CN210093989U - Bag-covering device for picking apples - Google Patents
Bag-covering device for picking apples Download PDFInfo
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- CN210093989U CN210093989U CN201920561437.0U CN201920561437U CN210093989U CN 210093989 U CN210093989 U CN 210093989U CN 201920561437 U CN201920561437 U CN 201920561437U CN 210093989 U CN210093989 U CN 210093989U
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Abstract
The utility model relates to a be used for apple to pick cover bagging apparatus, by gripper, elevating gear, shear sword, measuring force device and prop a bag aggregate unit and constitute, prop a bag aggregate unit and install and prop bagging apparatus support arm upper end, the gripper is installed and is being propped bagging apparatus support arm lower part to it is corresponding with propping a bag aggregate unit center, elevating gear and measuring force device install and prop bagging apparatus support arm one side, elevating gear upper end fixed connection shear sword, and measuring force device is connected to the lower extreme, and measuring force device passes through shaft coupling and lead screw and lifting nut and connects elevating gear. The device can realize all functions of grabbing, pruning and bagging in the apple picking process. Compared with the existing apple picking device, the apple picking device has the advantages of labor cost reduction, high function integration level, short production link and the like.
Description
Technical Field
The utility model relates to an apple harvesting device, especially an apple of the function of can realizing the shortest pruning of apple stem and realizing supplementary cover bag simultaneously is supplementary picks bagging apparatus.
Background
Traditional picking is also a common apple picking mode in the market at present, and picking operation is mainly carried out in a mode that an apple is clamped by a mechanical claw and then is pulled downwards by manpower, and the picking mode has larger influence on the health of apple trees. Picking down and also carrying out secondary pruning to the remaining branch in apple top, partly still need carry out the bagging work of foam net, comparatively waste time and energy. However, in europe, a whole set of actions such as automatically identifying apples and then picking the apples is automatically performed, but the cost is too high, and the requirement on the quality of operators is high. The apple picking device is simple and convenient to operate, compact in structure, complete in function and capable of solving the practical problems of the existing device
Disclosure of Invention
The utility model aims to provide a be used for apple to pick cover bagging apparatus realizes that the collection snatchs, cuts branch, cover bag function in an organic whole down, reaches and makes things convenient for the fruit grower to pick reduction apparatus, manual work, processing cost under the too many circumstances of traditional picking mode cost not more.
In order to achieve the above purpose, the technical scheme of the utility model is that: the utility model provides a be used for apple to pick cover bagging apparatus, by gripper, elevating gear, shear blade, measuring force device and prop a bag aggregate unit and constitute, prop a bag aggregate unit and install in propping a bag device support arm upper end, the gripper is installed in propping a bag device support arm lower part to with prop a bag aggregate unit center corresponding, elevating gear and measuring force device are installed in propping a bag device support arm one side, elevating gear upper end fixed connection shear blade, the measuring force device is connected to the lower extreme, the measuring force device passes through shaft coupling and lead screw and lifting nut and connects elevating gear.
Further, the bag supporting linkage device comprises a driving turntable, a bag supporting hook, a connecting rod, a fixed wheel, blades, a rotating shaft and a driving shaft, wherein the fixed wheel is connected with the driving turntable in a matching manner, the three blades are uniformly distributed on the fixed wheel, each blade is connected with the fixed wheel through the rotating shaft, the blades can rotate around the rotating shaft, each blade is connected with the driving shaft through the connecting rod, the driving shaft penetrates through the fixed wheel and is provided with a kidney-shaped groove and then is fixed on the driving turntable, and the connecting rod is hinged with the blades through a pin shaft; the top of each blade is provided with a bag supporting hook.
Further, when the driving rotary disc is rotated, the driving shaft moves in the kidney-shaped groove of the fixed wheel, the pin shaft is driven to move through the movement of the connecting rod, the blades rotate around the rotating shaft, and therefore the opening and closing of the three blades are achieved through the rotation of the three blades.
