CN115024086B - Pineapple picking manipulator - Google Patents
Pineapple picking manipulator Download PDFInfo
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- CN115024086B CN115024086B CN202210733953.3A CN202210733953A CN115024086B CN 115024086 B CN115024086 B CN 115024086B CN 202210733953 A CN202210733953 A CN 202210733953A CN 115024086 B CN115024086 B CN 115024086B
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- 241000234671 Ananas Species 0.000 title claims abstract description 95
- 235000007119 Ananas comosus Nutrition 0.000 title claims abstract description 95
- 210000000078 claw Anatomy 0.000 claims description 16
- 235000013399 edible fruits Nutrition 0.000 description 20
- 238000003306 harvesting Methods 0.000 description 9
- 230000006378 damage Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 210000004243 sweat Anatomy 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a pineapple picking manipulator which comprises a grabbing device and an electric cutting device, wherein the grabbing device comprises a bracket, clamping arms and distal clamping jaws, the bottom of the bracket is hinged with three clamping arms, the lower end of one clamping arm is provided with the electric cutting device, the lower ends of the other two clamping arms are respectively provided with one distal clamping jaw, an electric lifting driver is arranged in the bracket, the electric lifting driver is connected with a lifting disc, a driving rod is hinged between the periphery of the lifting disc and the three clamping arms respectively, and the electric cutting device and the electric lifting driver are electrically connected with a control switch. When the lifting disc is lifted, the three clamping arms can be driven to open and close by the three driving rods, the pineapple is accurately grabbed and cut off at the root of the pineapple, workers do not need to bend down to operate in picking operation, the picking is labor-saving, and the work efficiency of pineapple picking is effectively improved.
Description
Technical Field
The invention relates to a picking manipulator, in particular to a pineapple picking manipulator.
Background
Pineapple is a tropical fruit, and the annual yield of pineapple is 5% of the total yield of fruits in the world, which is about 70 in the current planting area and country. Pineapple picking is more seasonal, however, it is only at peak half-month harvest. Because of the special structure of pineapple trees and fruits, most of traditional pineapple picking is performed purely manually, the working efficiency is low, the cost is high, manpower is required in a short time in the whole picking operation, and the manpower picking cost accounts for 40% of the whole pineapple production. The worker bends down to hold the pineapple head in one hand and cuts off the pineapple root in the other hand by using a sickle, and then puts the pineapple into the frame. Because the workers need to bend down to operate at intervals during picking work, the workers are easy to tire, and because pineapple leaves are hard and pineapple fruits are provided with barbed knots, the injury degree of hands is great.
In chinese patent publication No. CN209824453U, a wearable pineapple picker is disclosed, which comprises a housing, a grabbing mechanism arranged on the housing for grabbing pineapple and a cutting mechanism for cutting pineapple. The grabbing mechanism comprises a supporting rod, a transmission piece, a moving rod, a grip and two grippers, wherein the grippers are rotationally connected with the shell and grab pineapple fruits through the grabbing mechanism. The cutting mechanism comprises a saw blade, a motor, two connecting rods and two bevel gears, the cutting mechanism is connected with the motor through a flexible shaft and is driven by the two bevel gears, and the cutting mechanism is used for cutting the root of the pineapple. When in use, the support rod is bound on the arm through the first binding band, so that the wrist pressure is lightened, and the picking is easier. The prior art has the following drawbacks: 1. the grippers of the grabbing mechanism are driven by the traction wires, so that palm fatigue is easily caused if the grippers are manually controlled, and the surface of a pineapple is easily clamped if the grippers are electrically rolled; 2. the grabbing mechanism and the cutting mechanism are poor in cooperation performance, pineapple is not easy to clamp before the root of the pineapple is cut off, the positioning performance is poor, the root is not easy to cut off, or the pineapple is easy to separate after the root of the pineapple is cut off, the pineapple and the saw blade are easy to be damaged, and the requirement on the skilled operation of workers is high; 3. the device adopts linear driving structures such as a traction wire or a flexible shaft, and the like, so that a cable is easy to wind during use, and work disorder is caused.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides the pineapple picking manipulator which can accurately grasp and position pineapple fruits and rapidly cut off the roots of the pineapples, so that efficient picking of the pineapples is realized.
