CN209930953U

CN209930953U - Hook-claw circulating type fruit picking device

Info

Publication number: CN209930953U
Application number: CN201920466744.0U
Authority: CN
Inventors: 耿明超; 冯小东; 梁居瑾; 梁国利; 刘春东; 任玉灿; 王嫣嫣; 马宏
Original assignee: Hebei University of Architecture
Current assignee: Hebei University of Architecture
Priority date: 2019-04-09
Filing date: 2019-04-09
Publication date: 2020-01-14
Anticipated expiration: 2029-04-09

Abstract

A hook-claw circulating fruit picking device comprises a long rod (1), a power driving unit (8), hook claws (16), a picking mechanism (23), a conveying mechanism (40), a self-discharging mechanism (36), a fruit collecting mechanism (34), a supporting holding rod (29) and a waistband support (39); the power driving unit provides power for picking and conveying fruits; the fruit picking action is realized by the lifting and turning motion generated by the combination of the picking mechanism, the conveying mechanism and the hook claw; the fruit conveying is realized by the conveying mechanism, the claw and the self weight of the fruit; the hook claw is turned over through the combination of the self-unloading mechanism and the conveying mechanism, and the fruit is separated from the hook claw to realize self-unloading; the fruit collecting mechanism (34) buffers and guides the unloaded fruit to the corresponding receiving device, and the whole working process is circulated and is provided with a plurality of claws.

Description

Hook-claw circulating type fruit picking device

Technical Field

The utility model relates to a fruit picking auxiliary device, especially a device is picked to compact structure, the circulating fruit of efficient hook of picking.

Background

The fruit planting in China is mostly distributed in uneven areas such as mountainous regions and hills, and factors such as topographic relief and narrow road surfaces cause that large machines cannot normally move. The fruits at the low positions are mostly picked manually, and the fruits at the high positions generally adopt a long-rod type auxiliary picking device with a rope-driven shearing mechanism inside, so that the continuous picking effect is poor. Therefore, designing a fruit auxiliary picking device with compact structure, high picking efficiency and relatively low price becomes an effective way to solve the current problems.

SUMMERY OF THE UTILITY MODEL

For solving the problem among the background art, the utility model provides a device is picked to circulating fruit of hook claw can realize the continuous cyclic motion that fruit was picked, was carried, has alleviateed fruit grower intensity of labour when promoting picking efficiency.

The technical scheme of the utility model as follows:

the utility model mainly comprises a long rod, a power driving unit, a claw, a picking mechanism, a conveying mechanism, a self-discharging mechanism, a fruit collecting mechanism, a supporting holding rod and a belt supporting.

The picking support frame is used for supporting the picking and conveying device, and synchronous wheels and synchronous belts arranged at two ends of the picking support frame realize circulating rotary motion under the driving of a motor, wherein the synchronous wheel at the bottom end is a driving wheel; the driving motor adopts a brushless motor and is powered by a lithium battery. A plurality of connecting blocks of evenly distributed on the synchronous belt are installed with the hook on the connecting block, and the fruit that can adapt to different characteristics is picked through changing different hooks.

Under the drive of the synchronous belt, the hook claw makes a circulating rotary motion, the hook claw is aligned to the fruit when rising, and the fruit branches can be cut off by the V-shaped knife edge on the hook claw under the action of lifting force; when the fruit conveying device rotates to the top, the hook claw generates a turning action (a wrist turning action) under the action of a fixed cam, the wrist turning buckles the fruit and then the fruit is smoothly transited from the highest point to change the movement direction of the fruit, and the fruit is conveyed downwards under the auxiliary action of gravitational potential energy; the gravitational potential energy reduces the burden of the brushless motor and is beneficial to energy-saving endurance.

When the picked fruit falls to the bottom, the iron sheet at the back of the hook claw is attracted by the magnet arranged above the edge of the collecting bag at the bottom, the hook claw is automatically opened by the continuous movement of the synchronous belt, the fruit falls into the collecting device, and a picking process is completed.

