CN109379984A - A kind of apple picking device of the mechanically decoupled structure of band - Google Patents
A kind of apple picking device of the mechanically decoupled structure of band Download PDFInfo
- Publication number
- CN109379984A CN109379984A CN201710665117.5A CN201710665117A CN109379984A CN 109379984 A CN109379984 A CN 109379984A CN 201710665117 A CN201710665117 A CN 201710665117A CN 109379984 A CN109379984 A CN 109379984A
- Authority
- CN
- China
- Prior art keywords
- apple
- handle
- clamp arm
- picking
- picking head
- 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.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 26
- 239000010959 steel Substances 0.000 claims abstract description 26
- 238000000926 separation method Methods 0.000 abstract description 5
- 241000220225 Malus Species 0.000 description 63
- 239000010410 layer Substances 0.000 description 12
- 239000000758 substrate Substances 0.000 description 10
- 210000000078 claw Anatomy 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 235000013399 edible fruits Nutrition 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 235000021016 apples Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000002355 dual-layer Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000003813 thumb Anatomy 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
- A01D46/247—Manually operated fruit-picking tools
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
Including apple separation, picking head angular adjustment and the fixed three parts of apple；Whole is in elongated rod-shaped, and front end is picking head, and rear end is the periproct of energy swing angle, has the handle of the fixed device folding of driving apple on periproct, has the handle that can be slid back and forth on bar among bar.Apple separator is core of the invention, it has inside and outside each two clamp arm, rectangular type, and there be the cylindrical body folder rod vertical with clamp arm direction in each clamp arm end；Dovetail groove is provided in outer clamp arm, interior clamp arm can be slided in outer clamp arm along this dovetail groove；Respectively there is a gear in the rotation axis of two outer clamp arm of picking head front end separator, be double cog batten between two gears, engaged respectively with two gears, there is lagging in rack-plate upper end, and there is spring in rack-plate lower end；When pinching separation handle pulls downwards steel wire, the separator of picking head front end is first closed, and clamps apple handle, and when continuing the pinching handle, interior clamp arm is along outer layer arm slide downward, then apple handle and branch disconnect.
Description
Technical field
The present invention relates to a kind of apple picking devices of the mechanically decoupled structure of band, simulate artificial picking movement and are efficiently rapidly completed
The picking of eminence apple.
Background technique
It is best when picking apple still manually to pick, neither hurt fruit tree and guarantees that apple is intact again.But manually
Picking efficiency is low, and the height for being born in the apple people of higher position can not be touched directly.
Inventive principle
Basic ideas of the present invention are to simulate artificial both hands to pick apple movement.
Artificial picking apple movement, holds apple on the other hand and guarantees to fall after apple is taken, and another hand holds branch,
The reverse of the direction of growth with thumb front end along apple handle pushes hard, and making the fracture of the junction of apple handle and branch, (fruit is connecing
Maturescent period has the tendency that nature falls off, and is easiest to disconnect herein), fracture branch or tearing branch can be prevented in this way.
Artificial picking apple movement is simulated to realize, the present invention has used four folder rods of dual layer arrangement, warp in design
There is the steel wire of casing in a piece outside, is controlled by a handle.Pinching handle can be achieved with two folder rod clamping apples of internal layer
Handle, outer layer two folder rods withstand branch, internal layer two folder rods pull down the continuous action of apple handle.
To guarantee that the apple under picking is not fallen, the four paws clamping device that the present invention devises one by left hand to control,
Hold the apple for adopting by this device.
Since apple development angle is different, so the tail portion of picking lever is designed as swingable structure by the present invention, by leading
The angle of wheel and steel wire control picking head, is adjusted to most suitable picking angle.
In order to adapt to the apple of different height growth, the present invention is mounted on the handle that the right hand operates can be on picking lever certainly
By on the sleeve that slides.
Summary of the invention
The object of the present invention is to provide a kind of apple picking devices of the mechanically decoupled structure of band.It quickly can perfectly be adopted using the present invention
The apple for setting upper higher position is picked, and is to simulate manually picking to guarantee that apple quality is intact.
