CN210157660U

CN210157660U - Manipulator for picking bananas in batches

Info

Publication number: CN210157660U
Application number: CN201920246648.5U
Authority: CN
Inventors: 肖维强; 许林兵; 刘传和; 匡石滋; 赖多; 邵雪花
Original assignee: Pomology Research Institute Guangdong Academy of Agricultural Sciences
Current assignee: Pomology Research Institute Guangdong Academy of Agricultural Sciences
Priority date: 2019-02-26
Filing date: 2019-02-26
Publication date: 2020-03-20
Anticipated expiration: 2029-02-26

Abstract

The utility model discloses a manipulator of banana is picked in batches, including pole body, mount pad and banana combing cutter, be equipped with holder and catapult on the mount pad, the holder has two claws that can draw close or open, and banana combing cutter installs on the catapult, and the opening direction of holder and banana combing cutter's the direction of launching all face downwards, and banana combing cutter laminating is epaxial at the fruit when two claw centre gripping fruit handles. The clamp holder is fixedly connected with the fruit handle, the banana combing and cutting knife is pushed by the ejector to instantly finish the connection of the fruit comb and the fruit shaft, and the clamp holder holds the fruit handle, so that the cut banana can be lifted upwards by the movement of the rod body. The manipulator can cut a bundle of bananas from top to bottom without cutting off the fruit shaft, can retain the unripe or slightly small-sized bananas at the bottom of the fruit shaft, reduces waste, and is convenient for picking bananas with similar sizes in the same batch. The utility model is used for the agricultural implement field.

Description

Manipulator for picking bananas in batches

Technical Field

The utility model relates to an agricultural implement field especially relates to a manipulator of banana is picked in batches.

Background

At the end of the vegetative growth of the banana tree, buds are drawn out from true stems, and fruits are fruited after blooming to form fruit clusters. The ears naturally bend downwards after being pulled out, the female flowers bloom, and then develop to gradually bend upwards. Each ear typically has 5-15 combs. Each comb has a half circle of banana fingers around the fruit axis of the cluster. Referring to the description and the attached figure 5, the base part of the banana fruit finger is a fruit handle and a comb handle, wherein the fruit comb handle is connected to a fruit shaft; meanwhile, a gap is reserved between the adjacent fruit handles. Fig. 5 is merely a schematic diagram and more details may be searched online.

Commercial banana varieties are generally high, the ears are hung at high positions, and manual picking is convenient. When the bananas are picked, the conventional method is to directly cut fruit stalks and harvest the whole ears. Then combing the mixture by a special banana combing cutter and packaging the mixture for sale. In the growth and development process of bananas, the bananas in the front combs bloom first, the absorbed nutrients are sufficient and are quickly full, and the size of the bananas is larger than that of the bananas positioned at the lower layer of the clusters. If the whole cluster is harvested, the sizes of the bananas are often inconsistent, the tail bananas at the lower layer of the cluster are too small and the sizes of the tail bananas do not reach the standard, and the bananas are discarded, so that waste is caused.

The main body of the banana combing and cutting knife is a bent sheet body, the section of the banana combing and cutting knife is in a semi-arc shape, the banana combing and cutting knife can be attached to the side wall of a fruit shaft to the maximum extent, and the lower end of the banana combing and cutting knife is ground to form a cutting edge. When the banana comb is used, the inner side of the banana combing cutter is attached to the fruit shaft and then moves along the extending direction of the fruit shaft, so that the fruit shaft and the fruit comb can be cut off. Generally, the central angle corresponding to the connection position of the fruit comb on the fruit shaft is less than 180 degrees, and generally, the fruit comb can be cut off at one time if the radian corresponding to the bent banana carding cutter is 180 degrees.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a pluck banana manipulator that can directly cut off banana on the fruit axle.

The utility model adopts the technical proposal that:

the utility model provides a manipulator of banana is picked in batches, includes pole body, mount pad and banana combing cutter, and the upper end of pole body is crooked to become the shape of falling the U, and the head at the pole body is fixed to the mount pad, be equipped with holder and catapult on the mount pad, the holder has two claws that can draw close or open, and banana combing cutter installs on the catapult, and the opening direction of holder and banana combing cutter's the direction of catapulting all face downwards, and banana combing cutter laminating is epaxial at the fruit when two claws centre gripping fruit handles.

As an improvement of the scheme, the mounting seat is provided with two stations in the length direction, the clamp is arranged on the station at the front, and the ejector is arranged on the station at the rear.