Furthermore, the mechanical claw comprises a first claw and a second claw, a first connecting rod, a second connecting rod, a third connecting rod, a connecting rod rotating shaft, a mechanical arm driving rod and a mechanical arm support, wherein the two first claws and the one second claw are respectively connected with the mechanical arm support in a rotating manner through one connecting rod, and the two first claws and the one second claw are uniformly arranged; the two first claws and the second claw are respectively hinged with a manipulator driving rod in the manipulator support through a second connecting rod and a third connecting rod, and the first connecting rod is connected with the manipulator support and the first claws, the first connecting rod is connected with the manipulator support and the second claws, the second connecting rod is connected with the first claws and the third connecting rod, and the third connecting rod is connected with the manipulator driving rod through a connecting rod rotating shaft.
Furthermore, the first claw length is greater than the second claw length, and a first claw rubber protective sleeve and a second claw rubber protective sleeve are respectively sleeved on the first claw and the second claw.
Further, the shearing blade comprises an upper shearing plate, a lower shearing plate and a driving motor, the driving motor is fixedly connected to the lower portion of the rear end of the lower shearing plate, and a driving shaft of the driving motor penetrates through the lower shearing plate and then is connected with the upper shearing plate.
Further, the upper shear plate and the lower shear plate are comb-shaped shear plates.
Furthermore, the lifting device comprises a scissor lifting support and a lifting device base, wherein the scissor lifting support is inserted into the lifting device base and can move up and down along the lifting device base; the side of the scissor lifting support is provided with a convex rib, the side of the lifting device base is provided with a guide groove, and the convex rib of the scissor lifting support is matched and connected with the guide groove of the lifting device base.
Furthermore, the knife lifting support and the lifting device base form a certain angle with the supporting arm of the bag opening device, so that the situation that the apples are blocked by scissors when the bag opening device is opened through linkage is avoided, and the operation is convenient.
Further, the force measuring device comprises a screw rod, an outer ratchet wheel, an inner ratchet wheel, a shell, a spring, a motor and a pressure measuring sensor, wherein the lower portion of the screw rod is arranged in the shell, the outer ratchet wheel is connected with the inner ratchet wheel through inner teeth, the inner ratchet wheel is fixed on the screw rod, the spring is connected between the bottom of the outer ratchet wheel and the bottom of the shell, the outer ratchet wheel is connected with the motor, the pressure measuring sensor is arranged on the screw rod, and the pressure measuring sensor is connected with a driving motor of the shearing blade.
The utility model has the advantages that: the device consists of a mechanical claw, a lifting device, a shearing blade, a force measuring device and a bag opening linkage device. All functions of grabbing, pruning and bagging in the apple picking process can be realized. Compared with the existing apple picking device, the apple picking device has the advantages of labor cost reduction, high function integration level, short production link and the like.
The mechanical claw is composed of three mechanical claws, and the movement of the mechanical claw is based on the principle of a four-bar mechanism. The driving ends of the three mechanical claws are fixed on the lifting rod, and the opening and closing of the claws are realized through the lifting of the lifting rod.
The lifting device adopts a screw rod structure, and realizes the function of converting rotary motion into linear motion by limiting the degree of freedom of the ascending pipe in the Z-axis direction.
The cutting edge adopts the form of the comb-shaped tooth edge, the cutting edge is not limited to the cutting of a single cutting edge any more, each tooth edge can independently complete the cutting of branches, and the operation difficulty of workers is reduced.
The force measuring device is fixed on a lead screw of the lifting device and is directly driven by the stepping motor to rotate and simultaneously drive the lead screw to rotate. The force measuring device with double ratchets is adopted, the elastic restoring device is arranged in the force measuring device, when the torque acting on the force measuring device reaches a certain limit, namely the blade is tightly attached to the apple, the ratchets idle, the blade does not descend any more, and the function of protecting the apple is achieved.
