CN209594298U - A kind of parallel tight-holding type spherefruit of omnidirectional grabs picking mechanical arm - Google Patents

Abstract

The utility model relates to a kind of parallel tight-holding type spherefruits of omnidirectional to grab picking mechanical arm, by this body support frame, propulsion assembly, transmission component, grabbing assembly, cut stalk component form, cut the top that stalk component is set to grabbing assembly, grabbing assembly is connected to the top of this body support frame, grabbing assembly is connect by transmission component with propulsion assembly, and propulsion assembly also passes through transmission component and connect with this body support frame.Single-power input source is realized to fruit four direction uniform stressed close to crawl, effectively improves the uniformity and comprehensive wrapped, raising picking fruit quality of fruit crawl stress；Improve carpopodium cut-out efficiency；Cooperate spring and shock reducing structure structure, greatly improves the present apparatus to the relevance grade of different shape and different-diameter fruit；It is realized by the cooperation of each mechanical component and the equal power of fruit is picked and cuts stalk, greatly simplified system complexity, greatly reduce the cost of picking fruit device, be conducive to practical application and popularization.

Description

A kind of parallel tight-holding type spherefruit of omnidirectional grabs picking mechanical arm

Technical field

The utility model belongs to agriculture technical field of intelligent equipment, and in particular to a kind of parallel tight-holding type spherefruit of omnidirectional Grab picking mechanical arm.

Background technique

Picking fruit is one pain in the neck of orchard worker, looks at the fruit tree for tying full fruit with joy, but will very fully They are all taken off non-easy thing.Fruit fragile for common thin skin etc. but that fruit tree is very short, due to people palm compared with Softness can be very good protection fruit using artificial picking, but for some higher fruit trees, such as orange, loquat thin skin Fruit, need to climb up a tree and pick, for some need by means of herringbone staircase, picking efficiency is low, is also easy to security risk occur. Plucking fruit during fruit and being also possible to directly to fall ground causes to damage, and arrives ground again and picks up fruit, causes inefficiency.

Although artificial picking can preferably protect fruit, inefficiency and there are security risks, so increasingly More comes into being instead of artificial picker.

In the scheme for realizing spherefruit crawl and picking at present, mainstream has following several schemes:

1) mechanical device for holding function tightly to fruit is realized using squash type mechanism:

For example, application No. is 201510066057.6 patent disclosure machine for picking fruits, including straight-bar, straight-bar upper end are provided with Support ring is symmetrical arranged in support ring there are two shaft, and the both ends of sliding block are connect by pull rod with strut, sliding block, pull rod, strut Between form slider-crank mechanism, be also connected with hand lever on sliding block.Fruit picking function is realized by imitating manpower.

Similar scheme is also: the fruit picking device that Patent No. 201721614149.4 is announced, application number A kind of 201810758794.6 pinch off formula machine for picking fruits announced and its fruit method is plucked, is announced application No. is 201810777265.0 A kind of knob type machine for picking fruits and its pluck the schemes such as fruit method.

But V-type open assembly is mostly used in such scheme at present, when squeezing crawl to fruit, V-type component is to fruit Each position squeezes dynamics difference, easily generates stress injury to fruit, shows as broken skin, weighed wounded.

2) it is realized using scissor construction cooperation lower end fruit bag to the picking of fruit and temporarily holds scheme:

Application No. is a kind of finger ring fruit picking devices of 201711045705.5 patent disclosure, including the upper knife body being oppositely arranged With lower knife body, the upper knife body edge opposite with lower knife body is equipped with the pin shaft that blade, upper knife body and lower knife body are located at tail portion by one The rear of composition hinge, upper knife body and lower knife body is equipped with chain picking bag, and chain picking bag is cut after can wrapping up fruit makes fruit along bag Directly make a gift to someone in container.

Similar scheme there are also a kind of picker that patent 201720727783.2 is announced, application No. is 201721113807.1 schemes such as the automatic multifunctional fruit picking devices announced.

Such scheme can realize that high-altitude fruit cuts stalk picking, but this kind of scheme be easy to cause fruit from falling from high altitude or Fruit case is dropped to from scissors, the fruit that can not be fixed and clamped is so that broken skin, decayed fruit etc. after causing fruit to fall injure.

