CN209390702U - A fruit picker with rotatable picking claws - Google Patents

Abstract

This invention provides a fruit picker with a rotatable picking claw, comprising a main rod and a secondary rod. The secondary rod includes a picking claw and a rotating shaft connected to the picking claw. The main rod contains a steel wire, and an operating handle is located at its end. The operating handle is connected to a guide ring. A disc-type spring-pulling structure is located on the main rod near the operating handle. The disc-type spring-pulling structure contains an internal spring, and both the internal spring and the guide ring are connected to one end of the steel wire. The top of the main rod is detachably connected to one end of a sliding groove via a bolt. The other end of the sliding groove is connected to the rotating shaft via a bolt. A slider is located within the sliding groove and is connected to one end of an externally threaded tube ring. The other end of the steel wire is wound around the externally threaded tube ring, and the other end of the externally threaded tube ring is connected to the rotating shaft. The end of the rotating shaft is connected to a coupling and a motor, and the motor's rotation is controlled by a Bluetooth control circuit. This invention not only effectively prevents fruit damage but also boasts a high degree of automation.

Description

A fruit picker with rotatable picking claws

technical field

The utility model relates to the technical field of orchard fruit harvesting machinery, in particular to a fruit picker with rotatable picking claws.

Background technique

The traditional orchard harvesting method is mainly manual harvesting. Not only is the harvesting cost high, but some fruits that are difficult to harvest hanging on the treetops may be dangerous if harvested manually. With the continuous advancement of science and technology, it has become inevitable for fruit picking robots to replace manual labor.

At present, most of the domestic fruit harvesting machines have the following technical problems: single function and low efficiency; grasping and pulling fruit picking will cause damage to the roots of trees and cause other fruits to fall off; the identification and positioning accuracy of machine picking is low; the speed is slow, Low efficiency; vehicle exhaust pollutes the air; robot picking, the machine is huge, the cost is high, the working area is highly restrictive, and the structure is complicated; picking power consumption is large, and it cannot be energy-saving and environmentally friendly.

Utility model content

The utility model provides a fruit picking device with rotatable picking claws aiming at the deficiencies of the prior art, which can not only effectively prevent the fruit from being damaged, but also have a high degree of automation.

The utility model provides a fruit picker with rotatable picking claws, comprising a main rod and an auxiliary rod, the auxiliary rod includes picking claws and a rotating shaft connected with the picking claws; the top of the main rod is provided with a chute, One end of the chute is connected with the inner threaded pipe ring through the bolt 2, the rotating shaft includes the inner threaded pipe ring, the other end of the chute is provided with a slider, and the slider is connected with the rotating shaft through a sliding rod. Shaft connection; the end of the main rod is provided with an operating handle, the operating handle is provided with a guide ring, and the outside of the main rod is provided with a disc spring pulling structure near the operating handle, and the disc spring pulls The structure is provided with an internal spring connected to one end of the steel wire. After the steel wire passes through the guide ring, it passes through the main rod and wraps around the sliding rod and finally connects with the rotating shaft. The rotating shaft The end end is connected with the motor drive through a coupling.

Preferably, the main rod is detachably connected to the chute through bolts.

Preferably, the picking claws include three soft claws that can be opened and closed, and the picking claws are provided with a steel wire 2 and a return spring, one end of the steel wire 2 is connected to the soft claws, and the other end of the steel wire 2 is connected to the The rotating shaft is connected, and the return spring is sleeved on the steel wire 2.

Preferably, the rotating shaft includes a rotating shaft, the rotating shaft is connected with the picking claw, the rotating shaft is wrapped with a bearing and a bearing seat, and the bearing seat is connected with the internal thread pipe ring.

Preferably, a flat key is provided on the rotating shaft, the rotating shaft and the flat key move synchronously, and the flat key drives the rotating shaft to move.

Preferably, a collection basket is further provided under the picking claw, and the collection basket is connected with the internal thread pipe ring.

Preferably, the collection basket includes a side baffle and a basket body, and a wave-shaped buffer channel is fixedly provided on the inner side of the side baffle and the inner surface of the basket body.

Preferably, the rotating shaft includes an externally threaded pipe ring, a bearing and a bearing seat are arranged between the rotating shaft and the externally threaded pipe ring, and the externally threaded pipe ring is connected to the slider through the sliding rod, The externally threaded pipe ring is connected to the steel wire.

Preferably, a handle is further provided on the main pole, and a button for controlling the switch of the motor is provided on the handle.

Preferably, the fruit picker also includes a single-chip microcomputer Bluetooth control circuit, and the Bluetooth control circuit controls the rotation of the motor.

