CN108124594A - Replaceable fruit picking head - Google Patents
Replaceable fruit picking head Download PDFInfo
- Publication number
- CN108124594A CN108124594A CN201810183340.0A CN201810183340A CN108124594A CN 108124594 A CN108124594 A CN 108124594A CN 201810183340 A CN201810183340 A CN 201810183340A CN 108124594 A CN108124594 A CN 108124594A
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- CN
- China
- Prior art keywords
- sliding block
- motion control
- connecting rod
- fruit
- replaceable
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a kind of replaceable fruit picking heads,Including chassis,Motion control disk and three motions being connected with motion control disk,Each motion includes connecting rod,Stent and the sliding block mounted on cradle top,Stent passes through on support column distributing installation chassis triangular in shape,Mid-stent and top are respectively equipped with arc-shaped rail slot and horizontal rail slot,The midpoint of connecting rod is mounted on by first axle in arc-shaped rail slot,The bottom and top of connecting rod are hinged and connected respectively with motion control disk and sliding block,Sliding block is mounted in the horizontal rail slot of cradle top,Sliding block is equipped with for fruit-picking and replaceable carpopodium disconnecting device,It is moved up and down by driving mechanism drive motion control panel,So as to be moved along a straight line by connecting rod band movable slider in horizontal rail slot,Sliding block drives carpopodium disconnecting device cut-out carpopodium,Complete fruit picking.The present invention can be suitable for various fruits picking by replacing picking head, efficient, of low cost.
Description
Technical field
The invention belongs to picking fruit apparatus fields, are related to a kind of picking fruit equipment, and in particular to a kind of replaceable water
Fruit picking head.
Background technology
Different fruits is due to its carpopodium characteristic difference, and the picker needed is also different, such as transparent apple carpopodium base
Easily broken absciss layer is formd between portion and fruit, fruit is slightly such as rotated or raised by some external force and will come off, and is suitble to crawl side
Formula is picked；Orange is easily damaged when rotating picking, and its carpopodium is harder, is suitble to cut mode picking.Bar class on the market at present
Picker is mainly crawl type and both carpopodiums type that fractures, and the two type cannot be general, is needed for different types of fruit
It is equipped with multiple pickers.It is not only with high costs, but also using trouble.
Invention content
It is an object of the invention to by crawl type and fracture carpopodium the characteristics of combine, devise a replaceable picking
Head, orchard worker need to pluck apple, and when this kind of fruit of pears uses crawl picking head；Need to pluck orange, when this kind of fruit of orange, which is changed to, cuts
Cut picking head.The demand of more users is met in this way, and transformation operating type is convenient.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of replaceable fruit picking head, it is characterised in that：It is connected including chassis, motion control disk and with motion control disk
Three motions, each motion includes connecting rod, stent and the sliding block mounted on cradle top, and the stent passes through
On support column installation chassis, the distribution triangular in shape on chassis of three stents, mid-stent and top are respectively equipped with arc-shaped rail
Road slot and horizontal rail slot, the midpoint of the connecting rod are equipped with first axle, and the hinge axis of first axle is mounted on arc-shaped rail
In road slot, bottom and the motion control disk of connecting rod are hinged and connected, and top and the sliding block of connecting rod are hinged and connected, and sliding block is mounted on stent
In the horizontal rail slot at top, and the arc diameter of arc-shaped rail slot is equal to length of connecting rod, and sliding block is equipped with to pick water
Fruit and replaceable carpopodium disconnecting device are moved up and down by driving mechanism drive motion control panel, so as to be driven by connecting rod
Sliding block moves along a straight line in horizontal rail slot, and sliding block drives carpopodium disconnecting device cut-out carpopodium, completes fruit picking.
As an improvement, the motion control disk surrounding is mounted on the support columns by guide sleeve, by support column to fortune
Dynamic control panel, which moves up and down, to be oriented to.
As an improvement, the motion control disk is equipped with pull rod, the pull rod passes freely through downwards the hole set on chassis, leads to
Crossing pull rod pulls realization motion control disk to move up and down.
As an improvement, fruit collection port, the fruit collection port lower accepting water fruit collection channel are equipped at the chassis edge
Or fruit collecting bag.
As an improvement, the carpopodium disconnecting device is inside claw.
As an improvement, the carpopodium disconnecting device is cutter cutting mechanism, angle is specifically included on sliding block
Two serrated blades, the serrated blade on two neighboring sliding block overlap to form sliding pair, form scissor construction.
As an improvement, sliding pair concrete structure is：Strip sliding slot there are one being set in the middle part of each serrated blade, adjacent two
The strip sliding slot of serrated blade on a sliding block, which is overlapped and passes through, to be locked limiting rivet and is connected.
