CN108432463A - Scalable, decide moment, from high-efficient picking manipulator of transport formula apple - Google Patents

Abstract

The invention discloses a telescopic, fixed-torque and self-conveying type efficient apple picking manipulator which comprises a supporting part, a picking part and a conveying part, wherein the supporting part is used for supporting the picking part; the picking part comprises a traction device and a clamping picking device, the traction device is arranged in the middle of the supporting part, the clamping picking device is arranged at the top of the supporting part, and the traction device controls the clamping picking device to clamp the apple and shear the fruit stem under the condition of ensuring that the apple is not damaged through a steel wire rope; the conveying part comprises a sliding conveying device and a conveying locking device, the sliding conveying device is arranged below the clamping and picking device and slides up and down along the supporting device under the control of the control device, and the conveying locking device locks the sliding conveying device when the sliding conveying device reaches a specified position.

Description

It is scalable, determine torque, from transport the efficient picking mechanical arm of formula apple

Technical field

The present invention relates to fruit picking, more particularly to it is a kind of it is scalable, determine torque, from transporting the efficient picking machine of formula apple Tool hand and method.

Background technology

China is the largest fruit in the world producing country and the largest fruit in the world country of consumption.Fruit-growing industry it is rapid Development improves the market demand of Machinery for orchard.Labour accounts for 33% of labour used in entire production process used in picking operation ~50%, the fruit picking overwhelming majority in China is still based on manually picking at present, and picking operation is more complicated, and seasonality is very By force, not only efficiency is low, the amount of labour is big, but also be easy to cause the damage of fruit, while human hand cannot not enough be picked and can also be led in time Cause economic loss.Therefore improving picking mechanization of operation degree has important meaning.

In fruit picking process, the picking fruit in high-altitude is thorny problem when orchard workers pick.Most of orchard workers adopt It is picked with some self-control small tools or staircase, but the picking difficulty of this Softening is big, efficiency is low while this The safety of working method is relatively low, and orchard worker has the possibility of tumble injury.

With the development of science and technology, fruit picker currently on the market, tool there are many, such as Chinese patent 201510986070.3 disclose a kind of basket basket scissors fruit picker, by the scissors of front end by under apple shear, by cutting A larger basket basket below knife disposably acquires multiple fruit, and the full rear bar of basket basket acquisition, which is put down, to be collected, the equipment Disadvantage is the increase with institute's fruit-picking quantity in basket basket, picks the burden of people, collects process excessively clumsiness, efficiency It is low；Chinese patent 201710393028.X discloses a kind of picker of picking collection integral type, is picked in cylinder by upside Blade fruit is cut off, then so that fruit is slided to bottom by transport tube, this equipment disadvantage is the picking flexibility ratio of equipment It is low, limited angle is picked, easy damaged fruit during collecting is slid；Chinese patent 201720326685.8 discloses a kind of water The shortcomings that fruit picking machine device people, this equipment are picked and collected by picking hands and walking dolly, this equipment is to walk small Vehicle requires height to operative scenario, and adaptation place is limited, and the cost of the device is quite high, is not suitable for promoting.

Invention content

For overcome the deficiencies in the prior art, the present invention it is a kind of it is scalable, determine torque, efficiently pick from transporting formula apple Manipulator, the mechanism can realize the picking of apple, transportation integration, it is ensured that the quality for picking apple greatly improves orchard worker's Fruit picking efficiency.

It is a kind of it is scalable, determine torque, from the transport efficient picking mechanical arm of formula apple, including support section, picking partly and Transport portion；

The picking part includes draft gear and clamping picker, and the draft gear is arranged in support section Medium position, the clamping picker are arranged at the top of support section, and the draft gear is controlled by steel wire rope Apple is clamped in the case where guarantee does not damage apple in clamping picker, and shears carpopodium；

The transport portion includes sliding transporting apparatus and conveying locking system, and sliding transporting apparatus setting exists The lower section of picker is clamped, and is slided up and down along the support device under control device control, conveying lock Locking apparatus locks sliding transporting apparatus when sliding transporting apparatus reaches designated position.

Further, the support section includes waistband and compound rod, and the compound rod is mounted on the waistband.

Further, the compound rod includes auxiliary rod, mobile jib and elongation bar, is connected between the auxiliary rod and mobile jib It is connected to the draft gear, the auxiliary rod lower end is fixedly connected with a hook, hook and the shackle on waistband It matches, the conveying locking system is equipped on the outside of the mobile jib, roll adjustment locker is equipped at the top of the mobile jib.

Further, the roll adjustment locker includes elongation bar lock main body and elongation bar lock reed；Extend lever lock Button reed is inserted in the corresponding slot of elongation bar lock main body；The elongation bar is equipped with three-level groove, with roll adjustment locker Cooperation, elongation bar is fixed when in elongation bar lock reed insertion groove, the adjustable elongation bar when lock is popped up from groove Extension elongation, the elongation bar top are equipped with the clamping picker.

Further, the elongation or contracting of adjustable the first steel cable when elongation bar elongates or shortens of the draft gear Short, which includes shell I, handle, the first steel cable, resets disc spring and two-way ratchet device；Equipped with reset in the handle Disc spring, can be dynamic around the shaft rotation in shell I；The handle is connected by the first steel cable with two-way ratchet device, is led to Rotation handle is crossed, two-way ratchet device is driven by the first steel cable and does linear reciprocating motion in the slot inside shell I.