Prop a bag aggregate unit and adopt four-bar linkage, constitute by upper and lower two-layer ring, lower floor's ring plays the effect of fixing the mechanism, and upper ring is the movable part, and blade and member are fixed in the middle of upper and lower two-layer ring, drive the member by movable ring and rotate and realize opening and shutting of blade, have the barb on the blade to hook the apple string bag and strut it.
Drawings
Fig. 1 is a schematic structural view of the apple picking bagging device of the present invention;
FIG. 2 is a schematic view of a bag opening linkage;
wherein: (a) a front view, (b) a left view, (c) a rear view;
FIG. 3 is a perspective view of the gripper;
FIG. 4 is a front view of the gripper arrangement;
FIG. 5 is a left side view of the gripper structure;
FIG. 6 is a schematic view of a shear blade configuration;
FIG. 7 is a schematic view of the lifting device;
wherein: (a) a front view, (b) a left view, (c) a top view, (d) a bottom view;
FIG. 8 is a schematic view of a force measurement protection device;
wherein: (a) a main sectional view, and (b) a plan view.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings and examples.
As shown in figure 1, the device for picking apples and bagging comprises mechanical claws 2, a lifting device 5, a shearing edge 4, a force measuring device 9 and a bag opening linkage device 1. The bag supporting linkage device 1 is installed at the upper end of the bag supporting device supporting arm 3, the mechanical claw 2 is installed at the lower part of the bag supporting device supporting arm 3 and corresponds to the center of the bag supporting linkage device 1, the lifting device 5 and the force measuring device 6 are installed on one side of the bag supporting device supporting arm 3, the upper end of the lifting device 5 is fixedly connected with the shearing blade 4, the lower end of the lifting device 5 is connected with the force measuring device 9, and the force measuring device 9 is connected with the lifting device 5 through the coupler 8, the screw rod 6 and the.
As shown in figures 2(a), (b) and (c), the bag supporting linkage device 1 comprises a driving turntable 1-1, a bag supporting hook 1-2, a connecting rod 1-3, a fixed wheel 1-4, blades 1-5, a rotating shaft 1-6 and a driving shaft 1-7. The fixed wheel 1-4 is connected with the driving turntable 1-1 in a matching mode, three blades 1-5 are uniformly distributed on the fixed wheel 1-4, each blade 1-5 is connected with the fixed wheel 1-4 through a rotating shaft 1-6, the blades 1-5 can rotate around the rotating shaft 1-6, each blade 1-5 is connected with a driving shaft 1-7 through a connecting rod 1-3, the driving shaft 1-7 penetrates through the fixed wheel 1-4 and is provided with a kidney-shaped groove and then fixed on the driving turntable 1-1, and the connecting rods 1-3 are hinged with the blades 1-5 through pin shafts. When the driving rotary disc 1-1 is rotated, the driving shaft 1-7 moves in the kidney-shaped groove of the fixed wheel 1-4, the pin shaft is driven to move through the movement of the connecting rod 1-3, meanwhile, the driving shaft 1-7 limits the freedom degrees of the blades 1-5 in the horizontal and vertical directions, so that the blades 1-5 can only rotate around the rotating shaft 1-6, and the opening and closing of the blades are realized through the rotation of the three blades 1-5. The top of each blade 1-5 is provided with a bag supporting hook 1-2.
When the apple bagging device is used, the diameter of the fixed wheel is set according to the size range of an apple, and the opening space of the blades in the bagging device is enough for the common apple to pass through. Three blades on the mechanism are provided with bag opening hooks which can hook the edge part of the bag, and the blades are driven to open and close to open the bag by the movement of the connecting rod mechanism. Prop a bag aggregate unit initial state and be closed, the operation workman need with a new string bag hook of tightening on the bag couple that props on the blade, then drive initiative carousel, open along with initiative carousel blade, prop a bag couple and prop the sack along three direction and strut, the apple can be comparatively convenient in the sack that struts through getting into in the headspace, by the gripper of below grasp to by broach form scissors drop and cut off the stem.
