movement and rotated around z-axis
Movement；Mobile power source (10) provides electric power for complete machine；User emits signal to receiver module (13), to control picking machine
Everything, end effector (1) lead to roller on there is the flexibility of circumference array to curry, the fruit taken can pass through delivery pipe
(7) enter screening collection device (8).
As advanced optimizing for the technical program, a kind of aspiration of the utility model curries end described in formula medlar-picking machine
Curry the bristle for not injuring fruit with softness in end actuator (1).
As advanced optimizing for the technical program, a kind of aspiration of the utility model curries defeated described in formula medlar-picking machine
Sending pipe (7) is to be fabricated from a flexible material, and is also made of rubber in delivery pipe (7) and screening collection device (8) junction.
As advanced optimizing for the technical program, a kind of aspiration of the utility model curries sieve described in formula medlar-picking machine
It selects collection device (8) to select sieve structure using Double-layer flexible, can prevent fruit from entering air-introduced machine (9).
The utility model aspiration curries formula medlar-picking machine compared with prior art, has the advantages that
1, the Multi-angle turnover that end effector (1) may be implemented realizes the movement of six-freedom degree.
2, end joint (2), vertical cantilever beam (3), horizontal cantilever beam (5), arm joint (6) run smoothly, are easy to control, move
Power is provided by mobile power source (10), environmentally protective.
3, the design of end effector (1), will not damage ripening fruits, accomplish as far as possible by picking machine minimize,
Easy；Delivery pipe (7), screening collection device (8) also use flexible material, damage during preventing fructus lycii from collecting because of friction
Epidermis.
4, the wind-force size for adjusting air-introduced machine (9) can not only make carpopodium horizontal, but also can collect fruit, will not allow fructus lycii
Secondary be involved in curries middle damage fruit, improves efficiency.
5, installation screening collection device (8) on chassis (11), effectively collects fruit, and using Chinese wolfberry fruit and
The shape difference of leaf branch, fruit is screened；It is once dispensed at regular intervals, substantially increases picking effect
Rate.
Detailed description of the invention:
To keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the attached of the utility model
Figure, carries out clear, complete description to the technical solution of the utility model.Below in conjunction with attached drawing, to the tool of the utility model
Body embodiment is described in detail.
Fig. 1 is that aspiration provided by the utility model curries the front view structure signal of formula medlar-picking machine in the initial state
Figure.
Fig. 2 is that aspiration provided by the utility model curries the plan structure signal of formula medlar-picking machine in the operating condition
Figure.
Wherein Fig. 1, in 2: 1, end effector 2, end joint 3, vertical cantilever beam 4, limited block 5, horizontal cantilever beam 6, arm
Joint 7, delivery pipe 8, screening collection device 9, air-introduced machine 10, mobile power source 11, chassis 12, walking wheel 13, receiver mould
Wheel is used in block 14, steering.
Specific embodiment:
In the embodiment shown in Fig. 1,2, a kind of aspiration curries formula medlar-picking machine, including end effector (1), end
Joint (2), vertical cantilever beam (3), limited block (4), horizontal cantilever beam (5), arm joint (6), delivery pipe (7), screening collection device
(8), air-introduced machine (9), mobile power source (10), chassis (11), walking wheel (12), receiver module (13) and steering wheel
(14), it is characterised in that: screening collection device (8), air-introduced machine (9), mobile power source (10), receiver module (13) with by end
The mechanical arm that joint (2), vertical cantilever beam (3), horizontal cantilever beam (5), arm joint (6) and limited block (4) form is mounted on chassis
(11) on, in chassis (11) both ends of the surface again equipped with walking wheel (12) and turn to use wheel (14), realization prolong x-axis movement and around
The movement of z-axis rotation；Mobile power source (10) provides electric power for complete machine.
User manipulates transmitter and emits signal to receiver module (13), to control the everything of picking machine, end
Actuator (1) by equipped with the vertical cantilever beams (3) of lead screw guide rails, horizontal cantilever beam (5) sliding realize along y-axis and z-axis
To reach suitable operating position, limited block (4) can prevent vertical cantilever beam (3) to fall off from horizontal cantilever beam (5) for movement；End
Joint (2) and arm joint (6) can allow end effector (1) to swing around x, y and z axes, to realize end effector (1) six
The movement of freedom degree；The fruit of fructus lycii can be become horizontality, end effector from hang by air-introduced machine (9) suction air
(1) roller in can rotate after being powered to two opposite directions, have currying for circumference array on roller, the fruit taken can be by defeated
Pipe (7) are sent to enter screening collection device (8), screening collection device (8) can effectively collect fruit, and utilize Chinese wolfberry fruit
With the shape difference of leaf branch, fruit is sifted out, is once dispensed at regular intervals, picking efficiency is substantially increased.
Claims (4)
1. a kind of aspiration curries formula medlar-picking machine, it is characterised in that: screening collection device (8), air-introduced machine (9), mobile power source
(10), receiver module (13) with by end joint (2), vertical cantilever beam (3), horizontal cantilever beam (5), arm joint (6) and limit
The mechanical arm of block (4) composition is mounted on chassis (11), again equipped with walking wheel (12) and steering in chassis (11) both ends of the surface
With wheel (14), the movement for moving along the x-axis and rotating around z-axis is realized；Mobile power source (10) provides electric power for complete machine；User to
Receiver module (13) emits signal, and to control the everything of picking machine, end effector (1) is by being equipped with lead screw guide rails
Vertical cantilever beam (3), sliding to realize moves to reach suitable operating position, limit along y-axis and z-axis on horizontal cantilever beam (5)
Block (4) can prevent vertical cantilever beam (3) to fall off from horizontal cantilever beam (5)；End joint (2) and arm joint (6) can be such that end holds
Row device (1) is swung around x, y and z axes, to realize the movement of end effector (1) six-freedom degree；Air-introduced machine (9) suction air can
The fruit of fructus lycii is become into horizontality from hang, the roller in end effector (1) can be to two opposite directions after being powered
It rotates, has currying for circumference array on roller, the fruit taken can enter screening collection device (8) by delivery pipe (7).
2. a kind of aspiration according to claim 1 curries formula medlar-picking machine, it is characterized in that end effector (1) is curried
The bristle of fruit is not injured with softness.
3. a kind of aspiration according to claim 1 curries formula medlar-picking machine, it is characterized in that delivery pipe (7) is by flexible material
Material is made, and is also made of rubber in delivery pipe (7) and screening collection device (8) junction.
4. a kind of aspiration according to claim 1 curries formula medlar-picking machine, it is characterized in that screening collection device (8) uses
Double-layer flexible selects sieve structure, can prevent fruit from entering air-introduced machine (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821654670.5U CN208924683U (en) | 2018-10-12 | 2018-10-12 | A kind of aspiration curries formula medlar-picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821654670.5U CN208924683U (en) | 2018-10-12 | 2018-10-12 | A kind of aspiration curries formula medlar-picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208924683U true CN208924683U (en) | 2019-06-04 |
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ID=66724143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821654670.5U Active CN208924683U (en) | 2018-10-12 | 2018-10-12 | A kind of aspiration curries formula medlar-picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208924683U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111034461A (en) * | 2018-10-12 | 2020-04-21 | 东北林业大学 | Air suction combing type wolfberry picking machine |
-
2018
- 2018-10-12 CN CN201821654670.5U patent/CN208924683U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111034461A (en) * | 2018-10-12 | 2020-04-21 | 东北林业大学 | Air suction combing type wolfberry picking machine |
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