Further, the two-way ratchet device includes shell II, adjusts handle, slide fastener, adjustment gear, slides pawl teeth Wheel, spring, ratchet, pawl, spool and reset disc spring；

Slide fastener is sleeved on shell II protrusions, adjusts handle and is matched with slide fastener, and slide fastener provides branch to adjust handle rotation Point；Pull rod in adjustment gear is connected by pin with handle is adjusted；Sliding pawl gear is meshed with adjustment gear, and with Pawl is connected；There is connecting rod connection between adjustment gear and sliding pawl gear, adjustment gear is allow to drive sliding ratchet gear It moves in the axial direction；It is cased with spring on the axis and pawl of adjustment gear, making can after removing external force with adjustment gear on pawl To reset；The ratchet is connected in spool on same a shaft, and reseting disk spring is housed in spool；When bar needs elongate or shorten When, rotation adjusts handle, adjusts pawl state, and the length of the first steel cable in spool is wrapped in control.

Further, the clamping picker includes clamping device and cutting mechanism, by picking hands holder with stretch Stock connects；

The clamping device includes upper clamp plate, lower-left clamping plate, bottom right clamping plate, unidirectionally determines torque mechanism and determine torque machine Structure, the shear include that the inside of scissors, tension spring and upper clamp plate connects the first steel cable,

Upper clamp plate is supportive body, and left and right lower clamp plate is mounted on the hole of two side stand of upper clamp plate each by a shaft In；Left and right lower clamp plate is located at the lower section of upper clamp plate；Lower-left clamping plate, bottom right clamping plate are connect by the second steel cable with torque mechanism is determined, Second steel cable one end is sincere on the outer ring for determining torque mechanism, and the other end is divided into two strands after passing through baffle center hole, fixes respectively In the inside of left and right lower clamp plate, determines torque mechanism inner ring and be connected with spool；Spool is built-in a spool reseting disk spring, and with it is unidirectional Determine torque mechanism to be connected；The rear side of spool is equipped with bracing wire locating shaft, which simultaneously connects with left and right support plate It connects, the first steel cable passes through from the bracing wire locating shaft interstitial hole；Scissors, by axis connection, can rotate around the axis, before handle of a knife with upper clamp plate Tension spring is installed in side, and rear side is connect with the first steel cable.

Further, left and right support plate is connect with spool axis both ends, and is equipped with rear backplate in rear side.

It is further, described that determine torque mechanism include inner ring, outer ring and torque adjusting group；It is placed in the inner ring side One circle hemispherical groove, the outer ring are connect with lower clamp plate by the second steel cable, and inner ring is mounted in the outer ring, and inner ring It is relatively fixed by moment regulating device in off working state with outer ring.

Further, the moment regulating device includes locking bead, determines torque adjusting bolt and determine torque spring, is led to It overregulates and determines torque adjusting bolt to control the type variable for determining torque spring, determine one end of torque spring and determine torque adjusting bolt Contact, the other end are pressed on the locking bead, and the locking bead coordinates with the hemispherical groove, to control The maximum grip power of apple is clamped in lower clamp plate.

It is further, described that unidirectional to determine torque mechanism include ratchet, pawl, spring, adjusting nut and pawl holder；Institute The ratchet stated is connected with spool, and pawl passes through spring, is mounted in the pawl holder, and rear end coordinates with adjusting nut；It is described Pawl holder can be around axial top rotation, lower section is resisted by the convex block on right supported plate.It rotates handle and stretches out bar group leader When spending, the first steel cable all can generate a downward pulling force to clamping picking mechanical arm spool can make to stretch if be not distinguish Spool rotation is driven when stock group, influences to pick effect.Because the pulling force of elongation bar group is less than the pulling force that rotation handle generates, add Enter after unidirectionally determining torque mechanism, the pretightning force of adjustment spring, pulling force when elongation bar group made to be not enough to drive the open-top pawl of ratchet, Spool will not rotate, and when rotating handle, the pulling force of steel cable is enough to drive the open-top pawl of ratchet, and clamping picking mechanical arm is made to complete Work；When unclamping handle, spool and ratchet revolution, pawl can be rotated up, and will not generate obstruction to revolution.

The transport portion includes sliding transporting apparatus and conveying locking system.

Further, the sliding transporting apparatus includes：The string bag, balladeur train, half button and spring；The string bag is solid with balladeur train Even, balladeur train and half snap fit are closed, and for half retaining ring on compound rod, the pulling force that pairs of half button is provided by spring is clipped in compound rod On；In compound rod middle section equipped with conveying locking system, after the string bag slides at conveying locking system, half buckle is filled in locking Set middle stopping sliding；The return of the string bag realizes its return by one group of steel wire rope component.

Further, the locking system includes holder, pressing board, mandril locking shaft, locking rod, connecting rod and mandril；Institute The holder stated is fixed on compound rod, and the hole opened up above holder is passed through after the top stem casing upper reset spring；Locking rod and Mandril is connected by pairs of connecting rod with the holder, and locking mandril is used for；The pressing board connects mandril locking shaft, mandril locking After being set with the slot that resetting spring opens up above holder on axis, coordinate with the groove that mandrel ends open up.

Specific picking method is as follows：

The body of rod moves, and carpopodium enters in the clamp port of manipulator upper clamp plate, adjusts manipulator to reach proper angle；It stretches Handle, left and right lower clamp plate are rotated up around the shaft, clamp apple bottom, are no longer rotated after by certain resistance, scissors cut-out Carpopodium；Lift bar portion backward, manipulator made to leave tree body, left and right lower clamp plate is opened, and fruit drops down onto in the string bag, along elongation bar and Mobile jib, which is snapped down at conveying locking system, to be stopped, and apple is taken out and presses locking system switch by operator, and the string bag is drawn by steel cable Return back to top portion.

Compared with prior art, the beneficial effects of the invention are as follows：

One:Protectiveness is high.The upper and the lower plywood can accurately find suitable carpopodium clipped position, protect fruit not injured Evil.After falling into conveying device after the clamped shearing of apple, bottom is quickly slided to, the damage to apple epidermis or pulp is substantially reduced Wound.