As shown in fig. 3, 4 and 5, the mechanical claw 2 comprises a first claw 2-2, a second claw 2-10, a first claw rubber protective sleeve 2-1, a second claw rubber protective sleeve 2-9, a first connecting rod 2-3, a second connecting rod 2-4, a third connecting rod 2-5, a connecting rod rotating shaft 2-6, a mechanical arm driving rod 2-7 and a mechanical arm support 2-8. The manipulator support 2-8 is rotatably connected with two first claws 2-2 and one second claw 2-10 through connecting rods 2-3 respectively, and the two first claws 2-2 and the second claw 2-10 are uniformly arranged. The two first claws 2-2 and the one second claw 2-10 are hinged with a manipulator driving rod 2-7 in a manipulator support 2-8 through a connecting rod two 2-4 and a connecting rod three 2-5 respectively, and the connecting rod one 2-3 is connected between the manipulator support 2-8 and the first claw 2-2, the connecting rod one 2-3 is connected between the manipulator support 2-8 and the second claw 2-10, the connecting rod two 2-4 is connected between the first claw 2-2 and the connecting rod three 2-5, and the connecting rod three 2-5 is connected between the manipulator driving rod 2-7 through a connecting rod rotating shaft 2-6. The first jaw 2-2 is longer than the second jaw 2-10. The first claw 2-2 and the second claw 2-10 are respectively sleeved with a first claw rubber protective sleeve 2-1 and a second claw rubber protective sleeve 2-9.
The mechanical claw is a clamping part of the apple picker, and the mechanical claw with two movable joints can simulate the grabbing action of a hand of a person on an apple. The mechanical claw has a degree of freedom, and can be driven to open and close through the movement of the movable rod. The mechanical claw has the advantages that the posture that a human hand grabs an apple can be simulated to a large degree, and the claw with the radian can be well attached to the surface of the apple. The solid mechanical claw is also provided with an elastic rubber claw sleeve, so that the flexibility and elasticity of the claw can be improved, and the apple cannot be damaged by the claw. Meanwhile, the rubber with a large friction coefficient can also increase the friction force between the mechanical claw and the surface of the apple, so that the mechanical claw is clamped more firmly and stably. The gripper is designed to be long at two sides and short at one side, and the short side is close to the lifting device. The aim is to obtain sufficient gripping force without disturbing the normal operation of the lifting device.
As shown in fig. 6, the cutting edge 4 includes an upper scissor plate 4-1, a lower scissor plate 4-2, and a driving motor 4-3. The lower part of the rear end part of the lower shear plate 4-2 is fixedly connected with a driving motor 4-3, and a driving shaft of the driving motor 4-3 penetrates through the lower shear plate 4-2 and then is connected with the upper shear plate 4-1. The upper scissor plate 4-1 and the lower scissor plate 4-2 are comb-shaped scissor plates.
Considering that the actual situation during apple picking is not as ideal as in a laboratory, and that apple branches are tall, it is difficult to align the branches exactly to the cutting edge. Therefore, a multi-tooth structure is designed, and the branches can be reliably cut under any conditions. The upper shear plate is driven by a driving motor, and the cutting mode is rotary cutting. The working space is much larger than that of the traditional shearing structure, and reliable shearing can be realized. An isolation pad is designed below the comb-shaped scissors to play a role in protecting apples. Gaps are arranged between the comb teeth of the upper scissors plate and the lower scissors plate at the initial positions, so that the apple stems can conveniently enter. The drive shaft is fixed with last scissors board, and through driving motor's rotation drive scissors board rotation, the shearing operation of staggered teeth in order to realize the apple stem.
As shown in fig. 7(a), (b), (c), and (d), the lifting device 5 includes a scissors lifting stand and a lifting device base. The scissors lifting bracket is inserted in the lifting device base and can move up and down along the lifting device base. The side of the scissor lifting support is provided with a convex rib, the side of the lifting device base is provided with a guide groove, and the convex rib of the scissor lifting support is matched and connected with the guide groove of the lifting device base. The knife lifting support and the lifting device base form a certain angle with the supporting arm of the bag opening device, so that the apple is prevented from being blocked by scissors when the bag opening device is opened through linkage, and the operation is convenient.
