CN108377748A - A kind of fruit picker - Google Patents
A kind of fruit picker Download PDFInfo
- Publication number
- CN108377748A CN108377748A CN201810425727.2A CN201810425727A CN108377748A CN 108377748 A CN108377748 A CN 108377748A CN 201810425727 A CN201810425727 A CN 201810425727A CN 108377748 A CN108377748 A CN 108377748A
- Authority
- CN
- China
- Prior art keywords
- paw
- center line
- fruit picker
- actuating unit
- link block
- Prior art date
- 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.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 33
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 244000099147 Ananas comosus Species 0.000 description 1
- 235000007119 Ananas comosus Nutrition 0.000 description 1
- 240000000716 Durio zibethinus Species 0.000 description 1
- 235000006025 Durio zibethinus Nutrition 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- A01D46/253—Portable motorised fruit pickers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of fruit picker, including crawl section, actuating unit, crawl section includes support plate, multiple paws, and multiple paws are distributed in a ring, and one end of paw and support plate are hinged；Actuating unit is used to drive the direction of multiple paws to the center line close to above-mentioned annular mobile or is moved to the direction of the center line far from above-mentioned annular.Portable, compact of the invention, can both hands assurance, easily manipulation；Light weight, overall weight are less than 1500 grams；Picking efficiency is high, it can be achieved that continuous picking.
Description
Technical field
The present invention relates to fruit picking field more particularly to a kind of fruit pickers.
Background technology
Fruit picking apparatus currently on the market substantially there are two types of：It is simple in structure one is purely manual, but efficiency is low, and
Easy damaged fruit；Another kind is picking robot, and picking efficiency is high, but volume is big, of high cost, inconvenient to carry.Major defect：1、
Efficiency is low.Manual device for picking efficiency is low.2, easy damaged fruit.Picking dynamics is difficult to control, easy damaged fruit.3, not Portable belt.
The usual volume of picking robot is big, heavy, not Portable belt.Therefore existing equipment is further improved.
Invention content
To solve technical problem present in background technology, the present invention proposes a kind of fruit picker, and effect is good, structure
Simply, easy to use.
A kind of fruit picker proposed by the present invention, including crawl section, actuating unit, crawl section includes support plate, more
A paw, multiple paws are distributed in a ring, and one end of paw and support plate are hinged；Actuating unit for drive multiple paws to by
The direction of the center line of nearly above-mentioned annular is mobile or is moved to the direction of the center line far from above-mentioned annular.
Preferably, crawl section further includes link block, connector；Link block is located at the inside of multiple paws；Each paw is logical
It is hinged with link block to cross connector；Actuating unit is sequentially connected with link block to drive link block along the center line of above-mentioned annular
It moves in direction.
Preferably, actuating unit includes power unit, rotating member, screw rod, and power unit is sequentially connected with rotating member；Screw rod
Arrange that screw rod is threadedly coupled with rotating member, and screw rod is connect with link block along the direction of the center line of above-mentioned annular.
Preferably, rotating member includes shaft coupling, nut, and shaft coupling is sequentially connected with power unit；Nut connects with shaft coupling
It connects, nut is connect with screw flight.
Preferably, power unit is motor；The shell of above-mentioned support plate and motor connects.
Preferably, further include telescopic rod, telescopic rod is connect with power unit.
Preferably, further include microcontroller, pressure sensor, signal amplifier, center line of each paw close to above-mentioned annular
Side be mounted on above-mentioned pressure sensor, above-mentioned pressure sensor is electrically connected with signal amplifier；Signal amplifier with
Monolithic mechatronics；Microcontroller is connect with the actuating unit signal.
Preferably, paw is arc, and paw is arranged towards the direction of the center line of above-mentioned annular.
In the present invention, paw is placed in the outside of fruit, drives paw to be closed using actuating unit, by pulling power
Fruit is detached with fruit tree, thus facilitates crawl, fruit-picking by mechanism, paw.It, will using actuating unit after fruit-picking
Paw opening can take out fruit out of paw.