As the improvement of above-mentioned scheme, the station in the place ahead of mount pad is the hole, and the orientation of hole is along banana carding cutter's ejection direction, the holder still has first spring and haulage rope, and first spring is placed downtheholely, and the claw is the arc, and the intermediate position of claw articulates on the mount pad and uses this articulated department as the fulcrum, and the head and the tail both ends of claw are towards the outside respectively and the outer terminal surface of laminating first spring, and first spring provides the outside open elasticity of claw, and the tail end at the claw is connected to the haulage rope.

As an improvement of the scheme, the end face of the mounting seat positioned in front is provided with four wing plates, every two adjacent wing plates clamp the claw together, and the pin penetrates through the wing plates and the claw to complete hinging.

As an improvement of the scheme, a station behind the mounting seat is a groove, the opening direction of the groove is perpendicular to a plane formed by the swing of the two claws, the ejector is provided with a sliding seat, a sliding rail, a second spring and a traction rope, the banana combing cutter is mounted on the sliding seat, the sliding seat is mounted in the groove through the sliding rail, the second spring is placed between the sliding seat and the inner wall of the groove, the second spring provides elastic force for ejecting the sliding seat forwards, and the traction rope is connected to the sliding seat.

As an improvement of the scheme, the first spring and the second spring adopt compression springs.

As an improvement of the scheme, a channel for the traction rope to pass through is arranged between the hole and the groove of the mounting seat, inside the sliding seat and at the tail end of the mounting seat.

As an improvement of the scheme, the rod body is a hollow tube, and the traction rope moves in the rod body.

As an improvement of the scheme, the first handle and the second handle are arranged on the shaft at two positions with different heights, the first handle is connected with the traction rope associated with the claw, and the second handle is connected with the traction rope associated with the sliding seat.

As an improvement of the scheme, the first handle and the second handle are both in a lever structure, a guide wheel for guiding the traction rope to change direction is arranged in the rod body, and the traction rope passes through the guide wheel and then is connected to one end of the first handle or one end of the second handle.

The utility model has the advantages that: the manipulator is fixedly connected with the fruit handle by utilizing the clamp holder, the banana combing cutter is pushed by the ejector to instantly finish the connection of cutting off the fruit comb and the fruit shaft, and accordingly, the clamp holder clamps the fruit handle, and the cut banana can be lifted upwards by the movement of the rod body. The manipulator can cut a bundle of bananas from top to bottom without cutting off the fruit shaft, can retain the unripe or slightly small-sized bananas at the bottom of the fruit shaft, reduces waste, and is convenient for picking bananas with similar sizes in the same batch.

Drawings

The present invention will be further explained with reference to the accompanying drawings:

FIG. 1 is an overall schematic view of a robot;

FIG. 2 is a block diagram of the mounting base, clamping portion and ejection portion;

FIG. 3 is a perspective view of the mount;

FIG. 4 is a structural view of the shaft, the first handle and the second handle;

FIG. 5 is a schematic view of the growth of a single banana on a fruit shaft.

Detailed Description

The picking time of bananas is when the bananas reach maturity, at which time the banana fruit is harder with the stalk 73 harder. The banana fruits are next to each other, but there is a gap between adjacent stalks 73. By holding only one of the stems 73, a single stem 73 can bear the weight of a single banana.

Referring to fig. 1 to 5, the utility model relates to a manipulator of banana is picked in batches, including pole body 2, mount pad 3 and banana combing cutter 1, the upper end of pole body 2 is crooked to become the shape of falling the U, and mount pad 3 is fixed at the head of pole body 2, be equipped with holder and catapult on the mount pad 3, the holder has two claws 41 that can draw close or open, and banana combing cutter 1 installs on the catapult, and the opening direction of holder and banana combing cutter 1's the direction of launching all towards below, and banana combing cutter 1 laminates on fruit shaft 71 when two claws 41 centre gripping fruit handles 73.

The gripper is fixedly connected with the fruit handle 73, the two claws 41 gradually draw close to be aligned with one fruit handle 73, then the gripper moves downwards, the claws 41 are completely inserted into the gaps of the fruit handles 73, and at this time, the claws 41 further draw close to finish the gripping and locking; the banana combing and cutting knife 1 is pushed by the ejector to instantly finish the connection of the fruit cutting comb 72 and the fruit shaft 71, and accordingly, the cut banana can be lifted upwards by the movement of the rod body 2 because the clamp clamps the fruit stem 73. The manipulator can cut a bundle of bananas from top to bottom, the banana stem 71 does not need to be cut off, the banana which is not ripe yet or has a smaller size and is positioned at the bottom of the banana stem 71 can be kept, waste is reduced, and the bananas with similar sizes and picked in the same batch are convenient to pick; even in batches.