The invention solves the technical problems by adopting the technical scheme that: the utility model provides a pineapple picking manipulator, includes grabbing device and electric cutting device, grabbing device includes support, arm lock and far section clamping jaw, the top of support is equipped with the handle, is equipped with control switch on the handle, the bottom of support articulates there are three the arm lock, one of them the lower extreme of arm lock is equipped with electric cutting device, remaining two the lower extreme of arm lock respectively is equipped with one far section clamping jaw, the inside of support is equipped with electric lift driver, is connected with the lifting disk on the electric lift driver, and the periphery of lifting disk with three articulated respectively between the arm lock has a actuating lever, electric cutting device and electric lift driver all with control switch electric connection.
In order to further improve, the arm lock includes near-section connecting rod, well festival connecting rod, near-section lever and well festival lever, near-section connecting rod's upper end is articulated with the support, near-section connecting rod's lower extreme with well festival connecting rod's upper end articulates, near-section lever's middle part with near-section connecting rod's middle part articulates, near-section lever's upper end is articulated with the lower extreme of actuating lever, near-section lever's lower extreme is articulated with well festival lever's upper end, well festival lever's middle part with articulate between the upper end of well festival connecting rod has well festival branch, well festival lever's lower extreme with well festival connecting rod's lower extreme articulates there is far-section branch, installs on the far-section branch far-section clamping jaw or electric cutting device.
Further perfection, far section clamping jaw includes arc claw board and far section connecting rod, the upper end of arc claw board is articulated with the lower extreme of well festival connecting rod, the lower extreme of arc claw board is equipped with the shovel sword, the middle part of arc claw board and the middle part of far section branch are articulated respectively at the both ends of far section connecting rod.
Further perfecting, the electric cutting device comprises a cutting seat, one end of the cutting seat is hinged with the lower end of the middle section connecting rod, the other end of the cutting seat is provided with a cutting piece which can move left and right, and a push-pull driving mechanism is arranged between the cutting piece and the far section supporting rod.
Further perfecting, push-and-pull actuating mechanism includes seat and push-and-pull connecting rod slide, the downside of cutting the seat be equipped with the slide rail, the slide rail with seat sliding connection slides, fixed mounting has cutting motor on the seat that slides, be equipped with the movable groove on the cutting seat, cutting motor's output shaft pass the movable groove and with cutting piece fixed connection, the upper end of push-and-pull connecting rod is articulated with the distal end branch pole, the lower extreme of push-and-pull connecting rod is articulated slide the seat.
Further perfecting, electric lifting driver includes lift driving motor and lead screw, be equipped with the motor storehouse between support and the handle, fixed mounting has in the motor storehouse lift driving motor, the bottom of support is equipped with the concertina type mouth, is equipped with the axle bed on the concertina type mouth, be threaded connection between lead screw and the elevating disc, the upper end of lead screw with lift driving motor's output fixed connection, the lower extreme of lead screw with the axle bed rotates to be connected.
Further perfecting, the fan impeller is rotatably arranged in the motor bin and fixedly connected with the output end of the lifting driving motor, and a through hole communicated with the motor bin is arranged below the lifting handle.
Further perfects, still includes pineapple removing mechanism, pineapple removing mechanism includes the dwang, and the one end fixed connection gear of dwang, gear rotation are installed on the support, and the meshing is connected with the lifting rack on the gear, the lifting rack with lifting disk fixed connection, the other end of dwang is equipped with electronic clamping jaw, electronic clamping jaw and control switch electric connection. And a pineapple bracket is fixedly arranged above the rotating rod.
Further perfect, still including gathering the shallow, fixed mounting has frame and pole setting of gathering on the shallow of gathering, and pole setting upper end level rotation installs the support, and the top of support rotates and installs the lever, is equipped with helping hand spring between the one end of lever and the support, and the other end of lever is equipped with the telescopic link, and the telescopic link's flexible end rotation is connected with a jib, and the upper end fixed mounting of jib has helping hand motor, and helping hand motor's output fixed mounting has the screw, carry out fixed connection through the suspender between the lower extreme of jib and the handle.