Portable, compact of the invention, can both hands assurance, easily manipulation；Light weight, overall weight are less than 1500 grams；Picking
It is efficient, it can be achieved that continuous picking.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 be Fig. 1 in section components AA to sectional view；
Fig. 3 is the axonometric drawing of the present invention.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutual combination；Below with reference to the accompanying drawings it elaborates to the present invention and in conjunction with the embodiments
Referring to Fig.1-3, a kind of fruit picker proposed by the present invention, including crawl section, actuating unit, crawl section include
Support plate 2, multiple paws 1, multiple paws 1 are distributed in a ring, and one end of paw 1 and support plate 2 are hinged；Actuating unit is used for band
The direction for moving multiple paws 1 to the center line close to above-mentioned annular is mobile or is moved to the direction of the center line far from above-mentioned annular
It is dynamic.
It drives paw 1 to open, be closed using actuating unit, fruit is captured using paw 1, using pineapple, durian etc., these
Fruit surface is barbed, is picked using the device of the present embodiment more convenient.
In further embodiment, crawl section further includes link block 3, connector 4；Link block 3 is located at multiple paws 1
Inside；Each paw 1 is hinged by connector 4 and link block 3；Actuating unit is sequentially connected with link block 3 and is connect with driving
Block 3 is moved along the direction of the center line of above-mentioned annular.It drives link block 3 to move using actuating unit, utilizes link block 3, connection
Part 4 drives paw 1 to carry out back rotation, and paw 1 is allowed to open or be closed, convenient to fruit picking.
In further embodiment, actuating unit includes power unit 5, rotating member, screw rod 6, power unit 5 with turn
Moving part is sequentially connected；Screw rod 6 arranges that screw rod 6 is threadedly coupled with rotating member along the direction of the center line of above-mentioned annular, screw rod 6 and
Link block 3 connects.It drives rotating member to rotate using power unit 5, drives screw rod 6 along the center line of above-mentioned annular using rotating member
Direction movement, utilize screw rod 6 drive link block 3 move.By changing the rotation direction of rotating member, adjustment screw 6, link block
3 moving direction is realized to open or be closed paw 1 to fruit picking.
In further embodiment, rotating member includes shaft coupling 7, nut 8, and shaft coupling 7 connects with the transmission of power unit 5
It connects；Nut 8 is connect with shaft coupling 7, and nut 8 is threadedly coupled with screw rod 6.It drives shaft coupling 7 to rotate using power unit 5, utilizes
Nut 8 drives screw rod 6 to move.
In further embodiment, power unit 5 is motor；Above-mentioned support plate 2 is connect with the shell of motor；It utilizes
Motor drives above-mentioned component actuation；By allowing support plate 2 to be connect with the shell of motor, structure can be simplified, reduce volume, reduced
Weight, it is, of course, also possible to by other means fix support plate 2.
In further embodiment, further include telescopic rod 9, telescopic rod 9 is connect with power unit 5；It is convenient flexible, side
Just the fruit of eminence is picked.
In further embodiment, further include microcontroller 10, pressure sensor, signal amplifier, each paw 1 is close
The side of the center line of above-mentioned annular is mounted on above-mentioned pressure sensor, and above-mentioned pressure sensor is electrically connected with signal amplifier
It connects；Signal amplifier is electrically connected with microcontroller 10；Microcontroller 10 is connect with the actuating unit signal.Paw is passed equipped with pressure
Sensor, when picking, pressure sensor is contacted with fruit, and after the pressure of generation reaches certain numerical value, pressure sensor passes through letter
Signal is sent to microcontroller 10 and assigns instruction to motor after microcontroller 10 handles signal by number amplifier in the form of a voltage, control
The operating of motor processed.Using lithium battery power supply, can continuously power for a long time.Motor action is controlled using microcontroller, when paw is received
To pressure reach given threshold when, paw be closed completely when, paw open completely when, motor stop, avoiding dallying；It is above-mentioned to set
Meter is more intelligent, avoids damage to fruit, ensures picking effect.
In further embodiment, paw 1 is arc, and paw 1 is arranged towards the direction of the center line of above-mentioned annular.
Facilitate crawl fruit, fruit is avoided to slide, effect is good.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of fruit picker, which is characterized in that including crawl section, actuating unit, crawl section includes support plate, multiple hands
Pawl, multiple paws are distributed in a ring, and one end of paw and support plate are hinged；Actuating unit for drive multiple paws to close to
It states the direction movement of the center line of annular or is moved to the direction of the center line far from above-mentioned annular.