3) picking and storage scheme to fruit are realized using tubular structure cooperation cutting mechanism:

For example, application No. is 201610460463.5 patent disclosure machine for picking fruits, it is interior containing compatible with its shell The blade of curling realizes the entangling firm of fruit, cuts stalk and crawl by the open state and closed state of blade, and by fruit from It is sent in pipeline in fruit basket.

The patent of close scheme there are also application No. is 201610606934.9 announce a kind of fruit picking device, application No. is 201810428804.X schemes such as a kind of Novel fruit pickers announced.

Such scheme is wrapped to fruit bad using the picker of tubular construction, and it is different can not to be suitable for diameter Fruit.

4) crawl or picking scheme to fruit are realized using the more complex mechanical electric component of pneumatically or electrically dynamic formula:

Application No. is a kind of pneumatic ring type fruit picking device of 201610903052.9 patent disclosure, using air bag, collecting box, Telescopic rod, block lifting rope.Realize the clamping function to fruit.

Similar scheme there are also the electric fruit-picking device that patent 201611222291.4 is announced, application No. is 201810438592.3 schemes such as the pickers announced.

Such scheme picker is at high cost, it is harsh to require operation etc., can not be suitable for the scenes such as small home peasant household.

Summary of the invention

The purpose of this utility model is to provide a kind of parallel tight-holding type spherefruits of omnidirectional to grab picking mechanical arm, solves At present during high altitude spherical or elliposoidal thin skin, frangible picking fruit it is existing fruit is compressed or is grabbed there are stress not Fruit quality is damaged, picker is complicated and leads to problem complicated for operation, at high cost.

The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of parallel tight-holding type spherefruit of omnidirectional Grab picking mechanical arm, by this body support frame, propulsion assembly, transmission component, grabbing assembly, cut stalk component form, cut stalk component set It is placed in the top of grabbing assembly, grabbing assembly is connected to the top of this body support frame, and grabbing assembly passes through transmission component and propulsion group Part connection, propulsion assembly also pass through transmission component and connect with this body support frame.

The propulsion assembly is made of push rod, intersecting axle, the first slide cartridge, and transmission component is by conversion connecting rod, drive shaft group At grabbing assembly is made of parallel transverse arm, the second slide cartridge, crawl lotus valve, spring, shock reducing structure, cuts stalk component by cutter supporter, lotus Valve cutter composition, parallel transverse arm, the second slide cartridge, crawl lotus valve, spring, shock reducing structure are respectively equipped with four sets.

Specifically, described body support frame by connection ontology and be fixed on connection bodies top connection framework form.

Specifically, the connection ontology is made of the first connection ontology and the second connection ontology, connection framework is connected by first Frame and the second connection framework composition are connect, body construction is identical and intersecting vertical is arranged for the first connection ontology and the second connection, the One connection ontology connects the first connection framework, and the second connection ontology connects the second connection framework, and the first connection framework connects with second Connect frame structure it is identical and in intersect be vertically arranged.

Specifically, the bottom interconnection of first connection framework and the second connection framework, it is provided at interconnection To pass through the open-work of push rod.

Specifically, the push rod upper end connects intersecting axle, lower end connects external push rod, and intersecting axle is cross shaft, cross It is cased with the first slide cartridge respectively on four semiaxis of shaft, the first slide cartridge can slide on intersecting axle.

Specifically, the two sides of each first slide cartridge pass through drive shaft respectively is connected with conversion connecting rod, one of conversion The other end of connecting rod is connected on the side arm of adjacent connection framework by drive shaft, and the other end of another conversion connecting rod is logical Cross the lower end that drive shaft is connected to a set of parallel transverse arm, the lower end of the parallel transverse arm of every set passes through a set of second slide cartridge and parallel horizontal Arm can slide in the second slide cartridge, and every the second slide cartridge of set is fixed on the lower part of connection framework the top transverse arm, the parallel transverse arm of every set Top be horizontally arranged with the inner hole equipped with spring, the top of parallel transverse arm connects a set of crawl lotus valve by axle sleeve structure, and Crawl lotus valve is connect with spring, and the front end of every set crawl lotus valve is provided with shock reducing structure, and the upper and lower end face of every set crawl lotus valve is logical It crosses cutter supporter and is connected with lotus valve cutter.

Specifically, the side setting of the crawl lotus valve is jagged, spring is set to the indentation, there of crawl lotus valve.