Further perfecting, the handle is provided with a holding sleeve, the side part of the holding sleeve is provided with an opening, and the opening is arranged on one side of the electric cutting device.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the three clamping arms are arranged below the bracket, the electric lifting driver can be controlled to lift the lifting disk through the control switch on the handle, the three clamping arms are driven to open or close by the three driving rods, the accurate positioning of the pineapple can be realized through the grabbing of the three clamping arms, the cutting precision is improved, the electric cutting device is arranged at the lower end of one clamping arm, the root of the pineapple can be rapidly cut off when the pineapple is closed, the remote-section clamping jaws are arranged at the lower ends of the other two clamping arms, the pineapple can be effectively supported, the pineapple cannot fall down when being cut, the damage to the surface of the pineapple and the electric cutting device is not easy to be caused, the pineapple can be picked by loosening the three clamping arms after the cutting is finished, the labor is saved when the worker does not need bending operation, and the work efficiency of pineapple picking is improved.
Drawings
FIG. 1 is a schematic view of a clip arm in a closed configuration according to the present invention;
fig. 2 is a schematic view of the pineapple removing mechanism (two arms are omitted) when they are folded;
FIG. 3 is a schematic view of the pineapple removing mechanism (two arms are omitted) of the present invention when opened;
fig. 4 is a schematic structural view of the harvesting cart.
Reference numerals illustrate: 1. the device comprises a bracket, 11, a motor bin, 12, a shaft seat, 13, a fan impeller, 14, a through hole, 15, a holding sleeve, 2, a clamping arm, 21, a near-joint connecting rod, 22, a middle-joint connecting rod, 23, a near-joint lever, 24, a middle-joint lever, 25, a middle-joint supporting rod, 26, a far-joint supporting rod, 3, a far-joint clamping jaw, 31, an arc-shaped clamping jaw plate, 32, a far-joint connecting rod, 4, a handle, 5, an electric cutting device, 51, a cutting seat, 52, a cutting sheet, 53, a sliding seat, 54, a push-pull connecting rod, 55, a cutting motor, 56, a movable groove, 6, an electric lifting driver, 61, a lifting disc, 62, a driving rod, 63, a lifting driving motor, 64, a screw rod, 7, a pineapple removing mechanism, 71, a rotating rod, 72, a gear, 73, a lifting rack, 74, an electric clamping jaw, 75, a pineapple bracket, 8, a harvesting frame, 82, 84, a supporting seat, 85, a lever, 851, a booster spring, 852, a telescopic rod, a vertical rod, 86, a lifting rod, 861, a booster motor, a 862, a screw.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
Referring to fig. 1: the pineapple picking manipulator in this embodiment 1, including grabbing device and electric cutting device 5, grabbing device includes support 1, arm lock 2 and distal claw 3, the top of support 1 is equipped with handle 4, is equipped with control switch on the handle 4, the bottom of support 1 articulates there are three arm lock 2, one of them arm lock 2's lower extreme is equipped with electric cutting device 5, remaining two the lower extreme of arm lock 2 respectively is equipped with one distal claw 3, the inside of support 1 is equipped with electric lift driver 6, is connected with lifting disk 61 on the electric lift driver 6, and the periphery of lifting disk 61 and three respectively articulate between arm lock 2 has a actuating lever 62, electric cutting device 5 and electric lift driver 6 all with control switch electric connection. The handle 4 is provided with a holding sleeve 15, an opening is arranged at the side part of the holding sleeve 15, and the opening is arranged at one side provided with the electric cutting device 5.