Compared with the prior art, the utility model has the following beneficial effects:

The fruit picker of the utility model can ensure that the picking claws are rotated by the motor to make the fruit pedicle fall off from the fruit tree without damaging the surface and the pedicle of the picked fruit, so that the purpose of picking fruit can be achieved smoothly. The Bluetooth circuit is used to remotely control the rotation of the motor to drive the rotation of the picking claws. People can control the rotation of the picking claws at a distance, and the degree of automation is improved. The disc spring mechanism is used to adjust the expansion and contraction of the steel wire inside the main rod, so as to change the length of the fruit picker without affecting the clamping of the picking head, which is beneficial to the fruit grower to freely adjust the length of the picker according to the actual height of the fruit. At the same time, the inner side of the side baffle of the collection basket and the inner surface of the basket are all provided with a wave-shaped buffer made of soft rubber material, which effectively prevents the fruit from being bruised after falling into the collection basket.

Description of drawings

Fig. 1 is a structural schematic diagram of a fruit picker with rotatable picking claws of the present invention.

Fig. 2 is a structural schematic diagram of a collection basket in a fruit picker with rotatable picking claws of the present invention.

Fig. 3 is a structural schematic diagram of the picking claws in a fruit picker with rotatable picking claws of the present invention.

Fig. 4 is a schematic diagram of the connection structure of the bearing, the bearing seat, the inner threaded pipe ring and the outer threaded pipe ring in a fruit picker with rotatable picking claws of the present invention.

Detailed ways

The utility model will be further described below in conjunction with specific embodiments. Wherein, the accompanying drawings are for illustrative purposes only, and represent only schematic diagrams, rather than actual drawings, and should not be construed as limitations on this patent; in order to better illustrate the embodiments of the present utility model, some parts of the accompanying drawings will be omitted , enlargement or reduction, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some known structures and their descriptions in the drawings may be omitted.

In the accompanying drawings of the utility model embodiment, the same or similar symbols correspond to the same or similar parts; The orientation or positional relationship indicated by "right", etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the referred device or component must have a specific orientation, It is constructed and operated in a specific orientation, so the terms describing the positional relationship in the drawings are for illustrative purposes only, and should not be construed as limitations on this patent. Those of ordinary skill in the art can understand the meaning of the above terms according to specific situations. Concrete meaning.

As shown in Figures 1-4, a fruit picker with rotatable picking claws includes a main rod 18 and a secondary rod 19. The secondary rod 19 includes a picking claw 7 and a rotating shaft 12 connected with the picking claw 7. The main rod 18 A steel wire 21 is provided inside, and an operating handle 1 is provided at the end of the main rod 18. The operating handle 1 is connected to the guide ring 22. The main rod 18 is provided with a disc spring pulling structure 2 near the operating handle 1, and the disc spring pulling structure 2 Including an internal spring 20 and a casing, the internal spring 20 is connected to one end of a steel wire 21, and the steel wire 21 passes through the guide ring 22 and is finally wound and arranged on the external thread pipe ring 14, when the operating handle is pressed At 1 o'clock, guide ring 22 pulls steel wire-21, and the redundant steel wire-21 that is pulled out is tightened up by the internal spring 20 in the disc spring pulling structure 2, avoids the unnecessary steel wire-21 that is pulled out to twist and knot. One end of the main rod 18 top and the chute 6 are detachably connected by a bolt one 4, the rotating shaft 12 includes an internally threaded pipe ring 11, and the other end of the chute 6 is connected with the internally threaded pipe ring 11 by a bolt two 23, A slide block 5 is provided in the chute 6, and the slide block 5 is connected with the rotating shaft 12 through a slide rod 141, and the externally threaded pipe ring 14 is connected with the slide block 5 through the slide rod 141, specifically , the inside of the slider 5 is internally threaded, one end of the sliding rod 141 is threadedly connected with the slider 5, the other end of the steel wire 121 is wound on the sliding rod 141 and the externally threaded pipe ring 14, and the externally threaded pipe ring 14 The other end is connected with the rotating shaft 12. When the guide ring 22 pulls the steel wire 21, the steel wire 21 pulls the externally threaded pipe ring 14, and the externally threaded pipe ring 14 drives the slider 5 to move up and down synchronously on the chute 6, thereby realizing rotation Axis 12 moves up and down. The end of rotating shaft 12 connects shaft coupling 15 and motor 16, and fruit picker also comprises single-chip microcomputer bluetooth control circuit, and single-chip microcomputer bluetooth control circuit has the rotation function of wireless remote control motor, promptly controls the rotation of motor 16 through bluetooth control circuit, and motor 16 drives The rotary shaft 12 rotates.

The top of picking claw 7 is three soft claws that can be opened and closed. Through the return spring 72, it is connected with the soft claw, and the other end of the steel wire 71 is connected with the rotating shaft 12. When the externally threaded pipe ring 14 is pulled down, the rotating shaft 12 is also pulled down, and the rotating shaft 12 is pulled down. While pulling down, the steel wire 2 71 is tightened, and the three soft claws that can be opened and closed are also tightened and closed, thereby realizing the clamping of the fruit by the soft claws.