As shown in FIGS. 8(a) and (b), the force measuring device 9 comprises a screw rod 9-1, an outer ratchet wheel, an inner ratchet wheel 9-2, a shell 9-3, a spring 9-4, a fixing screw 9-5, a stepping motor and a pressure measuring sensor. The lower part of a screw rod 9-1 is arranged in a shell 9-3, an outer ratchet wheel is connected with an inner ratchet wheel 9-2 through inner teeth, the inner ratchet wheel 9-2 is fixed on the screw rod 9-1, a spring 9-4 is connected between the bottom of the outer ratchet wheel and the bottom of the shell 9-3, the outer ratchet wheel is connected with a stepping motor, a pressure measuring sensor is arranged on the screw rod 9-1, and the pressure measuring sensor is connected with a driving motor of a shearing blade.
The measuring device can realize the shortest cutting of the apple stem and cannot damage the apple. In order to realize the function, the working principle of the ratchet mechanism is used for reference, and the force measuring protection device with the internal elastic force restoring function is designed. The device is internally provided with an elastic return device, under a certain elastic limit, the outer ratchet wheel drives the inner ratchet wheel by means of the inner teeth, and the inner ratchet wheel rotates to drive the screw rod matched with the inner ratchet wheel to move up and down. When the up-and-down moving screw rod touches the fruit shoulder part of the apple, the elastic inner teeth of the outer ratchet wheel exceed the elastic value, and the outer ratchet wheel and the inner ratchet wheel slip, so that the screw rod does not move any more. The measuring pressure sensor on the screw rod can drive the controlled driving motor to move to implement shearing movement. The measuring device converts rotation into linear motion through the screw rod, and the transmission change can be fed back and transmitted through the ratchet mechanism, so that the scissor part can be sent to the shortest part of the apple stem. And can also control the external stress of the apple to achieve the purpose of protecting the apple.
The utility model discloses an utilize lead screw elevating system principle, the lead screw links to each other with this measurement protection device, and step motor links to each other with force measuring device, and when the moment of torsion reached certain threshold value, it contacts with the apple to mean the scissors, and force measuring device makes step motor idle running, protection apple. The scissors are fixed at the upper end of the lifting device and lift together with the lifting device.
Claims (10)
1. The utility model provides a be used for apple to pick cover bagging apparatus comprises gripper, elevating gear, shearing blade, measuring force device and props a bag aggregate unit, its characterized in that: the bag opening linkage device is installed at the upper end of the bag opening device supporting arm, the mechanical claw is installed at the lower part of the bag opening device supporting arm and corresponds to the center of the bag opening linkage device, the lifting device and the force measuring device are installed on one side of the bag opening device supporting arm, the upper end of the lifting device is fixedly connected with the shearing blade, the lower end of the lifting device is connected with the force measuring device, and the force measuring device is connected with the lifting device through a coupler, a screw rod and a lifting.
2. The apple picking bagging apparatus of claim 1, wherein: the bag supporting linkage device comprises a driving turntable, a bag supporting hook, a connecting rod, a fixed wheel, blades, a rotating shaft and a driving shaft, wherein the fixed wheel is connected with the driving turntable in a matching manner, the three blades are uniformly distributed on the fixed wheel, each blade is connected with the fixed wheel through the rotating shaft, the blades can rotate around the rotating shaft, each blade is connected with the driving shaft through the connecting rod, the driving shaft penetrates through the fixed wheel and is provided with a kidney-shaped groove and then is fixed on the driving turntable, and the connecting rod is hinged with the blades through a pin shaft; the top of each blade is provided with a bag supporting hook.
