CN219761952U - High-frequency vibration fruit picking manipulator - Google Patents

Abstract

The utility model discloses a high-frequency vibration fruit picking manipulator which comprises an inner clamp, an outer clamp, a locking grab handle and a vibration source power system, wherein an inner clamp, an inner clamp buffer rubber pad and a clamp arm rod are embedded in the inner clamp, the outer clamp is provided with an outer clamp, an outer clamp buffer rubber pad and a clamp arm sleeve, the clamp arm rod of the inner clamp slides in the clamp arm sleeve of the outer clamp, and the locking grab handle is sleeved outside the clamp arm sleeve and is arranged at the tail end of the clamp arm sleeve through threads, so that the sliding stroke of the inner clamp and the outer clamp can be locked to enable the clamp to be in a clamped or unclamped state. Compared with the prior art, the utility model has the advantages that the portable electric, pneumatic and fuel oil mechanical vibration equipment which is universal in the market is utilized, the fruit tree trunk is fixed through the inner pincers and the outer pincers, and the high-frequency mechanical vibration force is transmitted by the pincer arm rod, so that the mature fruit falls into the fruit containing device under the tree under the action of the vibration force, the single person operation is realized, the working efficiency is improved, the labor cost is reduced, and the damage of the machine to the fruit tree trunk can be avoided.

Description

High-frequency vibration fruit picking manipulator

Technical Field

The utility model relates to the field of agricultural mechanical fruit harvesting equipment, in particular to a high-frequency vibration fruit picking manipulator.

Background

In recent years, fruit picking machines for personal operation are also proposed, which adopt hooking and forking means and provide light micro-vibration force, and are mainly used for picking small fruits such as sea buckthorn, medlar and the like, the working efficiency can reach 5-8 times that of manual work, but the effect can not be achieved when the diameter of the fruits is larger than or equal to that of the fruits such as the jujube due to the smaller power, and the small branches to be obtained in the next year are damaged greatly due to the fact that the fruits are directly impacted with the branches at high frequency in a hooking and forking way, and the fruit picking machines are limited in use. Therefore, there is an urgent need to design a small fruit picking machine which is suitable for most areas of China, especially mountain areas, can be carried by a single person for operation, and can pick smaller-diameter fruits than sea buckthorn and other small fruits.

Disclosure of Invention

The purpose of the utility model is that: the high-frequency vibration fruit picking manipulator is provided to meet fruit picking requirements in most areas of China, so that the working efficiency is improved, the labor cost is reduced, the picking period is shortened, the fruit trees are protected from mechanical damage, the life safety risk in the using process is avoided, and meanwhile, references are provided for other types of fruit picking technologies.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the utility model provides a high frequency vibrations fruit picking manipulator, includes interior pincers, outer pincers, locking grab handle and vibroseis driving system, it is equipped with interior pincers, pincers arm pole, interior pincers hand buffering cushion to inlay, outer pincers are equipped with outer pincers, pincers arm sleeve, outer pincers hand buffering cushion, the pincers arm pole of interior pincers can insert pincers arm sleeve hole and slide in the pincers arm sleeve of outer pincers, locking grab handle cover is outside and is installed at pincers arm cover end through the screw thread in pincers arm cover, through locking pincers arm pole gliding mode, makes interior pincers hand and outer pincers form pincers hand tight or pincers hand unclamped state.

Preferably, the locking handle is sleeved outside the clamp arm sleeve and is arranged at the tail end of the clamp arm sleeve through threads, a deformation notch of the clamp arm sleeve can be deformed through rotation, sliding of the locking clamp arm rod in the clamp arm sleeve locks sliding between the inner clamp and the outer clamp at a required relative position, and sliding can be recovered through reverse rotation unlocking.

Preferably, when the arm lever slides in the arm sleeve, the arm lever is respectively acted by the bending part of the inner clamp and the limiting ring to limit the sliding travel of the arm lever in the arm sleeve, so that the sliding travel of the inner clamp is within the length of the slide way of the outer clamp.

Preferably, a plurality of buffer rubber pads are fixed on the inner forceps hand and the outer forceps hand.

Preferably, the tail end of the clamp arm rod is provided with a mounting head with a multi-rhombus structure, so that the clamp arm rod is conveniently and quickly mounted on a universal interface of the vibration source power system.