The utility model has the following beneficial effects:

By four groups of symmetrical propulsion assemblies of setting and transmission component, realize that single-power input source is equal to fruit four direction Even stress effectively improves the uniformity and comprehensive wrapped, raising picking fruit quality of fruit crawl stress close to crawl；

Using crawl lotus valve and stalk component is cut, fruit top and the bottom carpopodium that may be present is cut off, improves carpopodium Cut-out efficiency；Cooperate spring and shock reducing structure structure, greatly improves the present apparatus to the relevance grade of different shape and different-diameter fruit；

It is realized by the cooperation of each mechanical component and the equal power of fruit is picked and cuts stalk, greatly simplified system complexity, drop significantly The low cost of picking fruit device, is conducive to practical application and popularization.

Detailed description of the invention

Fig. 1 is the schematic view of the front view of the utility model fruit crawl picking mechanical arm.

Fig. 2 is the left view structural representation of the utility model fruit crawl picking mechanical arm.

Fig. 3 is the right side structural representation of the utility model fruit crawl picking mechanical arm.

Fig. 4 is the backsight structural representation of the utility model fruit crawl picking mechanical arm.

Fig. 5 is the overlooking structure diagram of the utility model fruit crawl picking mechanical arm.

Specific embodiment

The utility model is described in further detail presently in connection with attached drawing.

As shown in Figure 1, a kind of parallel tight-holding type spherefruit of omnidirectional grabs picking mechanical arm, by this body support frame 1, propulsion group Part 2, grabbing assembly 4, cuts the stalk composition of component 5 at transmission component 3, cuts the top that stalk component 5 is set to grabbing assembly 4, grabbing assembly 4 are connected to the top of this body support frame 1, and grabbing assembly 4 is connect by transmission component 3 with propulsion assembly 2, and propulsion assembly 2 also passes through Transmission component 3 is connect with this body support frame 1.

As shown in Figs. 1-5, this body support frame 1 is the certain thickness frame structure that has of "convex" shaped, this body support frame 1 is by even The connection framework 1-2 composition for meeting ontology 1-1 and being fixed at the top of connection ontology 1-1.

Connection ontology 1-1 be section be it is rectangular, with the certain thickness square structure synthesized by three main bodys, two is collateral Foot is arranged at the lower end surface of connection framework 1-2, and connection ontology 1-1 is by the first connection ontology 1-1-a and the second connection ontology 1- 1-b composition.Connection framework 1-2 is made of the first connection framework 1-2-a and the second connection framework 1-2-b, the first connection ontology 1- The connection of 1-a and second ontology 1-1-b structure is identical and intersecting vertical is arranged, and the first connection ontology 1-1-a connection first connects frame Frame 1-2-a, the second connection the second connection framework of ontology 1-1-b connection 1-2-b, the first connection framework 1-2-a connect frame with second Frame 1-2-b structure is identical and is vertically arranged in intersecting.First connection framework 1-2-a, the second connection framework 1-2-b are with certain The rectangular entity structure of notch.The bottom interconnection of first connection framework 1-2-a and the second connection framework 1-2-b intersect and connect The place of connecing is provided with the open-work to pass through push rod 2-1.

This body support frame 1 mainly realizes the connection and supporting role to propulsion assembly 2, transmission component 3, grabbing assembly 4, simultaneously The components such as external extension rod can be also connected and fixed.

Propulsion assembly 2 is made of push rod 2-1, intersecting axle 2-2, the first slide cartridge 2-3, and push rod 2-1 is circular shaft structure, and setting exists In the open-work of the center connection framework 1-2, the upper end push rod 2-1 connects intersecting axle 2-2, and lower end connects the external knot such as push rod or electric pushrod Structure.Intersecting axle 2-2 is cross shaft, and infall is fastened on the upper surface of push rod 2-1, divides on four semiaxis of cross shaft Not being cased with the first slide cartridge 2-3, the first slide cartridge 2-3 is tube-in-tube structure, and internal diameter is more slightly larger than half shaft diameter of intersecting axle 2-2, the first slide cartridge 2-3 can slide on intersecting axle 2-2.

Transmission component 3 is made of conversion connecting rod 3-1, drive shaft 3-2, and grabbing assembly 4 is slided by parallel transverse arm 4-1, second Cylinder 4-2, crawl lotus valve 4-3, spring 4-4, shock reducing structure 4-5 composition, parallel transverse arm 4-1, the second slide cartridge 4-2, crawl lotus valve 4-3, Spring 4-4, shock reducing structure 4-5 are respectively equipped with four sets.