Second, work efficiency is high.It needs to take fruit mode, the present invention to turn by what handgrip was lowerd after plucking fruit compared to traditional averruncator Become the mode for making fruit be conveyed directly down by the string bag, and take the string bag after fruit that can quickly recoil to top, ensure that picking Continuity both saves the time, while reducing physical demands.

Thirdly：It is easy to operate.Whole process human hand need to only pull primary traction handle that picking and conveying can be realized, and save The picking action of large amount of complex, it is convenient and efficient.

It four：Sliding conveying locking fruit device, the mechanism by by picking after fruit be fed directly to bar end, To replace orchard worker to use after averruncator fruit-picking, it is also necessary to bar be lowerd to the mode for obtaining fruit, to improve orchard worker's picking The efficiency of fruit.

Description of the drawings

The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.

Fig. 1 is integral outer structure chart of the present invention；

Fig. 2 is support section schematic diagram；

Fig. 3 is picking partial schematic diagram；

Fig. 4 is transport portion schematic diagram；

Fig. 5 is support section structure chart 1；

Fig. 6 is support section structure chart 2；

Fig. 7 is hook I -3 and I -4 schematic diagram of auxiliary rod；

Fig. 8 is that elongation bar latches I -6 schematic diagram of main body；

Fig. 9 is that elongation bar latches I -7 schematic diagram of reed；

Figure 10 is I -8 schematic diagram of elongation bar；

Figure 11 is draft gear structure chart；

Figure 12 is draft gear schematic diagram；

Figure 13 is clamping picker structure chart；

Figure 14 is clamping picker vertical view；

Figure 15 is II -5 structure chart of bidirectional ratchet mechanism；

Figure 16 is II -5 schematic diagram 1 of bidirectional ratchet mechanism；

Figure 17 is II -5 schematic diagram 2 of bidirectional ratchet mechanism；

Figure 18 is unidirectionally to determine II -9 structure chart of torque mechanism；

Figure 19 is unidirectionally to determine II -9 assembling schematic diagram of torque mechanism；

Figure 20 is to determine II -18 structure chart of torque mechanism；

Figure 21 is to determine II -18 schematic diagram of torque mechanism；

Figure 22 is picking mechanical arm device schematic diagram；

Figure 23 is picking mechanical arm device side view；

Figure 24 is picking mechanical arm device grasping system schematic diagram 1；

Figure 25 is picking mechanical arm device grasping system schematic diagram 2；

Figure 26 is conveying locking system structure chart；

Figure 27 is conveying locking system schematic diagram；

Figure 28 is sliding transporting apparatus structure chart；

Figure 29 is sliding transporting apparatus schematic diagram 1；

Figure 30 is sliding transporting apparatus schematic diagram 2；

Wherein：

I-support section

I -1 waistband body, I -2 shackle I -3 links up with I -4 auxiliary rod, I -5 mobile jib

I -6 elongation bars latch I -7 elongation bar of main body and latch I -8 elongation bar of reed；

II-picking part：

II -1 draft gear shell, II -2 handle resets II -3 handle shaft of disc spring

II -4 draft gear cover board, II -5 bidirectional ratchet mechanism, II -6 handle

II -7 manipulator front apron, II -8 manipulator right support II -9 unidirectionally determines torque mechanism

II -10 II -11 robot base of manipulator spool shaft, II -12 manipulator rear baffle

II -13 balladeur train drawing upwardly device buckle closure, II -14 balladeur train drawing upwardly device spool

II -15 balladeur train drawing upwardly device disc spring, II -16 manipulator link

II -17 manipulator bracing wire locating shafts II -18 determine torque mechanism

II -19 manipulator left socle, II -20 manipulator upper clamp plate lid, II -21 manipulator spool

II -22 manipulator upper clamp plate, II -23 scissors, II -24 scissors reset tension spring

II -25 manipulator spools reset II -26 lower-left clamping plate of disc spring, II -27 lower-left clamping plate shaft

II -28 bottom right clamping plate, II -29 bottom right clamping plate shaft, II -30 first steel cable

II -31 second steel cables

II -5.1 bidirectional ratchet mechanism right plate, II -5.2 bidirectional ratchet mechanism spool

II -5.3 bidirectional ratchet mechanism bottom plate, II -5.4 adjustment gear resetting spring

II -5.5 sliding pawl holder, II -5.6 adjustment gear

Plate washer II -5.8 adjusts handle slide fastener after II -5.7 bidirectional ratchet mechanisms

II -5.9, which adjust handle II -5.10, slides pawl gear

II -5.11 bidirectional ratchet mechanism left plate, II -5.12 slide damper

II -5.13 sliding II -5.14 bidirectional ratchet mechanism top plates of pawl restoring spring

II -5.15 bidirectional ratchets II -5.16 slide pawl

II -5.17 bidirectional ratchet mechanism spool shaft, II -5.18 bidirectional ratchet mechanism front apron

II -5.19 bidirectional ratchet mechanism spools reset disc spring

II -9.1 unidirectionally determine II -9.2 unidirectional pawl adjusting nut of torque ratchet

II -9.3 unidirectional pawl holders II -9.4 unidirectionally determine II -9.5 unidirectional pawl of torque spring

II -18.1 inner ring, II -18.2 locking bead, II -18.3 outer ring

II -18.4, which determine torque spring II -18.5, determines torque adjusting bolt

III-transport portion

III -1 III -2 mandril resetting spring of conveying locking system holder, III -3 pressing board shaft

III -4 pressing board, III -5 mandril locking shaft resetting spring, III -6 mandril locking shaft

III -7 conveying locking system outer covers

III -8.1, III -8.2, III -8.3, III -8.4 connecting rod shaft, III -9 locking rod

III -10 connecting rod, III -11 mandril, III -12 location nut

III -13 half III -14 rollers III -15 of button tighten III -16 balladeur train of spring

III -17 half III -18 string bag of button nut, III -19 third steel cable.

Specific implementation mode

It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field The identical meanings of understanding.