Compared with the prior art, the utility model has the advantages that: the fruit tree is characterized in that fruit tree branches are fixed by utilizing portable electric, pneumatic and fuel oil mechanical vibration equipment which is mature in the market and is universal through pliers formed by inner pliers and outer pliers, and mature fruits on the fruit tree fall into a fruit containing appliance under the tree under the action of vibration force through high-frequency vibration force provided by the mechanical vibration equipment. The whole equipment can realize single operation in the working process, improves the labor efficiency, reduces the labor cost, shortens the fruit picking period, simultaneously, the inner pincers and the outer pincers fix the branches to vibrate, thereby avoiding collision damage caused by relative movement between the fruit tree branches and the machine, and avoiding damage to the branches when the machine vibrates due to the buffer rubber pads arranged on the inner pincers and the outer pincers.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the present utility model.

Wherein: 1. the inner pincers, 2, the outer pincers, 3, the locking grab handle, 4, vibrations source driving system.

Fig. 2 is a schematic structural view of the inner clamp of the present utility model.

Wherein: 11. the inner clamp comprises an inner clamp hand 12, a clamp arm rod 13, a mounting head 14, an inner clamp hand buffer rubber cushion 15 and a limiting ring.

Fig. 3 is a schematic structural view of the outer pincer of the present utility model.

Wherein: 21. the outer pliers comprise outer pliers hands 22, slide ways 23, pliers arm sleeves 24, outer threads 25 and deformation notches.

Fig. 4 is a schematic diagram of the structure of the outer jaw according to the present utility model.

Wherein: 26. and an outer clamp buffering rubber pad, 27 and an inner hole of a clamp arm sleeve.

Fig. 5 is a schematic view of the structure of the locking handle of the present utility model.

Wherein: 31. locking handle shell, 32, locking handle internal thread.

FIG. 6 is a schematic view of the assembly of the locking handle of the present utility model.

Fig. 7 is a schematic diagram of a working scenario of the present utility model.

Detailed Description

The present utility model will be further described below.

Examples:

as shown in fig. 1, 2, 3, 4 and 5, a high-frequency vibration fruit picking manipulator is formed by an inner clamp 1, an outer clamp 2, a locking handle 3 and a vibration source power system 4 for providing mechanical power, the inner clamp 11, a clamp arm rod 12, a mounting head 13, an inner clamp buffer rubber pad 1) and a limiting ring 15 are arranged in the inner clamp 1, the outer clamp 2 is provided with an outer clamp 21, a slide 22, a clamp arm sleeve 23 with a tubular structure, threads 24, a deformation notch 25, an outer clamp buffer rubber pad 26 and a clamp arm sleeve inner hole 27, and the locking handle 3 is provided with a locking handle shell 31 and a locking handle inner thread 32.

The working principle of the utility model is as follows: the general vibration source power system 4 is utilized to provide vibration force, and the vibration force is transmitted to the fixed fruit tree branches through the inner pincers 1 and the outer pincers 2 arranged on the vibration source power system 4, so that the fruits fall off the branches, and the picking purpose is achieved.

As shown in fig. 1 and 6, the inner forceps 1 and the outer forceps 2 are matched with the vibration source power system 4 through diamond-shaped mounting heads 13 arranged on the inner forceps 1.

As shown in fig. 5 and 6, the locking handle 3 is sleeved on the jawarm sleeve 23 by adopting a mature general locking technology, the locking handle internal thread 32 is matched with the external thread 24, and the locking handle shell 31 rotates clockwise or anticlockwise to press or loosen the deformation notch 25, so that the sliding between the locking jawarm lever 12 and the jawarm sleeve 23 is locked or unlocked.

As shown in fig. 1, 2, 3 and 6, the arm rod 12 of the inner forceps is inserted into the inner hole 27 of the arm sleeve of the outer forceps to slide in the arm sleeve 23, the inner forceps 11 and the outer forceps 21 form a gripping or loosening state along with the sliding, the locking handle 3 rotates clockwise, the sliding is locked at a required position according to the diameter of the fruit branches, the inner forceps 11 and the outer forceps 21 are tightly attached to the fruit branches to form a gripping state, and after the work is completed, the locking handle 3 returns to slide the arm rod 12 through rotating anticlockwise, and the inner forceps 11 and the outer forceps 21 loosen the fruit branches.