The rotating shaft 12 includes a rotating shaft 8, the rotating shaft 8 is connected with the picking claw 7, the rotating shaft 8 is wrapped with a bearing 9 and a bearing seat 10, and the bearing seat 10 is externally provided with an internal thread pipe ring 11.

The fruit picking device also includes a collection basket 17, which is connected with the internal thread pipe ring 11.

Collection basket 17 comprises side baffle 171 and casing 172, and the inner surface of side baffle 171 and casing 172 is fixedly provided with wave-shaped buffering road 173, and wave-shaped buffering road 173 is made of soft rubber material, when picking claw When the three openable soft claws of 7 loosen the fruit, the fruit falls into the collection basket 17 under the action of gravity, and when the fruit falls into the collection basket 17, it will inevitably hit the inner surface of the collection basket 17. The inner surface of the basket 172 is fixedly provided with a wave-shaped buffer road 173, so when the fruit falls into the collection basket 17, because of the buffering effect of the buffer road 173, the fruit is prevented from being bruised by the inner surface of the collection basket 17. Buffer road 173, therefore reduced the impact force that fruit falls into the housing 172 of collecting basket 17, avoids the fruit that falls after and bumps the fruit that earlier falls in the housing 172 because of impact force is too big, in the basket The entrance of the body 172 is also provided with a side baffle 171 to prevent the fruit from bouncing out of the casing 172 .

Main rod 18 is also provided with handle 3, and handle 3 is provided with the button of control motor 16 switch, when pressing the button of control motor 16 switch, motor is in standby state, and now motor 16 can realize rotation through bluetooth control circuit Function, the rotation of the motor 16 can drive the rotation shaft 12 to rotate.

The rotating shaft 12 is also provided with a keyway, the keyway is provided with a flat key 13, and the rotating shaft 12 and the flat key 13 move synchronously.

A rotating shaft 8 is arranged between the top of the rotating shaft 12 and the bottom of the picking claw 7. The two sides of the flat key 13 drive the rotating shaft 8 to move. Ring 14 moves downwards. When the soft claw clamps the fruit, press the button of the handle 3 to make the motor 16 rotate, the motor 16 drives the rotating shaft 12 to rotate, the rotating shaft 12 drives the rotating shaft 8 to rotate through the flat key 13, and the rotating shaft 8 drives the picking claw 7 Rotate, thereby realize that fruit stem comes off from fruit tree. When the fruit pedicel came off from the fruit tree, the rotating shaft 12 stopped rotating and stopped pulling down, and the disc spring pulling structure 2 was pressed, and the internal spring 20 in the disc spring pulling structure 2 was released, and the steel wire 121 was loosened and rotated. Axle 12 moves upwards under the drive of external thread pipe ring 14, and steel wire 2 71 is also unclamped, because picking claw 7 is when being pulled tight by steel wire 2 71, back-moving spring 72 is compressed, and when steel wire 2 71 loosens, resets Spring 72 resets upwards automatically, and now three closed soft claws unclamp, and the fruit on the soft claws then falls in the collection basket 17.

The inner spring 20 can automatically expand and contract the steel wire 1 21, thereby changing the picking height without affecting the clamping function of the picking claw 7. When the disc spring pulling structure 2 expands and contracts when adjusting the rotating shaft 12, it actually elongates or tightens the length of the steel wire 1 21 and the internal spring 20. Once the rotating shaft 12 is stretched, the internal spring 20 inside the disc spring pulling structure 2 It will shrink automatically, and the steel wire one 21 will also shrink under the force of the internal spring 20.

The working principle of the utility model is as follows: the operating handle 1 is pressed, the guide ring on the operating handle 1 pulls the steel wire 121 to tighten, and the steel wire 121 drives the external thread pipe ring 14 and the slider 5 to move synchronously on the chute 6 , at the same time, the external thread pipe ring 14 drives the rotation shaft 12 to move, and the rotation shaft 12 drives the steel wire 2 71 to tighten until the three openable soft claws close and clamp the fruit. After the fruit is clamped, press the button on the handle 3 The button makes the motor 16 rotate, and the motor 16 drives the rotating shaft 12 to rotate, and the rotating shaft 12 drives the rotating shaft 8 to rotate through the flat key 13, and finally drives the picking claw 7 to rotate, thereby realizing that the fruit comes off from the fruit tree. Press the button on the handle 3 to stop the rotation of the motor 16, release the joystick 1, the return spring 72 resets, and under the rebound force of the return spring, the soft claws are released, so that the picked fruits fall into the collection basket 17. Finish the whole picking operation. When the fruit is at a high place or a low place, the disc spring pulling structure 2 on the main rod of the picker can automatically expand and contract the steel wire, thereby raising or lowering the overall picking operation height of the picker. Further, the fruit picker also includes a bluetooth control circuit electrically connected to the motor 16 to remotely control the operation of the motor 16.