The picking device is fixed by the C-shaped suspension device, one end of the picking device is connected with the picking support frame, and the other end of the picking device is connected with the supporting holding rod, so that the picking device can be kept stable better; the supporting holding rod is inserted into the waist connecting rod, the waist connecting rod and the cross are connected together through the fisheye joint bearing, so that the picking action has an amplitude larger than 90 degrees on the left and right and an amplitude larger than 180 degrees on the upper and lower sides, and 360-degree spherical picking can be carried out by adding the movement of a human body; meanwhile, the gravity of the whole device is uniformly distributed on the waist, so that the fatigue strength of other parts is greatly reduced.

The utility model discloses a complicated movement track is realized to the combination of multiple simple mechanism, has finally realized plucking the continuity of operation who delivers the integration, intensity of labour when linkage can alleviate the operation simultaneously.

Drawings

Fig. 1 is an overall effect diagram of a claw circulation type fruit picking device.

Fig. 2 is a side view of the middle portion of a finger circulation type fruit picking apparatus. 1-long rod, 16-claw, 17-fruit baffle, 14-splicing pipe sleeve rod, 37-belt splicing fixture block, 40-open belt, (3-11) -belt stabilizing frame, (3-12) -belt stabilizing frame semilunar fixed block, 118-planetary rotating shaft, (3-15) -guide wheel sleeve, 111-radial positioning tooth sleeve, 112-radial positioning tooth sleeve and (3-14) -deep groove ball bearing.

Fig. 3 is a schematic diagram of a belt splicing fixture block 37 connected with an opening belt 40 in a claw circulation type fruit picking device.

Fig. 4 is a side view of the upper portion of a finger circulation fruit picking apparatus. 1-long rod, 16-claw, 17-fruit baffle, 23-fixed cam, 32-upper belt wheel, 35-fixed cam roller, 37-belt splicing fixture block, 40-opening belt and 50-upper bearing support.

Fig. 5 is a side view of the lower portion of a finger circulation fruit picking apparatus. 2-C type connecting plate, 4-motor seat, 5-tension spring cover, 6-floating power frame, 7-closed transmission belt, 8-motor, 9-tension spring, 10-tension guide shaft, 11-tension guide shaft sleeve, 16-claw, 33-lower belt wheel, (36-1) -magnet, 40-open belt, (36-2) -soft plate and 115-belt wheel shaft.

Fig. 6 is a schematic view of the angle formed by the lower long rod 1 and the supporting holding rod 29 of the frame of the hook-and-claw circulation type fruit picking device.

Fig. 7 is a side view of a gripper circulating fruit picking apparatus support grip 29 connected to a belt support 39 and the support grip 29 connected to a fruit collection mechanism 34. 61-cantilever supporting seat, 62-supporting ring, 29-supporting holding rod, 34-fruit collecting bag, 64-reducing sleeve head, 67-buffer pad, 65-fisheye bearing, 66-X cantilever connecting seat and 39-waistband support.

Detailed Description

As shown in fig. 1, the utility model mainly comprises a long rod 1, a power driving unit 8, a claw 16, a picking mechanism 23, a conveying mechanism 40, a self-discharging mechanism 36, a fruit collecting mechanism 34, a supporting holding rod 29 and a belt support 39. The power driving unit provides power for picking and conveying fruits; the fruit picking action is realized by the lifting and turning motion generated by the combination of the picking mechanism, the conveying mechanism and the hook claw; the fruit conveying is realized by the conveying mechanism, the claw and the self weight of the fruit; the hook claw is turned over through the combination of the self-unloading mechanism, the conveying mechanism and the magnet attraction force, the fruit is separated from the hook claw to realize separation, and the separated fruit falls into the fruit collecting mechanism 34; the fruit collection mechanism 34 buffers and diverts the unloaded fruit into respective receptacles, the entire process being cyclical and provided with a plurality of fingers.

As shown in fig. 2, the frame of the slewing device is formed by splicing two long rods 1 by a splicing pipe sleeve rod 14, and the splicing pipe sleeve rod 14 is inserted into a central hole of the long rod 1; the end parts of the two long rods 1 are respectively fixed with a radial positioning tooth socket 111 and a radial positioning tooth socket 112, the two tooth sockets are oppositely arranged and the tooth mouths are staggered, the radial rotation of the rods can be restrained, and the change of the length of the frame can be realized by splicing the long rods to adapt to different picking environments.