It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.

As background technology is introduced, the deficiencies in the prior art, in order to solve technical problem as above, this Shen Please propose it is scalable, determine torque, from the efficient picking mechanical arm of transport formula apple and method.

In a kind of typical embodiment of the application, as shown in Figure 1, it is scalable, determine torque, from transport formula apple it is efficient Picking mechanical arm can be divided into support section, picking part and transport portion；It solves in the prior art that tool plucking height is not Adjustable, picking clamping force excessive the problem of not easily collecting is easily caused after damaging and picking to apple, has and adapt to different pickings Highly, ensure apple quality and the advantageous effect of apple can be transported downwards automatically, scheme is as follows：By picking mechanical arm waistband system In operator's loins, take the club to the left hand portion, and the right hand holds handle, and it is close to apple to be picked to lift picking mechanical arm, make carpopodium into In the " V " shape slot for entering upper end, after apple positioning, handle is pulled back, apple is clamped and cuts off carpopodium by picking mechanical arm；It protects Grip lifts bar portion furthering state backward, and picking mechanical arm is made to be detached from tree body, unclamps handle, and apple is from picking mechanical arm In slide downwards, into the string bag；Under apple Gravitative Loads, the string bag is along bar portion slide downward, until the conveying lock among bar portion It being lockable at locking apparatus, operator takes out apple, and presses the opening pressing board of conveying locking system, and the string bag is released, and It backs on top, prepares for picking next time, the structure of specific each section is as follows under the traction of steel cable：

Support section includes waistband, hook, elongation bar lock and compound rod.Compound rod is divided into auxiliary rod, mobile jib and elongation Bar, auxiliary rod bottom are connect with waistband body, and draft gear, the controllable clamping of draft gear are connected between auxiliary rod and mobile jib Picker, is equipped with conveying locking system on the outside of the mobile jib, conveying locking system can the locking string bag, the elongation bar top Portion is equipped with clamping picker.

Picking part includes draft gear and clamping picker.Picker is clamped and is equipped with upper clamp plate and lower clamp plate, under Clamping plate is connect by the second steel cable with torque clamping device is determined.Determine torque clamping device inner ring and spool one end fits.In spool Disc spring is resetted equipped with spool, and determines the cooperation of torque mechanism with unidirectional；

Transport portion includes sliding transporting apparatus and conveying locking system.

Sliding transporting apparatus includes：The string bag, balladeur train, half detains, spring.The string bag is connected with balladeur train, and balladeur train and half snap fit are closed, and half Button coordinates with mobile jib or elongation bar, and the pulling force that pairs of half button is provided by spring is clipped in mobile jib or elongation bar.

Conveying locking system includes：Pressing board, mandril locking shaft, locking rod, connecting rod, mandril；The string bag slides to conveying locking dress It postpones, half buckle stops sliding on locking system.

Fig. 1 is the schematic diagram of the single unit system of the present invention, including support section I, picking part ii, transport portion Ⅲ.Wherein support section I is connect by manipulator link II -16 with picking part ii, conveying locking system holder III -1 It is fixed on I -5 outside of mobile jib, the string bag III -18 is connect by half button III -13 and roller III -14 with elongation bar I -8.

Fig. 2 is support section schematic diagram, including waistband body I -1, shackle I -2, hook I -3, auxiliary rod I -4, master Bar I -5, elongation bar I -8, elongation bar lock main body I -6 and elongation bar latch reed I -7.Wherein shackle I -3 is hinged on waistband master On body I -1, hook I -2 is connected in I -3 lower end of auxiliary rod, and hook I -3 can be matched with shackle I -2, and whole assembly is such as Fig. 5 institutes Show.Auxiliary rod I -4 and mobile jib I -5 are connected with the both ends of lever draft gear respectively.Elongation bar latches I -6 lower end of main body and is inserted into I -5 upper end of mobile jib, the two are fitted close.Elongation bar latches reed I -7 and is inserted into the trepanning of elongation bar lock main body I -6, elongation Lever lock button reed I -7 can carry out push-and-pull operation, whole assembly such as Fig. 6, Fig. 8, Fig. 9, shown in Figure 10.Reed is latched by elongation bar I -7 push-and-pull operation, elongation bar latches the three-level groove that reed I -7 can be inserted into and extract elongation bar I -8, and then controls elongation bar I -8 stretch, it is whole to assemble as shown in Figure 6.I -8 top connection clamping picker of elongation bar.

Figure 11, Figure 12 are the schematic diagram of lever draft gear, including draft gear shell II -1, handle reseting disk Spring II -2, handle shaft II -3, draft gear cover board II -4, II -5, II -6 handle of bidirectional ratchet mechanism.It is wherein two-way Ratchet mechanism II -5 is mounted in the slot of traction II -1 topmost of canning.Handle shaft II -3 is fixed on draft gear On shell II -1.Handle resets II -2 inside one end of disc spring and is connected with handle shaft II -3, external one end and handle II -6 Connection.Bidirectional ratchet mechanism II -5 is connected by steel cable with handle II -6.Bidirectional ratchet mechanism II -5 is conditioned handle II - After 5.9 pass through, it is harmonious with draft gear shell II -1.Pull handle II -6, handle II -6 by the first steel cable II -30 to Lower pulling bidirectional ratchet mechanism II -5, the further clamping picking for realizing clamping picking mechanical arm.