As shown in fig. 4 and 6, the arm lever 12 slides in the arm sleeve 23, and under the combined action of the limiting ring 15 and the slide way 22, the strokes of the inner hand 11 and the outer hand 21 are limited within the slide way 22, so that the angles of the inner hand 11 and the outer hand 21 are not deflected during normal operation, the size range of the diameter of the branches of the fruit trees can be limited by the inner hand 11 and the outer hand 21, and the branches of the fruit trees with the diameter of 4 cm-8 cm can be acted on during personal operation according to the actual conditions of the diameter of the fruit tree planted fruit trees and the branch diameter of the fruit trees.

As shown in fig. 2 and 4, when the inner and outer handles 11 and 21 grip the fruit tree trunk, the inner and outer handles are in close contact with the fruit tree trunk through the inner and outer handles buffer rubber pads 14 and 26, and no relative movement is generated in the working process, so that collision damage of the fruit tree trunk caused by direct contact and relative movement of hard materials is avoided.

As shown in fig. 1 and 7, when an operator operates by a single person, after the inner pincers 1 and the outer pincers 2 jointly act and grip the fruit tree trunk, the gap between the inner pincers 1 and the outer pincers 2 is locked by rotating the locking handle 3 clockwise, the vibration source power system 4 is started, and the generated high-frequency vibration force is transmitted to the fruit tree trunk, so that the fruit is separated from the general fruit container placed under the tree. From the trial condition of the prototype, the working efficiency of harvesting fruits by a single person can be improved by 8-15 times according to the proficiency of operators.

The high-frequency vibration fruit picking manipulator provided by the utility model is described in detail, and specific examples are applied to illustrate the principle and the implementation of the utility model, and the description of the examples is only used for helping to understand the process and the core thought of the utility model; also, changes and modifications of the utility model will occur to those skilled in the art to which the utility model pertains and which, in view of the teachings herein, are deemed to lie within the broad scope and ambit of the utility model as defined in the appended claims.

Claims (5)

1. The utility model provides a high frequency vibrations fruit picking manipulator which characterized in that: including interior pincers (1), outer pincers (2), locking grab handle (3) and vibrations source driving system (4), interior pincers (1) are equipped with interior tong (11), tong arm pole (12), interior tong arm cushion (14), outer pincers are equipped with outer tong arm sleeve (23), outer tong arm cushion (26), tong arm pole (12) can insert tong arm sleeve hole (27) and slide in tong arm sleeve (23), make interior tong arm (11) and outer tong arm (21) form the tight or state that the tong arm loosen of tong arm along with the slip of different directions.

2. The high frequency vibration fruit picking manipulator of claim 1, wherein: the locking grab handle (3) is sleeved outside the clamp arm sleeve (23) and is arranged at the tail end of the clamp arm sleeve (23) through threads, a deformation notch (25) of the clamp arm sleeve (23) can be deformed through rotation, the inner clamp (1) and the outer clamp (2) are locked at the required positions through sliding of the locking clamp arm rod (12) in the clamp arm sleeve (23), and sliding can be recovered through reverse rotation unlocking.

3. A high frequency vibration fruit picking manipulator as claimed in claim 1 or 2, characterised in that: when the clamp arm rod (12) slides in the clamp arm sleeve (23), the clamp arm rod (12) is respectively limited in the length of the slideway (22) of the outer clamp hand (21) under the action of the bending part of the inner clamp hand (11) and the limiting ring (15) by the sliding travel of the clamp arm rod (12) in the clamp arm sleeve (23).

4. The high frequency vibration fruit picking manipulator of claim 1, wherein: an inner tong buffer rubber pad (14) is fixed on the inner tong (11), and an outer tong buffer rubber pad (26) is fixed on the outer tong (21).

5. The high frequency vibration fruit picking manipulator of claim 1, wherein: the tail end of the clamp arm rod (12) is provided with a mounting head (13) with a multi-prism structure, so that the clamp arm rod is convenient to quickly mount on a universal interface of the vibration source power system (4).