2. fruit picker according to claim 1, which is characterized in that crawl section further includes link block, connector；Even
Connect the inside that block is located at multiple paws；Each paw is hinged by connector and link block；Actuating unit connects with link block transmission
It connects to drive link block to be moved along the direction of the center line of above-mentioned annular.
3. fruit picker according to claim 2, which is characterized in that actuating unit include power unit, rotating member,
Screw rod, power unit are sequentially connected with rotating member；Screw rod is along the direction of the center line of above-mentioned annular arrangement, screw rod and rotating member spiral shell
Line connects, and screw rod is connect with link block.
4. fruit picker according to claim 3, which is characterized in that rotating member includes shaft coupling, nut, shaft coupling
It is sequentially connected with power unit；Nut is connect with shaft coupling, and nut is connect with screw flight.
5. fruit picker according to claim 2, which is characterized in that power unit is motor；Above-mentioned support plate with
The shell of motor connects.
6. fruit picker according to claim 3, which is characterized in that further include telescopic rod, telescopic rod and power list
Member connection.
7. fruit picker according to claim 1, which is characterized in that further include microcontroller, pressure sensor, signal
Amplifier, each paw are mounted on above-mentioned pressure sensor, above-mentioned pressure sensor close to the side of the center line of above-mentioned annular
It is electrically connected with signal amplifier；Signal amplifier and monolithic mechatronics；Microcontroller is connect with the actuating unit signal.
8. fruit picker according to claim 1, which is characterized in that paw is arc, and paw is towards above-mentioned annular
Center line direction arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810425727.2A CN108377748A (en) | 2018-05-07 | 2018-05-07 | A kind of fruit picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810425727.2A CN108377748A (en) | 2018-05-07 | 2018-05-07 | A kind of fruit picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108377748A true CN108377748A (en) | 2018-08-10 |
Family
ID=63070635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810425727.2A Pending CN108377748A (en) | 2018-05-07 | 2018-05-07 | A kind of fruit picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108377748A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109392456A (en) * | 2018-12-14 | 2019-03-01 | 浙江工业大学之江学院 | A kind of fruit picking apparatus |
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN109769468A (en) * | 2019-03-27 | 2019-05-21 | 安徽三联学院 | A kind of novel picker |
| CN109769475A (en) * | 2019-04-01 | 2019-05-21 | 农业部农业生态与资源保护总站 | A kind of portable picking fruit device |
| CN114097427A (en) * | 2021-11-23 | 2022-03-01 | 河南科技大学 | Polymerization type sphere-like single fruit picking manipulator and control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| CN107593112A (en) * | 2017-09-12 | 2018-01-19 | 沈阳建筑大学 | A kind of intelligent fruit picking and its application method based on Internet of Things |
| CN107750627A (en) * | 2017-10-20 | 2018-03-06 | 广东海洋大学 | A kind of wireless remote control fruits picking mechanical hand |
| CN208639038U (en) * | 2018-05-07 | 2019-03-26 | 安徽三联学院 | A kind of fruit picker |
-
2018
- 2018-05-07 CN CN201810425727.2A patent/CN108377748A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| CN107593112A (en) * | 2017-09-12 | 2018-01-19 | 沈阳建筑大学 | A kind of intelligent fruit picking and its application method based on Internet of Things |
| CN107750627A (en) * | 2017-10-20 | 2018-03-06 | 广东海洋大学 | A kind of wireless remote control fruits picking mechanical hand |
| CN208639038U (en) * | 2018-05-07 | 2019-03-26 | 安徽三联学院 | A kind of fruit picker |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109392456A (en) * | 2018-12-14 | 2019-03-01 | 浙江工业大学之江学院 | A kind of fruit picking apparatus |
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN109769468A (en) * | 2019-03-27 | 2019-05-21 | 安徽三联学院 | A kind of novel picker |
| CN109769475A (en) * | 2019-04-01 | 2019-05-21 | 农业部农业生态与资源保护总站 | A kind of portable picking fruit device |
| CN114097427A (en) * | 2021-11-23 | 2022-03-01 | 河南科技大学 | Polymerization type sphere-like single fruit picking manipulator and control method |
| CN114097427B (en) * | 2021-11-23 | 2023-01-03 | 河南科技大学 | Polymerization type sphere-like single fruit picking manipulator and control method |
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