The present invention includes the fixed device of apple separator, picking head angle adjustment device and apple.
The apple separator include: picking head substrate, double cog batten, outer clamp arm, interior clamp arm, driving steel wire and
Handle.There are lagging locating shaft, the two-sided rack flat spring, lagging and spring on the double cog batten；The outer clip
There are outer clip arm gear and outer clip rod on arm；There are inner clip rod and interior clamp arm return spring in the interior clamp arm.
The picking head angle adjustment device includes: picking head substrate and picking lever.Have on the picking head substrate
Pull pin, spring and picking head installation axle；There are steel wire, guide wheel, picking lever periproct and picking lever periproct on the picking lever
Installation axle.
The fixed device of the apple includes: upper mounting plate, lower platform, claw, steel wire and handle.The upper mounting plate is free
Mandrel and spring.
The course of work of the invention
1. apple separation principle, as shown in figure 3, picking head front end is the apple separator that can be opened and closed, which has
There are a folder rod an of cylindrical body vertical with the arm direction in four clamp arm, the end of each arm, the device can be divided into it is two layers inside and outside,
Every layer of each two arm, and it is provided with dovetail groove on the inside of outer clamp arm a3, alloing clamp arm a3 other than interior clamp arm a4 is track sliding.It adopts
Plucking respectively has a gear a31 in the rotation axis of two outer clamp arm a3 of front end separator, be one double between two gears
Face rack-plate a2 is engaged with two gear a31 respectively, and there is a lagging a23 in the upper end rack-plate a2, and the lower end rack-plate a2 has one
A spring a22 also has a spring a24, driving steel wire a5 to be mounted on lagging a23 between rack-plate a2 and lagging a23.When
When pinching disjunction handle a6 pulls downwards driving steel wire a5, lagging a23 moves downward rack-plate a2 by spring a24, band
Dynamic two gear a31 are relatively rotated, and gear drives outer clip arm a3 inwardly to move, and complete apple handle holding action by folder rod a32.After
When continuous pinching handle a6, because outer clamp arm presss from both sides blocking of the rod a32 by apple handle, gear a31 be can't continue to exercise, same to hour rack
Plate a2 also can't continue to exercise, at this moment the spring a24 forced compression between lagging a23 and rack-plate a2, lagging a23 continue to
The interior crook of interior clamp arm a4 is just blocked at lower movement, the both ends of this lagging a23, so that clamp arm a4 is along outer clamp arm in driving
A3 slide downward, to disconnect the connection of apple handle Yu apple branch.
2. picking head angle adjusts principle, as shown in figure 4, the two sides picking head substrate of picking head substrate b1 pulls pin
Respectively there is a steel wire b12 on b11, respectively there are two apertures for the front and back end picking lever b2, and two steel wire b21 of picking head, which are each passed through, to be adopted
Former and later two apertures of bar b2 are plucked, entire picking lever is run through, are two sections since picking lever b2 is divided to, the junction installation between two sections
There is a guide wheel b22, so the steel wire b21 of the two sides guide wheel b22 can be along the two sides guide wheel b22 when pulling picking lever periproct b23
Opposite direction movement is done, the elongation of side steel wire is equivalent to, other side steel wire shortens, and this movement of steel wire passes through before picking lever b2
The aperture at end passes to picking head, swings picking head substrate b1.In order to enable picking head self-return, so picking
Head installs two spring b12 with the tie point of steel wire and the small space of picking lever front end.
3. apple fixation principle, not such as Fig. 5 institute, four paws clamping device have two platforms up and down, upper mounting plate c1 is fixed flat
Platform is linked together by hollow shaft c11 with picking head；Lower platform c2 is moving platform, steel wire c4 is connected with thereon, when pinching hand
Traction steel wire c4 is moved downward when handle c5, and steel wire c4 drives lower platform c2 to move downward；There are four being mounted equidistant between two platforms
Moving downward for claw c3, lower platform c2 drives four claw c3 to move out and open；When release handle, because of lower platform c2
Spring c12 is installed between picking head, because the upper one compressed spring c12 of movement generates screen resilience, pushes lower platform c2
It moves upwards, four claw c3 are inwardly moved, closure, to fix apple.