Drive shaft 3-2 primarily serve by the both ends of conversion connecting rod 3-1 be connected to the first slide cartridge 2-3, connection framework 1-2 and The effect of parallel transverse arm 4-1.The two sides of each first slide cartridge 2-3 pass through drive shaft 3-2 respectively and are connected with conversion connecting rod 3-1, The other end of one of conversion connecting rod 3-1 is connected on the side arm of adjacent connection framework 1-2 by drive shaft 3-2, separately The other end of one conversion connecting rod 3-1 is connected to the lower end of a set of parallel transverse arm 4-1 by drive shaft 3-2.Parallel transverse arm 4-1 For " 2 " font structure, the lower end of the parallel transverse arm 4-1 of every set passes through a set of second slide cartridge 4-2 and parallel transverse arm 4-1 can be sliding second Sliding in cylinder 4-2, every the second slide cartridge of set 4-2 are fixed on the lower part of the top connection framework 1-2 transverse arm, the parallel transverse arm 4-1 of every set Top be horizontally arranged with the inner hole equipped with spring 4-4, the top of parallel transverse arm 4-1 connects a set of crawl lotus by axle sleeve structure Valve 4-3, and grab lotus valve 4-3 and connect with spring 4-4, the front end of every set crawl lotus valve 4-3 is provided with shock reducing structure 4-5.Four sets are grabbed Take lotus valve 4-3 that bilateral symmetry and arrangement symmetrical above and below is spatially presented, crawl lotus valve 4-3 shape is rectangular parallelepiped structure, grabs lotus The side setting of valve 4-3 is jagged, and spring 4-4 is set to the indentation, there of crawl lotus valve 4-3.It grabs lotus valve 4-3 and passes through axle sleeve knot Parallel transverse arm 4-1 is arranged topmost in structure, and connecting spring 4-4.Under external force, crawl lotus valve 4-3 can be in spring 4-4 elasticity Lower translation stretching or the compression effectiveness for realizing relatively parallel transverse arm 4-1 of effect.It is block structure outside shock reducing structure 4-5, material is The flexible materials such as sea, to realize the flexible contact with the fragile fruit of thin skin.

It cuts stalk component 5 to be made of cutter supporter 5-1, lotus valve cutter 5-2, each eight sets of cutter supporter 5-1, lotus valve cutter 5-2, The upper and lower end face of every set crawl lotus valve 4-3 passes through cutter supporter 5-1 and is connected with lotus valve cutter 5-2.Each lotus valve cutter 5-2 is 1/8 spherical shell structure, spherical shell are flake structure, and surrounding is sharp, have certain cutting power, and cutter supporter 5-1 is cylindrical body.Preceding four Set lotus valve cutter 5-2 passes through cutter supporter 5-1 respectively and is fixed on the crawl upper end surface lotus valve 4-3, rear four sets of lotuses valve cutter 5-2 It is fixed at the crawl lower end surface lotus valve 4-3 by cutter supporter 5-1 respectively.When four sets of crawl lotus valve 4-3 are mutually drawn close, can lead to Crossing cutter supporter 5-1 drives preceding four sets of lotuses valve cutter 5-2 to form hemispherical Shell closing structure, while rear four sets of lotuses valve cutter 5-2 Hemispherical Shell closing structure is formed, the crawl upper end lotus valve 4-3 or lower end carpopodium that may be present are cut off.

The working principle or process of above-mentioned spherefruit crawl picking mechanical arm are as follows: push rod 2-1 is moved backward, is driven and is handed over Fork shaft 2-2 is retreated, and power is transferred on connection framework 1-2 after drive shaft 3-2, conversion connecting rod 3-1；Due to conversion connecting rod 3-1 is rigid structure, will not deformation occurs, therefore power can be by the reversed band of conversion connecting rod 3-1 that connect with connection framework 1-2 Dynamic first slide cartridge 2-3 is mobile to the direction far from the center push rod 2-1, thus drive the parallel transverse arm 4-1 of conversion connecting rod 3-1 drive to Interior translation, final drive in four sets of crawl lotus valve 4-3 are moved, and are moved in shock reducing structure 4-5 and are realized to the close of fruit and clamp；It crosses herein Cheng Zhong, lotus valve cutter 5-2 pass through interior shifting under cutter supporter 5-1 induced effect, when shock reducing structure 4-5 continues to oppress fruit after fruit Real, spring 4-4, which is realized, at this time compresses effect, and fruit uniform stressed, crawl lotus valve 4-3 realizes that relatively parallel transverse arm 4-1's is parallel Sliding, the final holding function of realizing to fruit；Four sets of upper end lotus valve cutter 5-2 forms hemisphere shell structure, four sets of lower end simultaneously Lotus valve cutter 5-2 forms hemisphere shell structure, realizes and carpopodium is cut off and picked function.Opposite, when push rod 2-1 travels forward When, said modules motion process is on the contrary, to realize the release function after picking fruit.