As an improvement, the support column of each motion is double support columns group, connecting rod is double link group.
Present invention has the advantages that：
The picking head of the present invention uses the picking claw and shear knife of Atria vertex arrangement, the work unit of three positions
(claw or blade) while centripetal translation are with regard to the picking of the picking or shear mode that can complete grasp mode.Basis is only needed during use
Corresponding types of fruits changes claw or shear knife, and work unit's motion conditions of both of which are identical but to realize different operating
The work purpose of pattern.User can select corresponding picking head according to demand, expand the scope of application of picker, be user
It is convenient to provide.
Description of the drawings
Fig. 1 is structural principle schematic diagram of the present invention.
Fig. 2 removes carpopodium disconnecting device schematic diagram for the present invention.
Fig. 3 is single motion schematic diagram.
Fig. 4 is the sub- schematic diagram of sliding block upper mounting jaw.
Fig. 5 is installs serrated blade schematic diagram on sliding block.
Fig. 6 is that the serrated blade on three sliding blocks forms triangular structure schematic diagram.
1- connecting rods, 2- cranks, 3- sliding blocks, 4- first axles, 5- second hinges, 6- third hinges, the 4th hinges of 7-, 8- circles
Arc track slot, 9- stents, 10- support columns, 11- chassis, 12- motion control disks, 13- horizontal rail slots, 14- claws, 15- saws
Toothed blade, 16- limiting rivets, 17- serrated knifes, 18- pull rods, 19- guide sleeves, 20- fruit collection ports.
Specific embodiment
The present invention is illustrated below in conjunction with the accompanying drawings.
As shown in the figure, seeing figure for structural principle of the present invention, in figure, each motion is by connecting rod 1, crank 2 and sliding block 3
It forms, is first axle 4 at 1 center of connecting rod, the hinge axis of first axle 4 is connected with 2 lower end of crank, and 1 lower end of connecting rod is second
Hinge 5, second hinge 5 are connected with motion control disk 12, and 1 top of connecting rod is third hinge 6, and third hinge 6 is connected with sliding block 3,
2 upper end of crank is fixed by the 4th hinge 7, and pull rod 18 is connected with motion control disk 12, second hinge 5, third hinge 6 and the 4th
Hinge 7 forms a triangular structure of right angle, and first axle 4 is located at the bevel edge midpoint of right angled triangle, in this way when pull rod 18 is drawn
When dynamic motion control disk 12 moves downward, third hinge 6 (i.e. sliding block 3) is drawn close to the 4th hinge 7, is moved horizontally, and crank 2
It is then moved in a circle for midpoint with the 4th hinge 7, therefore considered during present invention design, crank 2 and 7 function of the 4th hinge are simplified
To limit the arc-shaped rail slot 8 of 4 running orbit of first axle, specific embodiment is as follows：
A kind of replaceable fruit picking head, including chassis 11, motion control disk 12 and be connected with motion control disk 12 three
A motion, each motion include connecting rod 1, stent 9 and the sliding block 3 mounted on 9 top of stent, and the stent 9 is logical
It crosses on 10 installation chassis 11 of support column, three stents 9 distribution triangular in shape on chassis 11,12 surrounding of motion control disk is led to
It crosses guide sleeve 19 to be mounted on support column 10, is moved up and down and be oriented to motion control disk 12 by support column 10；9 middle part of stent
Arc-shaped rail slot 8 and horizontal rail slot 13 are respectively equipped with top, the midpoint of the connecting rod 1 is equipped with first axle 4, and first
The hinge axis of hinge 4 is mounted in arc-shaped rail slot 8, and free to slide in arc-shaped rail slot 8, and the bottom of connecting rod 1 is set
Have second hinge 5, second hinge 5 is connected with motion control disk 12, and the top of connecting rod 1 is equipped with third hinge 6, third hinge 6 with
Sliding block 3 is connected, and sliding block 3 is mounted in the horizontal rail slot 13 at 9 top of stent, and the fortune of sliding block 3 is limited by horizontal rail slot 13
Dynamic direction, i.e., move in horizontal direction, and the arc diameter of arc-shaped rail slot 8 is equal to 1 length of connecting rod, and sliding block 3 is equipped with to adopt
It picks fruit and replaceable carpopodium disconnecting device, is moved up and down by driving mechanism drive motion control panel 12, connected so as to pass through
Bar 1 moves along a straight line with movable slider 3 in horizontal rail slot 13, and sliding block 3 drives carpopodium disconnecting device cut-out carpopodium, completes fruit and adopts
It plucks.
The motion control disk 12 is equipped with pull rod 18, and the pull rod 18 passes freely through the hole set on chassis 11 downwards, leads to
Crossing pull rod 18 pulls realization motion control disk 12 to move up and down.