Working principle: when picking, the worker holds the handle 4 and moves the manipulator to the upper part of the pineapple fruit, then puts down the handle, the pineapple fruit enters the middle of the three clamp arms, presses down a control switch on the handle 4, starts the electric lifting driver 6 to drive the lifting disc 61 to ascend, simultaneously pulls the three clamp arms 2 to fold and hold the pineapple fruit through the three driving rods 62, realizes accurate positioning of the pineapple, improves cutting precision, starts the electric cutting device 2 at the lower end of one clamp arm 2, rapidly cuts off the root of the pineapple fruit when folding, enables the distal clamping jaw 3 at the lower end of the other two clamp arms 2 to effectively hold the pineapple, prevents the pineapple from falling down when cutting, does not easily cause damage to the surface of the pineapple and the electric cutting device 2, and after cutting is finished, the electric lifting driver 6 drives the lifting disc 61 to descend, the driving rods 62 push the three clamp arms 2 to open, loosens the pineapple, the pineapple falls to a fruit frame or the ground, the electric cutting device 2 stops cutting, and finishes picking the single pineapple fruit, and the worker does not need frequent bending operation in the use process, saves labor, and improves the work efficiency of picking the pineapple.
The arm lock 2 includes near-joint connecting rod 21, well festival connecting rod 22, near-joint lever 23 and well festival lever 24, near-joint connecting rod 21's upper end is articulated with support 1, near-joint connecting rod 21's lower extreme with the upper end of well festival connecting rod 22 articulates, near-joint lever 23's middle part with near-joint connecting rod 21's middle part articulates, near-joint lever 23's upper end is articulated with the lower extreme of actuating lever 62, near-joint lever 23's lower extreme is articulated with well festival lever 24's upper end, well festival lever 24's middle part with well festival lever 22's upper end articulates there is well festival branch 25, well festival lever 24's lower extreme with well festival connecting rod 22's lower extreme is articulated with far-joint clamping jaw 26, installs on far-joint branch 26 far-joint 3 or electronic cutting device 5.
When the driving rod 62 is pulled up to drive the clamping arm 2 to fold, the lower end of the driving rod 62 pulls the upper end of the proximal lever 23 to drive the proximal connecting rod 21 and the proximal lever 23 to rotate inwards, the proximal connecting rod 21 is attached to the upper side surface of pineapple fruits, the lower end of the proximal lever 23 pushes the middle lever 24 to move downwards, the middle supporting rod 25 and the distal supporting rod 26 drive the middle connecting rod 22 to rotate inwards to attach to the middle side surface of pineapple fruits, meanwhile, the distal supporting rod 26 drives the distal clamping jaw 3 and the electric cutting device 2 to move inwards, the distal clamping jaw 3 is attached to the lower side surface of pineapple fruits, and the electric cutting device 2 cuts off rhizomes of pineapple fruits; the driving rod 62 is pulled downwards to drive the clamping arm 2 to open, so that the pineapple is loosened. The clamping arm 5 is of a bionic design, is similar to a human finger structure, can rotate in three sections, is attached to the contour of the small surfaces at the upper end and the lower end of the middle part of the pineapple, and has the advantages of firm clamping of the pineapple, high folding and unfolding transmission efficiency and the like.
The far-section clamping jaw 3 comprises an arc-shaped claw plate 31 and a far-section connecting rod 32, the upper end of the arc-shaped claw plate 31 is hinged with the lower end of the middle-section connecting rod 22, and the lower end of the arc-shaped claw plate 31 is provided with a shovel blade, so that leaves around pineapple fruits can be cut, and the folding resistance is reduced. The two ends of the far-joint connecting rod 32 are respectively hinged with the middle part of the arc-shaped claw plate 31 and the middle part of the far-joint supporting rod 26. The long-section supporting rod 26 can drive the arc-shaped claw plate 31 to open and close through the long-section connecting rod 32, so that firm and accurate positioning of the bottom of the pineapple is further realized, and cutting is more labor-saving.
The electric cutting device 5 comprises a cutting seat 51, the cutting seat 51 and the arc claw plate 31 are similar in structure, one end of the cutting seat 51 is hinged with the lower end of the middle-section connecting rod 22, the other end of the cutting seat 51 is provided with a cutting piece 52 which can move left and right, and a push-pull driving mechanism is arranged between the cutting piece 52 and the distal-section supporting rod 26. When the clamping arm 2 is folded, the push-pull driving mechanism pushes the cutting piece 52 to be close to the root of the pineapple fruit, so that the pineapple fruit is cut, and when the clamping arm 2 is folded, the push-pull driving mechanism pulls the cutting piece 52 to be far away from the root of the pineapple fruit, so that the cutting piece 52 is prevented from being blocked from falling off the pineapple. Because the remote-section clamping jaw 3 does not have push-pull action, the remote-section clamping jaw 3 has a certain distance from the root of the pineapple when being clamped, and the interference caused by the contact of the cutting piece 52 with the remote-section clamping jaw 3 can be avoided through the push-pull driving mechanism.