As shown in fig. 2, the hook 16 is connected to the belt-splicing block 37 by a planetary rotation shaft 118 so that the hook can rotate around the shaft; the fruit baffle 17 is connected with the belt splicing fixture block 37 through a screw. As shown in fig. 3, the belt-splicing block 37 and the open belt 40 are fixed by a notch provided on the belt-splicing block 37. The belt splicing block 37 can splice the plurality of open belts 40 into an endless closed belt while fixing the planetary rotation shaft 118. The preferable scheme that the belt splicing fixture block 37 is connected with the open belt 40 is that teeth with the interval of 2mm and the thickness of 1mm are arranged on the belt splicing fixture block 37 and are matched and meshed with the teeth of the open belt 40. The belt splicing blocks 37 of the open belt 40 are symmetrically distributed on two sides of each hook 16.

As shown in figure 2, a belt stabilizing frame (3-11) is arranged on a long rod 1 of a frame of the slewing device, the belt stabilizing frame (3-11) is fixed on the long rod 1 through a half-moon fixing block (3-12) of the belt stabilizing frame, and meanwhile, the belt stabilizing frame (3-11) can move on the long rod 1 to select a proper position for fixing. Guide wheel sleeves (3-15) are arranged at the tail ends of the belt stabilizing frames (3-11), deep groove ball bearings (3-14) are arranged between the belt stabilizing frames (3-11), the deep groove ball bearings (3-14) and the guide wheel sleeves (3-15) are symmetrically arranged at two ends of the two-opening belt (40) and are respectively connected with the belt stabilizing frames (3-11) through screws, and the function of stabilizing the belt and preventing vibration is achieved.

As shown in fig. 4, the long rod 1 at the upper end of the frame of the slewing device is fixedly connected with an upper bearing support 50 through a hole pin, and two upper belt pulleys 32 are arranged and installed in axial symmetry through deep groove ball bearings; the fixed cam 23 is connected with the upper bearing support 50 through a screw, the tail end of the fixed cam 23 is fixed with the fixed cam roller 35 through a pin shaft, and the hook claw 16 turns around a rotating shaft of the hook claw 16 to buckle the fruit after the arc-shaped part at the tail end is contacted with the fixed cam roller 35 during movement.

The fruit is buckled through the closing of the hook claw 16 and the fruit baffle 17, and the hook claw 16 and the fruit baffle 17 are kept in a closed state continuously due to self-locking in the process that the hook claw 16 moves downwards after passing through the highest point.

As shown in fig. 5, the long rod 1 at the lower end of the frame of the slewing device is fixedly connected with a tensioning guide shaft sleeve 11 through a hole pin, two through holes are arranged on the tensioning guide shaft sleeve 11 for penetrating two tensioning guide shafts 10, and a tensioning spring 9 is penetrated on the tensioning guide shafts 10. A tension spring cover 5 is provided outside the tension spring 9. The tensioning guide shaft 10 is fixedly connected with the floating power frame 6 through threads, so that the floating power frame 6 can float relative to the tensioning guide shaft sleeve 11, and meanwhile, the tensioning spring 9 enables the floating power frame 6 to be pre-tensioned outwards.

The floating power frame 6 is provided with a bearing seat at the tail end, and two lower belt pulleys 33 are symmetrically arranged through a belt pulley shaft 115. The floating power frame 6 is connected with a motor seat 4 through screws. The motor base 4 is connected with a motor 8 through screws. The motor 8 transmits power to the lower pulley 33 through the closed-end transmission belt 7. Further, the pulley 33 rotates the open belt 40. The power transmission is transmitted to the pulley 33 on one side.

As shown in FIG. 5, when the finger 16 moves downward, it engages the magnet (36-1) and the finger 16 continues to move downward, causing the finger 16 to be pulled open, separating the fruit from the finger 16 and dropping into the collection device disposed below.