11 edge of chassis is equipped with fruit collection port 20, the 20 lower accepting water fruit collection channel of fruit collection port or water
Fruit collecting bag.
The carpopodium disconnecting device is inside claw 14.As a kind of more preferably embodiment, the carpopodium disconnecting device
It can be also connected between sliding block 3 by quick-replaceable connector, be conveniently replaceable picking head.
The carpopodium disconnecting device can be also cutter cutting mechanism, specifically include into two of angle on sliding block 3
Serrated blade 15, the serrated blade 15 on two neighboring sliding block 3 overlap to form sliding pair, form scissor construction.
Sliding pair concrete structure is：Strip sliding slot there are one being set in the middle part of each serrated blade 15, two neighboring sliding block 3
On serrated blade 15 strip sliding slot be overlapped and pass through lock limiting rivet 16 be connected.
The support column 10 of each motion is double support columns group, and connecting rod 1 is double link group.
In use, by manual-operating mechanism or motor-operating mechanism pull rod 18 toward drop-down, pull rod 18 drives movement
Control panel 12 moves downward, and motion control disk 12 drives the first axle 4 of each motion sliding in arc-shaped rail slot 8
It is dynamic, so as to which by connecting rod 1, with being moved in 3 horizontal direction of movable slider, sliding block 3 drives carpopodium disconnecting device cut-out carpopodium, completes fruit
Picking, the fruit of picking fall into fruit collection channel or fruit collecting bag by the fruit collection port 20 on chassis 11, are collected
Get up；When carpopodium is softer easily broken (such as apple), carpopodium disconnecting device uses 14 structure of claw, can be the straight pawl of strip
Son, or arc claw when holding the operating lever with the device, first passes through operating lever and drives claw 14 by fruit packet
It encloses, then by manual-operating mechanism or motor-operating mechanism pull rod 18 toward drop-down, connecting rod 1 drives claw 14 inwardly to receive
Hold together, external force is then applied by operating lever, such as rotates or raises, carpopodium stress is broken, and the fruit fallen falls into fruit receipts
It is collected in collection mouth 20；When fruit-picking carpopodium is not harder easily broken (such as orange, orange etc.), carpopodium disconnecting device is cutter
Cutting mechanism drives serrated blade 15 to surround fruit, while pass through operating lever carpopodium in use, first passing through operating lever
Then serrated blade 15 close to certain side is pulled down by the way that manual-operating mechanism or motor-operating mechanism pull rod 18 are past,
Connecting rod 1 is inwardly collapsed with movable slider 3, and opposite variation (being specially to be reduced into similar triangles), carpopodium occur for position between sliding block 3
Closer to serrated blade 15, relative motion just occurs for serrated blade 15 in such adjacent sliders 3, serrated blade 15
Crisscross motion occurs for serrated knife 17, carpopodium is cut off, the fruit fallen falls into fruit collection port 20 and is collected.
Claims (8)
1. a kind of replaceable fruit picking head, it is characterised in that：It is connected including chassis, motion control disk and with motion control disk
Three motions, each motion include connecting rod, stent and the sliding block mounted on cradle top, and the stent passes through branch
On dagger installation chassis, the distribution triangular in shape on chassis of three stents, mid-stent and top are respectively equipped with arc-shaped rail
Slot and horizontal rail slot, the midpoint of the connecting rod are equipped with first axle, and the hinge axis of first axle is mounted on arc-shaped rail
In slot, bottom and the motion control disk of connecting rod are hinged and connected, and top and the sliding block of connecting rod are hinged and connected, and sliding block is mounted on top of support
In the horizontal rail slot in portion, and the arc diameter of arc-shaped rail slot is equal to length of connecting rod, and sliding block is equipped with for fruit-picking
And replaceable carpopodium disconnecting device, it is moved up and down by driving mechanism drive motion control panel, is slided so as to be driven by connecting rod
Block moves along a straight line in horizontal rail slot, and sliding block drives carpopodium disconnecting device cut-out carpopodium, completes fruit picking.
2. replaceable fruit picking head as described in claim 1, it is characterised in that：The motion control disk surrounding passes through guiding
Set is mounted on the support columns, is moved up and down and is oriented to motion control disk by support column.
3. replaceable fruit picking head as described in claim 1, it is characterised in that：The motion control disk is equipped with pull rod, institute
It states pull rod and passes freely through hole set on chassis downwards, pass through pull rod and pull and realize that motion control disk moves up and down.
4. the replaceable fruit picking head as described in claims 1 to 3 any one, it is characterised in that：At the chassis edge
Equipped with fruit collection port, the fruit collection port lower accepting water fruit collection channel or fruit collecting bag.