Figure 15, Fig. 6, Figure 17 are the schematic diagram of two-way ratchet device, including bidirectional ratchet mechanism right plate II- 5.1, bidirectional ratchet mechanism spool II -5.2, bidirectional ratchet mechanism bottom plate II -5.3, adjustment gear resetting spring II -5.4, Plate washer II -5.7, adjusting handle slide fastener after sliding pawl holder II -5.5, adjustment gear II -5.6, bidirectional ratchet mechanism II -5.8, handle II -5.9, sliding pawl gear II -5.10, bidirectional ratchet mechanism left plate II -5.11, sliding are adjusted Baffle II -5.12, sliding pawl restoring spring II -5.13, bidirectional ratchet mechanism top plate II -5.14, bidirectional ratchet II - 5.15, pawl II -5.16, bidirectional ratchet mechanism spool shaft II -5.17, bidirectional ratchet mechanism front apron II-are slided 5.18, bidirectional ratchet mechanism spool resets disc spring II -5.19.

Wherein adjust cylindrical bump of the handle slide fastener II -5.8 outside plate washer after bidirectional ratchet mechanism II -5.7. The through-hole for adjusting handle II -5.9 is fitted together by adjusting the cylindrical bump on handle slide fastener II -5.8.Adjustment gear II -5.6, by pin, will adjust handle II -5.9 and link together with the cylinder in adjustment gear II -5.6.Adjustment gear II -5.6 are meshed with sliding pawl gear II -5.10.Adjustment gear II -5.6 passes through with sliding pawl gear II -5.10 II -5.12 slide dampers realize associated movement.Pawl holder II -5.5 is slided as sliding pawl gear II -5.10 and adjusting Gear II -5.6 provides adjustment gear II -5.6 and slides the positioning of pawl II -5.16.Sliding pawl II -5.16 puts on cunning After pawl resetting spring II -5.13, slide damper II -5.12 is passed through to be connected with sliding pawl gear II -5.10.It adjusts Reset gear spring II -5.4 is adjusted on the gear bush of gear II -5.6, passes through sliding pawl holder II -5.5, and sliding Baffle II -5.12 coordinates with adjustment gear II -5.6.Bidirectional ratchet mechanism spool II -5.2 is solid with bidirectional ratchet II -5.15 Even.The connected built-in bidirectional ratchet mechanism spool of bidirectional ratchet II -5.15 resets disc spring II -5.19.Bidirectional ratchet mechanism spool Shaft II -5.17 pass through after bidirectional ratchet mechanism spool II -5.2 and bidirectional ratchet II -5.15 with bidirectional ratchet mechanism bottom plate II -5.3 and bidirectional ratchet mechanism top plate II -5.14 connect firmly cooperation.Bidirectional ratchet mechanism spool resets in disc spring II -5.19 Portion one end is connected with bidirectional ratchet mechanism spool shaft II -5.17；II -5.2 inside of bidirectional ratchet mechanism spool and two-way spine II -5.19 outside one end of mechanism spool reset disc spring is taken turns to be connected.It pulls backward and adjusts handle II -5.9, drive adjustment gear II -5.6 longitudinal movements.

Further, adjustment gear II -5.6 drives II -5.12 longitudinal movement of slide damper.Further, sliding gear Plate II -5.12 drives sliding pawl gear II -5.10 and the common longitudinal movement of adjustment gear II -5.6.Further, with cunning The connected sliding pawl II -5.16 of pawl gear II -5.10 is detached from from bidirectional ratchet II -5.15.Further, together When turn left and adjust handle II -5.9, adjustment gear II -5.6 rotates counterclockwise therewith.It pulls and adjusts handle II -5.9, The sliding pawl gear II -5.10 engaged with adjustment gear II -5.6 is driven to rotate clockwise.With sliding pawl gear II- 5.10 connected sliding pawls II -5.16 rotate clockwise jointly.Further, bidirectional ratchet II -5.15 can be around two-way spine Wheel mechanism spool shaft II -5.17 rotates clockwise, and further, controls the elongation of the first steel cable II -30；Tune is pulled backward Handle II -5.9 is saved, turns right and adjusts handle II -5.9, adjustment gear II -5.6 rotates clockwise therewith.Further, The sliding pawl gear II -5.10 engaged with adjustment gear II -5.6 is driven to rotate counterclockwise.With sliding pawl gear II- 5.10 connected sliding pawls II -5.16 rotate counterclockwise jointly.Further, bidirectional ratchet II -5.15 open-top can slide Pawl II -5.16 rotates counterclockwise around bidirectional ratchet mechanism spool shaft II -5.17, further, controls the first steel cable II -30 shortening.

Figure 13 is picking clamping manipulator, including manipulator front apron II -7, manipulator right support II -8, unidirectional Determine torque mechanism II -9, manipulator spool shaft II -10, robot base II -11, manipulator rear baffle II -12, balladeur train Drawing upwardly device buckle closure II -13, balladeur train drawing upwardly device spool II -14, balladeur train drawing upwardly device disc spring II -1, manipulator link II -16, manipulator bracing wire locating shaft II -17, determine torque mechanism II -18, manipulator left socle II -19, press from both sides on manipulator Plate lid II -20, manipulator spool II -21, manipulator upper clamp plate II -22, scissors II -23, scissors reset tension spring II -24, Manipulator spool resets disc spring II -25, lower-left clamping plate II -26, lower-left clamping plate shaft II -27, bottom right clamping plate II -28, the right side Lower clamp plate shaft II -29, the first steel cable II -30, the second steel cable II -31.

Upper clamp plate II -22 is supportive body, and left and right lower clamp plate II -26, II -28 passes through lower-left clamping plate shaft II - 27, bottom right clamping plate shaft II -29 is mounted in the hole of II -22 liang of side stands of upper clamp plate, as shown in figure 24, the second steel cable II - 31 one end are fixed on the outer ring for determining torque mechanism II -18, and the other end is divided into two strands after passing through II -7 centre bore of front apron, point It is not fixed on the inside of lower-left clamping plate II -26 and bottom right clamping plate II -28.

Manipulator upper clamp plate II -22 is bolted with manipulator upper clamp plate lid II -20.Shear-blade II -23 is pacified In the shaft on II -22 top of upper clamp plate, " V " type opening inswept in rotation process, II -24 one end of tension spring is mounted on blade On II -23 tops, the other end is fixed on upper clamp plate II -22, as shown in figure 14.