Beneficial effects of the present invention:
1. reducing labor intensity, improve labor efficiency, guarantees work quality.
2. it is easy to operate, it clamps apple handle and is by the same hand of pinching perpendicular to the drawing in branch direction two movements
One step of handle is completed.
3. the rotatable apple to adapt to different directions growth in the head of apple picking device.
4. the handle to exert a force when picking can slide on picking lever, to adapt to the apple of height different parts growth.
5. the apple picked is fixed by five pawl clamping devices by the grip force of spring, will not drop, will not because with
Power is too quickly, damages apple.
Detailed description of the invention
Fig. 1 is three-dimensional assembling schematic diagram
Fig. 2 is perspective exploded view
Fig. 3 is apple separation principle figure
Fig. 4 is picking head angle adjustment schematic diagram
Fig. 5 is apple fixation principle figure
Specific embodiment
As shown in Figure 1, the apple picking device, is an elongate rod-like structures, front end is picking head, and rear end is one
The handle of driving apple clamping device folding can be installed with the periproct of swing angle on periproct, the centre of bar be one can be
The handle slid back and forth on bar drives the movement of apple and branch separator by steel wire.
As shown in Fig. 2, the apple picking device, including apple separator, picking head angle adjustment device and apple
Fixed device three parts, wherein apple separator is core of the invention.
As shown in figure 3, the apple separator include: picking head substrate a1, double cog batten a2, outer clamp arm a3,
Interior clamp arm a4, driving steel wire a5 and handle a6；There are lagging locating shaft a21, the two-sided rack flat spring a22, cross on rack-plate a2
Baffle a23 and spring a24；There are outer clip arm gear a31, outer clip rod a32 on outer clamp arm a3；Have on interior clamp arm a4 inner clip rod a41 and
Interior clamp arm return spring a42.
Wherein outer clamp arm a3 and interior clamp arm a4 each two, rectangular type, interior 4 end of clamp arm has vertical with clamp arm direction
There is the folder rod a32 vertical with clamp arm direction in folder rod a41, the end outer clamp arm a3；Dovetail groove is provided on outer clamp arm a3, interior clamp arm a4 can
It is slided on outer clamp arm a3 along this dovetail groove；Respectively there is one in the rotation axis of the outer clamp arm a3 of two of picking head front end separator
Gear a31 is double cog batten a2 between two gears, engages respectively with two gears that there is lagging a23 in rack-plate upper end,
There is spring a24 in rack-plate lower end；When pinching separation handle a6 pulls downwards steel wire a5, the separator of picking head front end is first closed
It closes, clamps apple handle, when continuing the pinching handle, interior clamp arm is along outer layer arm slide downward, then apple handle and branch disconnect.
As shown in figure 4, the picking head angle adjustment device includes: picking head substrate b1 and picking lever b2；Substrate b1
On have picking head substrate drawing pin b11, spring b12 and picking head installation axle b13；There are steel wire b21, guide wheel on picking lever b2
B22, picking lever periproct b23 and picking lever periproct installation axle b24.Picking head angle adjustment device passes through the cross of picking lever periproct
To swing, the power of movement is transmitted to the picking head before picking lever through guide wheel and steel wire, picking head is made to generate lateral rotation, with
It is consistent with the direction of apple development.
As shown in figure 5, the fixed device of the apple includes: upper mounting plate c1, lower platform c2, claw c3, steel wire c4 and hand
Handle c5；There are hollow shaft c11, spring c12 on upper mounting plate c1；Apple fixes device, and four paws clamping is produced by the handle on picking lever
Raw power controls the unlatching of the four paws clamping device after steel wire conducts, and closes automatically by the spring realization of four paws clamping device
It closes.