In this embodiment, the claw 41 is rod-shaped and may be made into a sheet-like shape like a tweezers, as long as the size is smaller than the gap of the stem 73 and then the strength is sufficient. Preferably, in order to stably hold the stem 73 by the claws 41, the claws 41 are formed in a certain arc shape and are turned up toward the comb 72, so that the holding force is reduced when the cut banana is lifted.

Since the primary moving part of the gripper is the claw 41, the shorter the travel of the claw 41, the better it is located near the stem 73. Preferably, the mounting base 3 has two stations in the longitudinal direction, the holder being mounted at the front station and the ejector at the rear station.

In other embodiments, the holder and the ejector can be both electric products, for example, the holder and the ejector are both controlled by a motor, a button is arranged on the rod body 2, and a single chip microcomputer is arranged in the rod body 2. However, these designs are costly and not practical enough.

Preferably, the station in front of the mounting seat 3 is a hole 31, the hole 31 faces in the ejection direction of the banana combing and cutting blade 1, the gripper further has a first spring 42 and a pulling rope, the first spring 42 is placed in the hole 31, the claw 41 is arc-shaped, the middle position of the claw 41 is hinged on the mounting seat 3 and takes the hinged position as a fulcrum, the head end and the tail end of the claw 41 respectively face to the outside and are attached to the outer end surface of the first spring 42, the first spring 42 provides the outward-opening elastic force of the claw 41, and the pulling rope is connected to the tail end of the claw 41. The pawl 41 can press the first spring 42 down into the hole 31 even when receiving the elastic force of the first spring 42, and thus can complete the function of housing the first spring 42.

In other embodiments, the claw 41 is hinged directly to the mounting 3. Preferably, the front end face of the mounting base 3 has four wings 43, each two adjacent wings 43 jointly hold the claw 41, and the pin is hinged through the wings 43 and the claw 41.

Preferably, the rear station of the mounting seat 3 is a slot 32, the opening direction of the slot 32 is perpendicular to the plane formed by the swinging of the two claws 41, the ejector is provided with a sliding seat 51, a sliding rail, a second spring 52 and a traction rope, the banana combing and cutting knife 1 is mounted on the sliding seat 51, the sliding seat 51 is mounted in the slot 32 through the sliding rail, the second spring 52 is placed between the sliding seat 51 and the inner wall of the slot 32, the second spring 52 provides the elastic force for ejecting the sliding seat 51 forwards, and the traction rope is connected on the sliding seat 51.

Preferably, the first spring 42 and the second spring 52 are compression springs. Preferably, the slide rail includes a fixed rail fixedly connected to an inner wall of the groove 32 and a slide rail fixed to the slider 51.

The clamp holder and the ejector both adopt simple traditional mechanical components and are low in cost. In order to facilitate the connection of the pulling rope to the claw 41 and the sliding base 51, the claw 41 is provided with a notch at the end to facilitate the winding of the pulling rope. The slider 51 has two protrusions on the side near the first spring 42, and the pulling rope is wound around the two protrusions to complete the connection. In order to stabilize the second spring 52, a positioning shaft 53 is provided in the groove 32, and the second spring 52 is fitted over the positioning shaft 53.

Preferably, the passage for the pulling rope is provided between the hole 31 and the slot 32 of the mounting seat 3, the inside of the sliding seat 51, the positioning shaft 53 and the end of the mounting seat 3. The rod body 2 is a hollow tube, and the traction rope moves in the rod body 2, so that the pull rod is more attractive.

Preferably, the shaft 2 is provided with a first handle 61 and a second handle 62 at two different height positions, so that the shaft 2 and the two handles can be held by two hands without occupying a space therebetween. The first handle 61 is connected to a pull cord associated with the pawl 41 and the second handle 62 is connected to a pull cord associated with the carriage 51. In this embodiment, the first handle 61 and the second handle 62 are both lever structures, a guide wheel 63 for guiding the direction of the pulling rope is arranged in the shaft 2, and the pulling rope passes through the guide wheel 63 and then is connected to one end of the first handle 61 or the second handle 62. Preferably, the shaft 2 is divided between the two guide wheels 63, and the guide wheels 63 are conveniently installed by welding the shaft 2 after the two guide wheels 63 are fixed, respectively.