The whole assembly of clamping manipulator is picked as shown in Figure 22,23, left and right holder II -19, II -8 is connected firmly in upper folder The rear portion of plate II -22, centre connect firmly shaft II -10, determine torque mechanism by doing to the right side to be sequentially installed in shaft II -10 II -18, spool II -21 and unidirectionally determine torque mechanism II -9, bracing wire locating shaft II -17 is located at II -21 rear of spool, the One steel cable II -30 can pass through from the axis interstitial hole.Wherein, the outer ring II -18.3 of torque mechanism II -18 is determined along left socle II -19 sliding slots rotate, and inner ring II -18.1 is connected firmly with spool II -21 and II -10 can be rotated around the shaft, inside and outside circle II - 18.1, it is mutually blocked by locking bead II -18.2 between II -18.3；Disc spring II -25 is installed in spool II -21；Unidirectionally The ratchet II -9.1 and spool II -21 for determining torque mechanism II -9 connect firmly, and pawl II -9.5 is mounted on across spring II -9.4 In pawl holder II -9.3, elastic force is adjusted by nut II -9.2, II -9.3 axis of pawl holder is mounted on II -8 pairs of right support In the hole answered, it can be rotated up, right support II -8 has convex block to prevent ratchet bracket II -9.3 from rotating down.

Figure 18 is the unidirectional part schematic diagram for determining torque mechanism, including unidirectionally determining torque ratchet II -9.1, unidirectional spine Pawl adjusting nut II -9.2, unidirectionally determines torque spring II -9.4, unidirectional pawl II -9.5 at unidirectional pawl holder II -9.3. Ratchet II -9.1 is connected firmly in one end of manipulator spool II -21, pawl adjusting nut II -9.2 and unidirectional pawl II -9.5 Using threaded connection, as shown in figure 19.The clamping left and right support plate of picker is rotated around manipulator link II -16 to be closed with adjusting When suitable picking angle, II -9.5 pairs of ratchets II -9.1 of unidirectional pawl apply certain resistance, and drag size can pass through nut II - 9.2 are adjusted, and prevent manipulator spool II -21 from rotating clockwise and interfering follow-up work.When stretching handle II -6, mechanical hand line Cylinder II -21 drives ratchet II -9.1 that II -9.5 resistance of unidirectional pawl is overcome to rotate clockwise, after the completion of shearing, mechanical hand line The elastic force that cylinder reset disc spring II -25 is generated by reset drives ratchet II -9.1 to rotate counterclockwise, until setting back, completes Workflow.

Figure 20 is to determine torque clamping device structural schematic diagram, including outer inner ring II -18.1, locking bead II - 18.2, outer ring II -18.3, determine torque spring II -18.4, II -18.5 and determine torque adjusting bolt.Inner ring II -18.1 welds In one end of manipulator spool II -21, as shown in figure 21.Handle II -6 is stretched, the first steel cable 21 drives manipulator spool II -21 rotate clockwise, and manipulator spool resets disc spring II -25 and generates deformation, and outer ring II -18.3 rotates clockwise, passes through First steel cable II -21 drives lower-left clamping plate II -26 and the rotation of bottom right clamping plate II -28 to rise until resisting fruit.Outer ring II- After the moment of resistance suffered by 18.3 is sufficiently large, locking bead II -18.2 skids off the groove of inner ring II -18.1, and outer ring II -18.3 is not It is rotated again with inner ring II -18.1, lower-left clamping plate II -26 and bottom right clamping plate II -28 are fixed.After the completion of shearing, manipulator spool Resetting the elastic force that disc spring II -25 is generated by reset drives inner ring II -18.1 to rotate counterclockwise, until lower-left clamping plate II -26 And bottom right clamping plate II -28 drops to original position, completes workflow.

Figure 26, Figure 27 are the schematic diagram for conveying locking system, and including conveying locking system holder III -1, mandril is multiple Position spring III -2, pressing board shaft III -3, pressing board III -4, mandril locking shaft resetting spring III -5, mandril locking shaft III -6, III -7 conveying locking system outer covers, connecting rod shaft III -8.1, III -8.2, III -8.3, locking rod III -9, connecting rod III -10, Mandril III -11, location nut III -12.

Wherein III -1 middle section of conveying locking system holder is equipped with screw hole.By location nut III -12, locking is conveyed Appliance stand III -1 is fixed on mobile jib I -5 above lever draft gear.Mandril III -11 covers upper ejector pin resetting spring The hole for passing through III -1 top of conveying locking system holder to open up after III -2.Locking rod III -9 and mandril III -11 pass through pairs of Connecting rod III -10 constitutes a mechanism with conveying locking system holder III -1.III -6 mandril locking axle sleeve upper ejector pin locking shafts are multiple After position spring III -5 passes through the slot that III -1 top of conveying locking system holder opens up, with pressing board III -4 and conveying locking system Holder III -1 constitutes switching mechanism.Matched by the completion of connecting rod shaft III -8.1, III -8.2, III -8.3, III -8.4 between each bar It closes.

It after fruit is fallen from clamping plate, falls into the string bag III -18, the string bag III -18 falls jointly with apple.The string bag III -18 fallen to always with balladeur train III -16 with balladeur train III -16 be connected half buckle shock mandril III -11, mandril III -11 to The groove of end is exposed in preceding movement.Mandril locking shaft III -6 is downward due to the elastic force that mandril locking shaft resetting spring III -5 provides The groove of III -11 end of mandril is moved to, to fixed mandril III -11；Meanwhile III -9 lower end of locking rod is due to mandril III -11 move lifted by connecting rod III -10 backward, to force down III -9 upper end of locking rod, clasp half button III -13, Jin Ergu Conveying device is determined, so that orchard worker takes the fruit taken away；After fruit is taken away, pressing board III -4, III -6 locking shaft of mandril are pressed It is lifted, spring III -2 is compressed, and mandril III -11 is moved backward by elastic force；Meanwhile III -9 lower end of locking rod is due to top Bar III -11 travels forward to be forced down by connecting rod III -5, to raise III -9 upper end of locking rod, half button III -13 of release, conveying dress It sets and then resets, wait for the whereabouts of next fruit.