5. replaceable fruit picking head as described in claim 1, it is characterised in that：The carpopodium disconnecting device is inside pawl
Son.
6. replaceable fruit picking head as described in claim 1, it is characterised in that：The carpopodium disconnecting device is sheared for cutter
Mechanism, specifically includes into two serrated blades of the angle on the sliding block, the serrated blade weight on two neighboring sliding block
It stacks to form sliding pair, forms scissor construction.
7. replaceable fruit picking head as claimed in claim 6, it is characterised in that：Sliding pair concrete structure is：Each sawtooth
It sets in the middle part of shape blade there are one strip sliding slot, the strip sliding slot of the serrated blade on two neighboring sliding block is overlapped and passes through
Lock limiting rivet is connected.
8. replaceable fruit picking head as described in claim 1, it is characterised in that：The support column of each motion is double branch
Dagger group, connecting rod are double link group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810183340.0A CN108124594B (en) | 2018-03-06 | 2018-03-06 | Replaceable fruit picking head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810183340.0A CN108124594B (en) | 2018-03-06 | 2018-03-06 | Replaceable fruit picking head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108124594A true CN108124594A (en) | 2018-06-08 |
| CN108124594B CN108124594B (en) | 2019-08-02 |
Family
ID=62431386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810183340.0A Active CN108124594B (en) | 2018-03-06 | 2018-03-06 | Replaceable fruit picking head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108124594B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108668627A (en) * | 2018-07-03 | 2018-10-19 | 西安思源学院 | A kind of apple classification device for picking of replaceable Softening |
| CN108811738A (en) * | 2018-07-27 | 2018-11-16 | 浙江机电职业技术学院 | Adjustable apple assists picker |
| CN109757215A (en) * | 2019-02-25 | 2019-05-17 | 武汉理工大学 | A kind of flexible pawl suitable for high-altitude fruit picking bar |
| CN111052940A (en) * | 2019-12-29 | 2020-04-24 | 大国重器自动化设备(山东)股份有限公司 | Picking method of fruit picking robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140338201A1 (en) * | 2013-03-15 | 2014-11-20 | Galliot, LLC | Clipper |
| CN104380917A (en) * | 2014-09-24 | 2015-03-04 | 方孙典 | Oblique-axis horizontal-axis-knife automatic cutting-pulling harvester for fruits on high branches |
| CN107094430A (en) * | 2017-06-09 | 2017-08-29 | 常州工学院 | A kind of eminence fruit aids in device for picking |
| CN206791022U (en) * | 2017-05-26 | 2017-12-26 | 衢州学院 | A kind of novel fruit picking device |
-
2018
- 2018-03-06 CN CN201810183340.0A patent/CN108124594B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140338201A1 (en) * | 2013-03-15 | 2014-11-20 | Galliot, LLC | Clipper |
| CN104380917A (en) * | 2014-09-24 | 2015-03-04 | 方孙典 | Oblique-axis horizontal-axis-knife automatic cutting-pulling harvester for fruits on high branches |
| CN206791022U (en) * | 2017-05-26 | 2017-12-26 | 衢州学院 | A kind of novel fruit picking device |
| CN107094430A (en) * | 2017-06-09 | 2017-08-29 | 常州工学院 | A kind of eminence fruit aids in device for picking |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108668627A (en) * | 2018-07-03 | 2018-10-19 | 西安思源学院 | A kind of apple classification device for picking of replaceable Softening |
| CN108668627B (en) * | 2018-07-03 | 2023-09-12 | 西安思源学院 | Apple classification picking device capable of changing picking modes |
| CN108811738A (en) * | 2018-07-27 | 2018-11-16 | 浙江机电职业技术学院 | Adjustable apple assists picker |
| CN109757215A (en) * | 2019-02-25 | 2019-05-17 | 武汉理工大学 | A kind of flexible pawl suitable for high-altitude fruit picking bar |
| CN109757215B (en) * | 2019-02-25 | 2020-05-12 | 武汉理工大学 | Flexible claw suitable for high-altitude fruit picking rod |
| CN111052940A (en) * | 2019-12-29 | 2020-04-24 | 大国重器自动化设备(山东)股份有限公司 | Picking method of fruit picking robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108124594B (en) | 2019-08-02 |
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Effective date of registration: 20230202 Address after: 312399 5th floor, A1 / F, Zhejiang University network new science and Technology Park, 2288 Jiangxi Road, Cao'e street, Shangyu District, Shaoxing City, Zhejiang Province Patentee after: Institute of advanced research Wuhan University of technology Shangyu District Shaoxing City Address before: 430070 Hubei Province, Wuhan city Hongshan District Luoshi Road No. 122 Patentee before: WUHAN University OF TECHNOLOGY |
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