The push-pull driving mechanism comprises a sliding seat 53 and a push-pull connecting rod 54, a sliding rail is arranged on the lower side of the cutting seat 51 and is in sliding connection with the sliding seat 53, a cutting motor 55 is fixedly installed on the sliding seat 53, a movable groove 56 is formed in the cutting seat 51, an output shaft of the cutting motor 55 penetrates through the movable groove 56 and is fixedly connected with the cutting piece 52, the upper end of the push-pull connecting rod 54 is hinged to the distal support rod 26, and the lower end of the push-pull connecting rod 54 is hinged to the sliding seat 53.
When the cutting motor 55 is electrified, the cutting blade 52 can be driven to rotate, the cutting efficiency is improved, the remote-section supporting rod 26 drives the sliding seat 53 to slide through the push-pull connecting rod 54, the last small stroke of the cutting blade 52 is controlled, and the cutting of the rootstock can be delayed after the pineapple is fully positioned, so that the rootstock cutting is more stable and difficult to cut off.
The electric lifting driver 6 comprises a lifting driving motor 63 and a screw rod 64, a motor bin 11 is arranged between the support 1 and the lifting handle 4, the lifting driving motor 63 is fixedly arranged in the motor bin 11, a telescopic opening is formed in the bottom of the support 1, a shaft seat 12 is arranged on the telescopic opening, the screw rod 64 is in threaded connection with the lifting disc 61, the upper end of the screw rod 64 is fixedly connected with the output end of the lifting driving motor 63, and the lower end of the screw rod 64 is rotationally connected with the shaft seat 12. The lifting driving motor 63 can drive the screw rod to rotate forward or reversely after being electrified, the lifting disk 61 is driven to ascend or descend through threads, driving control of the driving rod 62 is realized, the driving rod 62 can be received in the telescopic opening when ascending, and the driving rod 62 is pushed out from the telescopic opening and opened when moving downwards.
As shown in fig. 2, example 2: on the basis of embodiment 1, a fan impeller 13 is rotatably installed in the motor bin 11, the fan impeller 13 is fixedly connected with the output end of the lifting driving motor 63, a through hole 14 communicated with the motor bin 11 is arranged below the lifting handle 4, and the through hole 14 is used for wiring or ventilation. The lifting driving motor 63 can drive the fan impeller 13 to rotate, ventilation of the lifting handle 4 is realized when heat dissipation of the lifting driving motor 63 is realized, sweat on the lifting handle 4 can be air-dried, and slipping of the lifting handle 4 is avoided.
The pineapple removing mechanism 7 comprises a rotating rod 71, one end of the rotating rod 71 is fixedly connected with a gear 72, the gear 72 is rotatably installed on the support 1, a lifting rack 73 is connected to the gear 72 in a meshed mode, the lifting rack 73 is fixedly connected with the lifting disc 61, an electric clamping jaw 74 is arranged at the other end of the rotating rod 71, the electric clamping jaw 74 is electrically connected with a control switch, and a pineapple bracket 75 is fixedly arranged above the rotating rod 71. As shown in fig. 2, when the lifting disk 61 is lifted, the lifting rack 73 drives the gear 72 to rotate, the rotating rod 71 is controlled to rotate in a range of 0-180 degrees, the electric clamping jaw 74 can be sent between the three folded clamping arms 2 when the rotating rod 71 is turned down, and then the electric clamping jaw 74 is controlled to clamp the head of a pineapple. As shown in fig. 3, after the arm 2 is opened, the rotating rod 71 is turned over to convey the pineapple to the pineapple bracket 75, and then the electric clamping jaw 74 is controlled to loosen the head of the pineapple, so that a worker can put the pineapple into the pack basket, the labor intensity of the worker can be effectively reduced, and the work efficiency of picking the pineapple is improved.