The utility model is not limited to above embodiment, anyone, which should learn, makes under the enlightenment of the utility model Structure change, it is all that there is same or similar technical solution with the utility model, each fall within the protection scope of the utility model Within.

Technology that the utility model is not described in detail, shape, construction portion are well-known technique.

Claims (7)

1. a kind of parallel tight-holding type spherefruit of omnidirectional grabs picking mechanical arm, which is characterized in that by this body support frame, propulsion group Part, grabbing assembly, cuts stalk component composition at transmission component, cuts the top that stalk component is set to grabbing assembly, grabbing assembly is connected to The top of this body support frame, grabbing assembly are connect by transmission component with propulsion assembly, and propulsion assembly also passes through transmission component and this Body support frame connection；

The propulsion assembly is made of push rod, intersecting axle, the first slide cartridge, and transmission component is made of conversion connecting rod, drive shaft, is grabbed It takes component to be made of parallel transverse arm, the second slide cartridge, crawl lotus valve, spring, shock reducing structure, cuts stalk component and cut by cutter supporter, lotus valve Knife composition, parallel transverse arm, the second slide cartridge, crawl lotus valve, spring, shock reducing structure are respectively equipped with four sets.

2. the parallel tight-holding type spherefruit of omnidirectional as described in claim 1 grabs picking mechanical arm, which is characterized in that described Body support frame by connection ontology and be fixed on connection bodies top connection framework form.

3. the parallel tight-holding type spherefruit of omnidirectional as claimed in claim 2 grabs picking mechanical arm, which is characterized in that the company It connects ontology to be made of the first connection ontology and the second connection ontology, connection framework is by the first connection framework and the second connection framework group At body construction is identical and intersecting vertical is arranged for the first connection ontology and the second connection, first connection ontology the first connection of connection Frame, the second connection ontology connect the second connection framework, and the first connection framework is identical as the second connection framework structure and is in intersect It is vertically arranged.

4. the parallel tight-holding type spherefruit of omnidirectional as claimed in claim 3 grabs picking mechanical arm, which is characterized in that described the The bottom interconnection of one connection framework and the second connection framework is provided with the open-work to pass through push rod at interconnection.

5. the parallel tight-holding type spherefruit of omnidirectional as described in claim 1 grabs picking mechanical arm, which is characterized in that described to push away Bar upper end connects intersecting axle, and lower end connects external push rod, and intersecting axle is cross shaft, covers respectively on four semiaxis of cross shaft There is the first slide cartridge, the first slide cartridge can slide on intersecting axle.

6. the parallel tight-holding type spherefruit of omnidirectional as claimed in claim 5 grabs picking mechanical arm, which is characterized in that Mei Ge The two sides of one slide cartridge pass through drive shaft respectively and are connected with conversion connecting rod, and the other end of one of conversion connecting rod is turned by transmission In on the side arm of adjacent connection framework, the other end of another conversion connecting rod is connected to a set of flat axis connection by drive shaft The lower end of the lower end of row transverse arm, the parallel transverse arm of every set passes through a set of second slide cartridge and parallel transverse arm can slide in the second slide cartridge, Every the second slide cartridge of set is fixed on the lower part of connection framework the top transverse arm, is horizontally arranged at the top of the parallel transverse arm of every set equipped with bullet The top of the inner hole of spring, parallel transverse arm connects a set of crawl lotus valve by axle sleeve structure, and grabs lotus valve and connect with spring, every set The front end of crawl lotus valve is provided with shock reducing structure, and the upper and lower end face of every set crawl lotus valve, which passes through cutter supporter and is connected with lotus valve, cuts Knife.

7. the parallel tight-holding type spherefruit of omnidirectional as described in claim 1 or 6 grabs picking mechanical arm, which is characterized in that institute The side setting for stating crawl lotus valve is jagged, and spring is set to the indentation, there of crawl lotus valve.