Figure 28, Figure 29, Figure 30 are the schematic diagram of sliding transporting apparatus, and including half button III -13, roller III -14 is received Tight spring III -15, balladeur train III -16, half detains nut III -17, the string bag III -18, third steel cable III -19.Balladeur train drawing upwardly device Buckle closure II -13, balladeur train drawing upwardly device spool II -14, balladeur train drawing upwardly device disc spring II -15 and third steel cable III -19 are constituted Spool.Third steel cable III -19 wherein in spool is connected with the string bag III -18.The string bag III -18 is connected in balladeur train III - On 16.Balladeur train III -16, which by half buckles nut III -17 and buckles III -13 double with two, to be assembled integrally.Per between half-and-half button III -13 The angle opened and closed between thering is tightening spring III -15 control half to buckle.It is mounted on roller III -14 on each half button III -13, so as to Sliding transporting apparatus integrally falls from bar.

Specific implementation process of the present invention is as follows：

First, the length that operator judges whether to need to increase picking mechanical arm bar portion according to the height of apple to be picked. If fundamental length is not enough to reach plucking height, need first by the adjusting handle II -5.9 in bidirectional ratchet mechanism II -5 to It is drawn at the row slot of draft gear cover board II -4 and then pulls to the left afterwards, so that adjusting handle II -5.9 is entered left side recessed In slot；Then the elongation bar of I -8 junction of mobile jib I -5 and elongation bar lock reed I -7 is moved outward, while will stretched Stock I -8 pulls out, and is stretched at second gear or third gear and unclamps elongation bar lock reed I -7, will adjust handle II - 5.9 turn back at intermediate groove.Waistband I -1 is tied up to loins by bar portion after being of convenient length, and shackle I -2 is made to be located at right side of body, will Hook I -3 is hung on shackle I -2, and take the club to the left hand portion, and the right hand holds handle II -6, is completed picking and is prepared.

Operator holds picking mechanical arm close to apple to be picked, and carpopodium is made to enter the " V " shape of manipulator upper clamp plate II -22 In slot, picking mechanical arm is slightly adjusted, makes apple completely into clamping picker；After positioning apple, the right hand pulls handle II -6, lower-left clamping plate II -26 and bottom right clamping plate II -28 are rotated up under the drive of the second steel cable II -31, by apple by It gradually clamps, dynamics to be held, which reaches preset value Hou Ding torques mechanism II -18, makes lower-left clamping plate II -26 and bottom right clamping plate II -28 It remains stationary as, with antisitic defect apple, while scissors II -23 cuts carpopodium.

II -6 tension of handle is kept after apple-picking, and simultaneously lifts bar portion backward, keeps picking mechanical arm de- From tree body, handle II -6 is unclamped later, and apple is slipped in the string bag III -18 downwards, and under the action of apple is conducted oneself with dignity, sliding is defeated Device is sent to press mandril III -11, locking when reaching at conveying locking system along I -5 slide downward of elongation bar I -8 and mobile jib Bar III -9 locks sliding transporting apparatus, and operator takes out apple from the string bag III -18, while pressing pressing board III -4, defeated Locking system is sent to decontrol sliding transporting apparatus, sliding transporting apparatus moves upward to folder under the drive of third steel cable III -19 Picker bottom is held, is prepared for picking next time.

When needing to withdraw elongation bar after picking, first by the adjusting handle II-in bidirectional ratchet mechanism II -5 5.9 pull back at the row slot of draft gear cover board II -4 and then pull to the right, and adjusting handle II -5.9 is made to enter In right groove；Then the elongation bar of I -8 junction of mobile jib I -5 and elongation bar lock reed I -7 is moved outward, together When elongation bar I -8 is inwardly retracted at first grade, unclamp elongation bar latch reed I -7, by adjust handle II -5.9 turn back At intermediate groove.

The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.

Claims (10)

1. one kind is scalable, determine torque, transports the efficient picking mechanical arm of formula apple certainly, which is characterized in that including support section, adopt Pluck part and transport portion；

The picking part includes draft gear and clamping picker, and the draft gear is arranged at the middle part of support section Position, the clamping picker are arranged at the top of support section, and the draft gear is controlled by steel wire rope and is clamped Apple is clamped in the case where guarantee does not damage apple in picker, and shears carpopodium；

The transport portion includes sliding transporting apparatus and conveying locking system, and sliding transporting apparatus setting is being clamped The lower section of picker, and slided up and down along the support device under control device control, conveying locking dress It sets when sliding transporting apparatus reaches designated position, sliding transporting apparatus is locked.

2. it is as described in claim 1 it is scalable, determine torque, from transporting the efficient picking mechanical arm of formula apple, which is characterized in that institute It includes waistband and compound rod to state support section, and the compound rod is mounted on the waistband；

The compound rod includes auxiliary rod, mobile jib and elongation bar, and described lead is connected between the auxiliary rod and mobile jib Leading-in device, the auxiliary rod lower end are fixedly connected with a hook, link up with and are matched with the shackle on waistband, described It is equipped with the conveying locking system on the outside of mobile jib, roll adjustment locker is equipped at the top of the mobile jib.