As shown in fig. 4, example 3: on the basis of embodiment 1 or 2, the manipulator still includes harvesting shallow 8, harvesting frame 81 and pole setting 82 are fixed mounting on the harvesting shallow 8, support 84 is installed in the horizontal rotation of pole setting 82 upper end, lever 85 is installed in the top rotation of support 84, be equipped with helping hand spring 851 between one end of lever 85 and the support 84, the other end of lever 85 is equipped with telescopic link 852, the flexible end rotation of telescopic link 852 is connected with a jib 86, the upper end fixed mounting of jib 86 has helping hand motor 861, the output fixed mounting of helping hand motor 861 has screw 862, carry out fixed connection through suspender 87 between the lower extreme of jib 86 and the handle 4.
When one hand of a worker carries out harvesting operation through the movement of the lifting handle 4 by the hand of the gripper, the other hand can pull the telescopic rod 852 to stretch and retract through the lifting rod 86, the length of the lever 85 is changed, the lever 85 also rotates horizontally along with the support 84, the power-assisted spring 851 is a tension spring or torsion spring, the gravity of the gripper at one end of the lever 85 can be balanced, the lifting return of the gripper is promoted through elasticity, the lever 85 can play a role in saving force, the flexible lifting belt 87 can avoid the lifting rod 86 to influence the flexibility of gripper harvesting, the lifting rod 86 can provide a handheld position except the lifting handle 4, the phenomenon that a single hand of the gripper is used for making one arm tired is avoided, the power-assisted motor 861 at the upper end of the lifting rod 86 can be started through the control switch, the screw 862 can blow air to the worker after rotating, sweat evaporation is promoted, heat is removed, a certain lifting force can be provided, a role in saving force is played, in addition, the control switch can be provided with a speed adjusting knob or a debugging gear switch for adjusting the rotating speed of the screw 862, and the control is convenient. The pineapple that the workman was gathered can be put in the frame 81 of gathering on gathering shallow 8, conveniently carries out temporarily, and the transport of pineapple is conveniently carried out to gathering shallow 8, has solved traditional frame back of the body of gathering and has made its problem inconvenient and tired of removal easily on the workman's back of the body, the effectual efficiency that improves the effect of gathering. In addition, the power supplies of all the power utilization devices on the manipulator can be placed in the harvesting cart 8 and then connected through wires, so that power supply is realized, and excessive load caused by carrying the power supplies by workers is reduced.
While the invention has been shown and described with reference to a preferred embodiment, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the scope of the invention.
Claims (6)
1. The utility model provides a pineapple picking manipulator, includes grabbing device and electric cutting device (5), its characterized in that: the grabbing device comprises a support (1), clamping arms (2) and distal clamping jaws (3), a lifting handle (4) is arranged at the top of the support (1), a control switch is arranged on the lifting handle (4), three clamping arms (2) are hinged to the bottom of the support (1), one electric cutting device (5) is arranged at the lower end of one clamping arm (2), one distal clamping jaw (3) is arranged at the lower end of the other two clamping arms (2), an electric lifting driver (6) is arranged in the support (1), a lifting disc (61) is connected to the electric lifting driver (6), a driving rod (62) is hinged to the periphery of the lifting disc (61) and the three clamping arms (2) respectively, and the electric cutting device (5) and the electric lifting driver (6) are electrically connected with the control switch;
The clamping arm (2) comprises a proximal connecting rod (21), a middle connecting rod (22), a proximal lever (23) and a middle lever (24), wherein the upper end of the proximal connecting rod (21) is hinged with the bracket (1), the lower end of the proximal connecting rod (21) is hinged with the upper end of the middle connecting rod (22), the middle part of the proximal lever (23) is hinged with the middle part of the proximal connecting rod (21), the upper end of the proximal lever (23) is hinged with the lower end of the driving rod (62), the lower end of the proximal lever (23) is hinged with the upper end of the middle lever (24), a middle supporting rod (25) is hinged between the middle part of the middle lever (24) and the upper end of the middle connecting rod (22), a far-end supporting rod (26) is hinged between the lower end of the middle lever (24) and the lower end of the middle connecting rod (22), and the far-end supporting rod (26) is provided with the far-end clamping jaw (3) or the electric cutting device (5);