To sum up, the fruit picker of the present utility model can ensure that the picking claws are rotated by the motor to make the fruit pedicle fall off from the fruit tree without damaging the surface and pedicle of the picked fruit, and the purpose of picking fruit can be achieved smoothly. The Bluetooth circuit is used to remotely control the rotation of the motor to drive the rotation of the picking claws. People can control the rotation of the picking claws at a distance, and the degree of automation is improved. The disc spring mechanism is used to adjust the expansion and contraction of the steel wire inside the main rod, so as to change the length of the fruit picker without affecting the clamping of the picking head, which is beneficial to the fruit grower to freely adjust the length of the picker according to the actual height of the fruit.

The above embodiments are only used to illustrate the technical solutions of the present utility model, and are not intended to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be applied to the foregoing embodiments The technical solutions described in the examples are modified, or some of the technical features are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the protection scope of the technical solutions of the various embodiments of the utility model.

Claims (10)

1. A fruit picker with rotatable picking claws, comprising main rod (18) and auxiliary rod (19), characterized in that: said auxiliary rod (19) includes picking claws (7) and picking claws (7) ) connected to the rotating shaft (12); the top of the main rod (18) is provided with a chute (6), the rotating shaft (12) includes an internally threaded pipe ring (11), and one end of the chute (6) Connect with the internal thread pipe ring (11) by bolt two (23), the other end of the chute (6) is provided with a slide block (5), and the slide block (5) passes through the slide rod (141) It is connected with the rotating shaft (12); the end of the main rod (18) is provided with an operating handle (1), and the operating handle (1) is provided with a guide ring (22), and the main rod (18) ) is provided with a disc spring pulling structure (2) near the operating handle (1), and the disc spring pulling structure (2) is provided with an internal spring (20) connected to one end of the steel wire one (21). Steel wire one (21) passes through the guide ring (22), passes through the main rod (18) and winds the sliding rod (141) and finally connects with the rotating shaft (12). The tail end of the shaft (12) is connected with the motor (16) through a shaft coupling (15). 2. A fruit picker with rotatable picking claws according to claim 1, characterized in that: said main rod (18) is detachably connected to said chute (6) through bolt one (4). 3. A fruit picker with rotatable picking claws according to claim 1, characterized in that: the picking claws (7) include three soft claws that can be opened and closed, and the picking claws (7) are provided with two steel wires. (71) and return spring (72), one end of described steel wire two (71) is connected with soft claw, and the other end of described steel wire two (71) is connected with described rotating shaft (12), and described return spring (72 ) is set on the steel wire two (71). 4. A fruit picker with rotatable picking claws according to claim 3, characterized in that: the rotating shaft (12) includes a rotating shaft (8), and the rotating shaft (8) is connected to the picking claw (7) The rotating shaft (8) is wrapped with a bearing (9) and a bearing seat (10), and the bearing seat (10) is connected with the internal thread pipe ring (11). 5. A fruit picker with rotatable picking claws according to claim 4, characterized in that: said rotating shaft (12) is provided with a flat key (13), said rotating shaft (12) and said flat key ( 13) synchronous movement, the flat key (13) drives the rotation shaft (8) to move. 6. A fruit picker with rotatable picking claws according to claim 4, characterized in that: a collection basket (17) is also provided below the picking claw (7), and the collection basket (17) is connected to the internal thread Pipe ring (11) is connected. 7. A fruit picker with rotatable picking claws according to claim 6, characterized in that: the collection basket (17) comprises a side baffle (171) and a basket (172), and the side baffle (171) The inner side and the inner surface of the casing (172) are fixedly provided with a wave-shaped buffer channel (173). 8. A fruit picker with rotatable picking claws according to claim 3, characterized in that: the rotating shaft (12) comprises an externally threaded pipe ring (14), and the rotating shaft (12) and the externally threaded pipe A bearing (9) and a bearing seat (10) are arranged between the rings (14), and the externally threaded pipe ring (14) is connected with the slider (5) through the sliding rod (141), and the externally threaded pipe Ring (14) is connected with said steel wire one (21). 9. A fruit picker with rotatable picking claws according to claim 1, characterized in that: the main rod (18) is also provided with a handle (3), and the handle (3) is provided with a control station The button of the motor (16) switch. 10. A fruit picker with rotatable picking claws according to claim 1, characterized in that: the fruit picker also includes a single-chip microcomputer Bluetooth control circuit, and the bluetooth control circuit controls the rotation of the motor (16).