The course of work of the present embodiment
The operation of hands grasping formula, left hand pull picking lever tail portion adjustment picking head angle, keep it consistent with apple development direction, so
The handle for being mounted on picking lever tail portion is held afterwards, opens four paws clamping device, and release handle clamps apple using the grip force of spring
Fruit, right hand pinching are mounted on the handle of picking lever front end, and the inside and outside clamp arm of crab claw shape is closed together, upper layer rolling shaft structure
Folder rod clamps apple handle close to the position of branch, continues to pinch this handle, the fixed folder rod of lower layer can clamp apple with bigger power
Carpopodium continues pinching handle, and lower layer's folder rod can move downward, because upper layer folder rod can roll, so lower layer's folder rod can clamp apple
Carpopodium pulls downwards, but branch cannot be moved downward by the blocking of upper layer folder rod, so can be in apple handle and branch junction
It disconnects, adopts the apple to get off and held by four paws clamping device, do not fallen out.
When transporting and stacking, the picking head of picking lever is placed on above the container for receiving apple, pinching picking lever tail portion
Four paws clamping device opens when handle, and apple is fallen into container, and picking finishes.
Claims (3)
1. a kind of apple picking device with mechanically decoupled structure, it is characterized in that: picking head front end is point that can be opened and closed
Disconnected device, there are four right angle arms for the device, and there are the folder rod an of cylindrical body vertical with arm direction, the dress in the end of each arm
It sets inside and outside being divided into two layers, every layer is made of two arms, and internal layer arm can be slided by track of outer layer arm.
2. the apple picking device according to claim 1 with mechanically decoupled structure, it is characterized in that: the disjunction of picking head front end
Respectively there is a gear in the rotation axis of two outer layer arms of device, be a double cog batten between two gears, respectively with two
There are a crosspiece lower pulling plate in a gear engagement, rack-plate upper end, and there is a spring in rack-plate lower end.
3. the apple picking device according to claim 1 with mechanically decoupled structure, it is characterized in that: working as pinching disjunction handle
Downwards when drawing steel wire, the break-up device of picking head front end is first closed, and clamps apple handle, when continuing the pinching handle, internal layer arm
Along outer layer arm slide downward, to disconnect the connection of apple handle Yu apple branch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710665117.5A CN109379984B (en) | 2017-08-07 | 2017-08-07 | Apple picking device with mechanical separation structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710665117.5A CN109379984B (en) | 2017-08-07 | 2017-08-07 | Apple picking device with mechanical separation structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109379984A true CN109379984A (en) | 2019-02-26 |
| CN109379984B CN109379984B (en) | 2024-01-12 |
Family
ID=65412914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710665117.5A Active CN109379984B (en) | 2017-08-07 | 2017-08-07 | Apple picking device with mechanical separation structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109379984B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498802A (en) * | 2020-11-30 | 2021-03-16 | 浙江经贸职业技术学院 | Dragon fruit packing plant |
| KR20210114576A (en) * | 2020-03-10 | 2021-09-24 | 카고텍 파텐터 에이비 | Device for harvesting palm fruit |
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2017
- 2017-08-07 CN CN201710665117.5A patent/CN109379984B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE10332973A1 (en) * | 2003-07-21 | 2005-02-10 | Eckhard Behrend | Cutting shears on handle for harvesting of cherries may have pistol grip with trigger on rotary joint on end of telescopic shaft and has shears with hooked fixed knife blade and convex moving blade |
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| CN202095298U (en) * | 2011-05-26 | 2012-01-04 | 王鹏飞 | Apple picking device |
| CN103947380A (en) * | 2014-04-18 | 2014-07-30 | 金陵科技学院 | Double-arm fruit picking robot and fruit picking method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210114576A (en) * | 2020-03-10 | 2021-09-24 | 카고텍 파텐터 에이비 | Device for harvesting palm fruit |
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| CN112498802A (en) * | 2020-11-30 | 2021-03-16 | 浙江经贸职业技术学院 | Dragon fruit packing plant |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109379984B (en) | 2024-01-12 |
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