The magnets (36-1) are permanent magnets, and the magnets (36-1) are arranged on the soft board (36-2) in two rows and three rows in a horizontal and vertical arrangement; the position of the soft board (36-2) fixed on the supporting holding rod 29 can be adjusted. The magnet (36-1) and the soft board (36-2) are combined into a magnetic board. The magnet (36-1) is preferably fastened to the soft plate (36-2) by screws. The preferable scheme of the soft board (36-2) is to adopt PVC transparent soft rubber with the thickness of 2 mm.

As shown in fig. 6, the lower long rod 1 of the frame of the swiveling device is connected to the support grip 29 through the C-shaped connecting plate 2. The elongate shaft 1 is in the same plane as the support grip 29 and is angled at an acute angle, preferably 12 degrees, as shown in figure 6.

As shown in FIG. 7, the support grip 29 and the cantilever support seat 61 are connected by the half-moon pressing disk to move up and down to select a fastening position; the cantilever support seat 61 is connected with the support ring 62 through a friction disc at the end by screws, and the pitch angle can be adjusted. The fruit collection bag 34 and the support ring 62 are sewn to open the circular opening, so that the fruit can be decelerated, buffered and guided.

The supporting holding rod 29 is connected with a diameter-changing sleeve head 64 through a smooth sleeve, the diameter-changing sleeve head 64 is connected with a fisheye bearing 65 through threads, a fisheye hole of the fisheye bearing 65 is connected with an X cantilever connecting seat 66 through a screw, and the X cantilever connecting seat 66 is connected with a waistband support 39 through 4 screws; meanwhile, a cushion pad 67 is arranged at the joint to increase the contact surface and reduce the compression on the human body; the waist belt support 39 is an elastic belt, which is sleeved on the lower half of the waist part when in use, and is used for bearing most of the weight of the device and fruits, reducing the stress of the upper half of the body of a worker and protecting the waist part.

The fruit collection pouch 34 is preferably sewn from an elastic cloth. The fruit collection bag 34 is designed for up and down through openings. The diameter of the fruit collection bag 34 at the reduced diameter is preferably 0.8 times the diameter of the fruit being picked.

Claims

1. The utility model provides a device is picked to circulating fruit of hook which characterized in that: the fruit picking machine mainly comprises a long rod (1), a power driving unit (8), a claw (16), a picking mechanism (23), a conveying mechanism (40), a self-discharging mechanism (36), a fruit collecting mechanism (34), a supporting holding rod (29) and a belt support (39); the power driving unit provides power for picking and conveying fruits; the fruit picking action is realized by the lifting and turning motion generated by the combination of the picking mechanism, the conveying mechanism and the hook claw; the fruit conveying is realized by the conveying mechanism, the claw and the self weight of the fruit; the hook claw is turned over through the combination of the self-unloading mechanism, the conveying mechanism and the magnet attraction force, the fruit is separated from the hook claw, and the unloaded fruit falls into the fruit collecting mechanism (34); the fruit collecting mechanism (34) buffers and guides the unloaded fruits to the corresponding storage devices, the whole working process is circularly carried out, and a plurality of hooks are arranged; a cushion pad (67) is arranged at the joint of the frame and the belt support (39) and is used for increasing the contact area so as to reduce the compression on the human body; the waist belt support (39) is an elastic tightening belt, and is sleeved on the lower half section of the waist part when in use, and is used for bearing the weight of the picking device and fruits, thereby achieving the effects of reducing the stress of the upper half body of a worker and protecting the waist part.

2. The fruit picking device with the circulation of the claws as claimed in claim 1, wherein: the magnetic force of the self-discharging mechanism (36) can suck the hook claw (16) to enable the hook claw to rotate and open relative to the fruit baffle (17), meanwhile, the hook claw (16) continues to move, and the self-discharging mechanism (36) and the hook claw (16) automatically separate from suction to realize self-discharging of the fruit.

3. The fruit picking device with the circulation of the claws as claimed in claim 1, wherein: the support grip (29) can be gripped and controlled with one hand.

4. The fruit picking device with the circulation of the claws as claimed in claim 1, wherein: the fruit picking, conveying and separating only need one power driving unit and can be continuously and circularly operated.