When in use, one hand holds the first handle 61 and the rod body 2 at the same time, and the clamp is adjusted by applying force through fingers; the other hand holds the second handle 62 and the rod body 2 at the same time, and the second handle 62 is suddenly released by applying force through fingers to eject the banana combing and cutting knife 1.

When the manipulator is assembled, the mounting seat 3 is firstly assembled, then the mounting seat 3 is fixed on the rod body 2, and finally the banana combing and cutting knife 1 is fixed on the sliding seat 51. For the mounting seat 3, the assembly of the clamping part can be simply completed, and for the ejection part, the sliding rail and the sliding seat 51 are fixed and are placed into the groove 32 together; the fixed track is then connected to the interior of the slot 32. The second spring 52 and the positioning shaft 53 are pressed and put into the groove 32 together, the positioning shaft 53 is fixed, the pulling rope is drawn out from the shaft 2, and the end parts of the pulling rope are respectively wound around the claw 41 and the sliding seat 51.

Of course, the design creation is not limited to the above embodiments, and the combination of different features of the above embodiments can also achieve good effects. Those skilled in the art can make equivalent changes or substitutions without departing from the spirit of the present invention, and such equivalent changes or substitutions are included in the scope defined by the claims of the present application.

Claims

1. The utility model provides a manipulator of banana is picked in batches which characterized in that: including pole body, mount pad and banana combing cutter, the upper end of pole body is crooked to become the shape of falling the U, and the head at the pole body is fixed to the mount pad, be equipped with holder and catapult on the mount pad, the holder has two claws that can draw close or open, and banana combing cutter installs on the catapult, and the opening direction of holder and banana combing cutter's the direction of launching all towards the below, and banana combing cutter laminating is epaxial at the fruit when two claws centre gripping fruit handles.

2. Manipulator for picking bananas in batches according to claim 1, characterized in that: the mounting seat is provided with two stations in the length direction, the holder is arranged on the station in front, and the ejector is arranged on the station in rear.

3. Manipulator for picking bananas in batches according to claim 2, characterized in that: the station in the place ahead of mount pad is the hole, and the orientation in hole is along banana carding cutter's ejection direction, the holder still has first spring and haulage rope, and first spring is placed downtheholely, and the claw is the arc, and the intermediate position of claw articulates on the mount pad and regards this articulated department as the fulcrum, and the head and the tail both ends of claw are towards the outer terminal surface of outside and the first spring of laminating respectively, and first spring provides the outside open elasticity of claw, and the tail end at the claw is connected to the haulage rope.

4. Manipulator for picking bananas in batches according to claim 3, characterized in that: the end face of the mounting seat in front is provided with four wing plates, every two adjacent wing plates clamp the claw together, and the pin penetrates through the wing plates and the claw to complete hinging.

5. Manipulator for picking bananas in batches according to claim 2, characterized in that: the station at the rear of mount pad is the groove, the plane that two claws of open direction perpendicular to in groove swing and form, the catapult has slide, slide rail, second spring and haulage rope, and banana carding cutter is installed on the slide, and the slide passes through the slide rail and installs at the inslot, and the second spring is placed between the inner wall in slide and groove, and the second spring provides the elasticity that the slide launched forward, and the haulage rope is connected on the slide.

6. Manipulator for the batch picking of bananas according to claim 3 or 5, characterized in that: the first spring and the second spring are compression springs.

7. Manipulator for picking bananas in batches according to claim 6, characterized in that: and passages which are convenient for the traction rope to pass through are arranged between the holes and the grooves of the mounting seat, in the sliding seat and at the tail end of the mounting seat.

8. Manipulator for picking bananas in batches according to claim 7, characterized in that: the rod body is a hollow tube, and the traction rope moves in the rod body.

9. The manipulator for picking bananas in batches according to claim 8, characterized in that: the first handle is connected with a traction rope relevant to the claw, and the second handle is connected with a traction rope relevant to the sliding seat.

10. Manipulator for picking bananas in batches according to claim 9, characterized in that: the first handle and the second handle are both in a lever structure, a guide wheel for guiding the traction rope to change direction is arranged in the rod body, and the traction rope passes through the guide wheel and then is connected to one end of the first handle or one end of the second handle.