The remote-section clamping jaw (3) comprises an arc-shaped claw plate (31) and a remote-section connecting rod (32), the upper end of the arc-shaped claw plate (31) is hinged with the lower end of the middle-section connecting rod (22), the lower end of the arc-shaped claw plate (31) is provided with a shovel blade, and the two ends of the remote-section connecting rod (32) are respectively hinged with the middle part of the arc-shaped claw plate (31) and the middle part of the remote-section supporting rod (26);
the electric cutting device (5) comprises a cutting seat (51), one end of the cutting seat (51) is hinged with the lower end of the middle section connecting rod (22), the other end of the cutting seat (51) is provided with a cutting piece (52) which can move left and right, and a push-pull driving mechanism is arranged between the cutting piece (52) and the far section supporting rod (26);
The push-pull driving mechanism comprises a sliding seat (53) and a push-pull connecting rod (54), wherein a sliding rail is arranged on the lower side of the cutting seat (51), the sliding rail is in sliding connection with the sliding seat (53), a cutting motor (55) is fixedly installed on the sliding seat (53), a movable groove (56) is formed in the cutting seat (51), an output shaft of the cutting motor (55) penetrates through the movable groove (56) and is fixedly connected with the cutting piece (52), the upper end of the push-pull connecting rod (54) is hinged to a remote support rod (26), and the lower end of the push-pull connecting rod (54) is hinged to the sliding seat (53).
2. The pineapple picking manipulator of claim 1, wherein: the electric lifting driver (6) comprises a lifting driving motor (63) and a screw rod (64), a motor bin (11) is arranged between the support (1) and the lifting handle (4), the lifting driving motor (63) is fixedly arranged in the motor bin (11), a telescopic opening is formed in the bottom of the support (1), a shaft seat (12) is arranged on the telescopic opening, the screw rod (64) is in threaded connection with the lifting disc (61), the upper end of the screw rod (64) is fixedly connected with the output end of the lifting driving motor (63), and the lower end of the screw rod (64) is in rotary connection with the shaft seat (12).
3. A pineapple picking manipulator as claimed in claim 2, wherein: the motor bin (11) is rotatably provided with a fan impeller (13), the fan impeller (13) is fixedly connected with the output end of the lifting driving motor, and a through hole (14) communicated with the motor bin (11) is arranged below the lifting handle (4).
4. A pineapple picking manipulator as claimed in claim 1 or 2, wherein: the pineapple removing mechanism (7) comprises a rotating rod (71), one end of the rotating rod (71) is fixedly connected with a gear (72), the gear (72) is rotatably arranged on the bracket (1), a lifting rack (73) is connected to the gear (72) in a meshed mode, the lifting rack (73) is fixedly connected with the lifting disc (61), an electric clamping jaw (74) is arranged at the other end of the rotating rod (71), and the electric clamping jaw (74) is electrically connected with the control switch; a pineapple bracket (75) is fixedly arranged above the rotating rod (71).
5. The pineapple picking manipulator of claim 1, wherein: still including gathering shallow (8), fixed mounting has frame (81) and pole setting (82) of gathering on shallow (8), pole setting (82) upper end horizontal rotation installs support (84), the top of support (84) is rotated and is installed lever (85), be equipped with helping hand spring (851) between one end of lever (85) and support (84), the other end of lever (85) is equipped with telescopic link (852), the flexible end rotation of telescopic link (852) is connected with a jib (86), the upper end fixed mounting of jib (86) has helping hand motor (861), the output fixed mounting of helping hand motor (861) has screw (862), carry out fixed connection through suspender (87) between the lower extreme of jib (86) and handle (4).
6. The pineapple picking manipulator of claim 1, wherein: the handle (4) is provided with a holding sleeve (15), an opening is arranged at the side part of the holding sleeve (15), and the opening is arranged at one side of the electric cutting device (5).
Priority Applications (1)
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