3. The apple picking bagging apparatus of claim 2, wherein: when the driving turntable is rotated, the driving shaft moves in the kidney-shaped groove of the fixed wheel, the connecting rod moves to drive the pin shaft to move, so that the blades rotate around the rotating shaft, and the three blades rotate to open and close.
4. The apple picking bagging apparatus of claim 1, wherein: the mechanical claw comprises a first claw, a second claw, a first connecting rod, a second connecting rod, a third connecting rod, a connecting rod rotating shaft, a mechanical arm driving rod and a mechanical arm support, wherein the two first claws and the one second claw are respectively connected to the mechanical arm support in a rotating manner through one connecting rod, and the two first claws and the one second claw are uniformly arranged; the two first claws and the second claw are respectively hinged with a manipulator driving rod in the manipulator support through a second connecting rod and a third connecting rod, and the first connecting rod is connected with the manipulator support and the first claws, the first connecting rod is connected with the manipulator support and the second claws, the second connecting rod is connected with the first claws and the third connecting rod, and the third connecting rod is connected with the manipulator driving rod through a connecting rod rotating shaft.
5. The apple picking bagging apparatus of claim 4, wherein: the first claw length is greater than the second claw length, and a first claw rubber protective sleeve and a second claw rubber protective sleeve are respectively sleeved on the first claw and the second claw.
6. The apple picking bagging apparatus of claim 1, wherein: the shearing blade comprises an upper shearing plate, a lower shearing plate and a driving motor, the driving motor is fixedly connected to the lower surface of the rear end of the lower shearing plate, and a driving shaft of the driving motor penetrates through the lower shearing plate and then is connected with the upper shearing plate.
7. The apple picking bagging apparatus of claim 6, wherein: the upper scissors plate and the lower scissors plate are comb-shaped scissors plates.
8. The apple picking bagging apparatus of claim 1, wherein: the lifting device comprises a scissor lifting support and a lifting device base, and the scissor lifting support is inserted into the lifting device base and can move up and down along the lifting device base; the side of the scissor lifting support is provided with a convex rib, the side of the lifting device base is provided with a guide groove, and the convex rib of the scissor lifting support is matched and connected with the guide groove of the lifting device base.
9. The apparatus of claim 8 for picking apples, wherein: the scissors lifting support, the lifting device base and the bag opening device supporting arm form a certain angle, so that the situation that the apples are blocked by the scissors when the bag opening device is opened through linkage is avoided, and the operation is convenient.
10. The apple picking bagging apparatus of claim 1, wherein: the force measuring device comprises a screw rod, an outer ratchet wheel, an inner ratchet wheel, a shell, a spring, a motor and a pressure measuring sensor, wherein the lower part of the screw rod is arranged in the shell, the outer ratchet wheel is connected with the inner ratchet wheel through inner teeth, the inner ratchet wheel is fixed on the screw rod, the spring is connected between the bottom of the outer ratchet wheel and the bottom of the shell, the outer ratchet wheel is connected with the motor, the pressure measuring sensor is arranged on the screw rod, and the pressure measuring sensor is connected with a driving motor of a shearing blade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920561437.0U CN210093989U (en) | 2019-04-23 | 2019-04-23 | Bag-covering device for picking apples |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920561437.0U CN210093989U (en) | 2019-04-23 | 2019-04-23 | Bag-covering device for picking apples |
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| Publication Number | Publication Date |
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| CN210093989U true CN210093989U (en) | 2020-02-21 |
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| CN201920561437.0U Active CN210093989U (en) | 2019-04-23 | 2019-04-23 | Bag-covering device for picking apples |
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| CN (1) | CN210093989U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114027031A (en) * | 2021-10-09 | 2022-02-11 | 安徽集萃智造机器人科技有限公司 | Grape picking robot |
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2019
- 2019-04-23 CN CN201920561437.0U patent/CN210093989U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114027031A (en) * | 2021-10-09 | 2022-02-11 | 安徽集萃智造机器人科技有限公司 | Grape picking robot |
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