3. it is as claimed in claim 2 it is scalable, determine torque, from transporting the efficient picking mechanical arm of formula apple, which is characterized in that institute It includes elongation bar lock main body and elongation bar lock reed to state roll adjustment locker；Elongation bar lock reed is inserted in elongation bar lock In the corresponding slot of main body；The elongation bar is equipped with three-level groove, coordinates with roll adjustment locker, when elongation bar latches reed Elongation bar is fixed when in embedded groove, adjustable elongation bar extension elongation, the elongation bar top when lock is popped up from groove Portion is equipped with the clamping picker.

4. it is as described in claim 1 it is scalable, determine torque, from transporting the efficient picking mechanical arm of formula apple, which is characterized in that institute Draft gear is stated to include shell I, handle, the first steel cable, reset disc spring and two-way ratchet device；Equipped with reset in the handle Disc spring, can be dynamic around the shaft rotation in shell；The handle is connected by the first steel cable with two-way ratchet device, is passed through Handle is rotated, two-way ratchet device is driven by the first steel cable and does linear reciprocating motion in slot inside the housing.

5. it is as claimed in claim 4 it is scalable, determine torque, from transporting the efficient picking mechanical arm of formula apple, which is characterized in that institute State two-way ratchet device include shell II, adjust handle, slide fastener, adjustment gear, sliding pawl gear, spring, ratchet, pawl, Spool and reset disc spring；

Slide fastener is sleeved on shell II protrusions, adjusts handle and is matched with slide fastener, and slide fastener provides fulcrum to adjust handle rotation；It adjusts Pull rod on section gear is connected by pin with handle is adjusted；Sliding pawl gear is meshed with adjustment gear, and and pawl It is connected；There is connecting rod connection between adjustment gear and sliding pawl gear, adjustment gear is allow to drive sliding ratchet gear along axis Line direction moves；It is cased with spring on the axis and pawl of adjustment gear, makes to answer after removing external force with adjustment gear on pawl Position；The ratchet is connected in spool on same a shaft, and reseting disk spring is housed in spool；When bar needs to elongate or shorten, Rotation adjusts handle, adjusts pawl state, and the length of the first steel cable in spool is wrapped in control.

6. it is as described in claim 1 it is scalable, determine torque, from transporting the efficient picking mechanical arm of formula apple, which is characterized in that institute The clamping picker stated includes clamping device and cutting mechanism, and the clamping device includes upper clamp plate, lower-left clamping plate, bottom right Clamping plate unidirectionally determines torque mechanism and determines torque mechanism, and the shear includes scissors and tension spring；

The upper clamp plate is supportive body, and left and right lower clamp plate is mounted on the hole of two side stand of upper clamp plate each by a shaft In, left and right lower clamp plate is located at the lower section of upper clamp plate；The lower-left clamping plate, bottom right clamping plate by the second steel cable and determine torque mechanism Connection, second steel cable one end is sincere on the outer ring for determining torque mechanism, and the other end is divided into two strands after passing through baffle center hole, respectively It is fixed on the inside of left and right lower clamp plate, torque mechanism inner ring is determined and is connected with spool；Spool is built-in a spool reseting disk spring, and with Unidirectionally determine torque mechanism to be connected；The rear side of spool is equipped with bracing wire locating shaft, among the bracing wire locating shaft trepanning and with left and right support plate Connection, the first steel cable pass through from the bracing wire locating shaft interstitial hole；Scissors, by axis connection, can rotate around the axis with upper clamp plate, handle of a knife Installed in front tension spring, rear side are connect with the first steel cable.

7. it is as claimed in claim 6 it is scalable, determine torque, from transporting the efficient picking mechanical arm of formula apple, which is characterized in that institute Shu Ding torques mechanism includes inner ring, outer ring and torque adjusting group；It is placed with a circle hemispherical groove in the inner ring side, it is described Outer ring connect by the second steel cable with lower clamp plate, inner ring is mounted in the outer ring, and inner ring and outer ring are in off working state It is relatively fixed by moment regulating device.

8. it is as described in claim 1 it is scalable, determine torque, from transporting the efficient picking mechanical arm of formula apple, which is characterized in that institute The moment regulating device stated includes locking bead, determines torque adjusting bolt and determine torque spring, determines torque adjusting spiral shell by adjusting Bolt determines the type variable of torque spring to control, and determines one end of torque spring and determines torque adjusting threaded bolt contacts, the other end is pressed in institute On the locking bead stated, the locking bead coordinates with the hemispherical groove, and apple is clamped to control lower clamp plate Maximum grip power.

9. it is as described in claim 1 it is scalable, determine torque, from transporting the efficient picking mechanical arm of formula apple, which is characterized in that institute State unidirectional to determine torque mechanism include ratchet, pawl, spring, adjusting nut and pawl holder；The ratchet is connected with spool, Pawl passes through spring, is mounted in the pawl holder, and rear end coordinates with adjusting nut；The pawl holder can be in axial direction Side's rotation, lower section is resisted by the convex block on right supported plate.The transport portion includes sliding transporting apparatus and conveying locking system.

10. it is as described in claim 1 it is scalable, determine torque, from transporting the efficient picking mechanical arm of formula apple, which is characterized in that The sliding transporting apparatus includes：The string bag, balladeur train, half button and spring；The string bag is connected with balladeur train, balladeur train and half snap fit It closes, on compound rod, the pulling force that pairs of half button is provided by spring is clipped on compound rod half retaining ring；In compound rod middle part After packing has conveying locking system, the string bag to slide at conveying locking system, half buckle stops sliding in locking system；The string bag Return its return is realized by one group of steel wire rope component；

The locking system includes holder, pressing board, mandril locking shaft, locking rod, connecting rod and mandril；The holder is fixed on On compound rod, the hole opened up above holder is passed through after the top stem casing upper reset spring；Locking rod and mandril by connecting in pairs Bar is connected with the holder, is used for locking mandril；The pressing board connects mandril locking shaft, and suit resets bullet in mandril locking shaft After spring passes through the slot opened up above holder, coordinate with the groove that mandrel ends open up.