Fruit lossless picking device

Abstract

The utility model relates to the technical field of fruit picking, and discloses a fruit lossless picking device which comprises a mounting seat, a plurality of clamping jaws are arranged at the top end of the mounting seat, and a driving mechanism used for driving the clamping jaws to rotate is arranged in the mounting seat. Through the arrangement of the cylinder barrel, air in the elastic air bag can be conveyed into the cylinder barrel at the initial stage of fruit clamping, so that the position, making contact with the fruit, of the elastic air bag is sunken, the contact area between the elastic air bag and the fruit is increased, and the fruit is better fixed; the pressure value required for fixing the fruit can be reduced, the compression degree of the second spring can be calculated through the value detected by the pressure sensor, then the moving stroke of the push disc is calculated, and the larger the moving stroke of the push disc is, the larger the pressure value between the elastic air bag and the fruit is. Therefore, the pressure value for the pressure sensor to trigger the driving mechanism to stop running is set according to actual requirements, and lossless picking of fruits is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking, in particular to a device for non-destructive fruit picking. Background Art

[0002] A fruit picker is a tool specifically used for picking fruit. It uses claws or other mechanical structures to grab and pick the fruit. This tool is designed to improve picking efficiency, reduce the tediousness of manual control, and reduce the damage rate of the fruit. Fruit pickers are usually simple to operate and easy to carry. They can achieve automated control and integrate picking and collection.

[0003] The existing Chinese patent with announcement number CN108064557B discloses a fruit picker, including a hand-held rod, a clamping mechanism mounted on the top of the hand-held rod for clamping the fruit, a fruit stem cutting mechanism mounted on the clamping mechanism for cutting the fruit stem, a cable handle control mechanism mounted on the hand-held rod for controlling the opening and closing of the clamping mechanism and the fruit stem cutting mechanism, and a carrying adjustment mechanism mounted on the hand-held rod for carrying. One end of the cable handle control mechanism is connected to the clamping mechanism, and the other end is mounted on the bottom of the hand-held rod. The cable handle control mechanism is manually operated to pull the clamping mechanism to clamp the fruit and the fruit stem cutting mechanism to cut the fruit stem in turn. This scheme realizes the automatic separation of fruit and fruit trees, and improves the reliability of picking; the accuracy and reliability of fruit stem cutting are higher, which can effectively improve the picking efficiency, reduce the labor intensity of picking, and the picking operation is simple. Through the effective combination of various mechanisms in the picker, pure manual picking control is realized, which is energy-saving and environmentally friendly.

[0004] However, the above-mentioned disadvantages are as follows: most existing fruit pickers adopt a clamping claw design to grasp and pick fruits. In order to reduce the damage to the fruit skin caused by direct contact of the clamping claw, rubber pads or other forms of buffering materials are usually installed on the surface of the clamping claw as a protective measure. However, for some fruits that are more mature and softer in texture, it is still difficult to accurately control the clamping force relying solely on the above-mentioned buffering structure, thereby increasing the risk of fruit damage.

[0005] Therefore, it is necessary to provide a fruit non-destructive picking device to solve the above technical problems. Utility Model Content

[0006] The purpose of the utility model is to provide a fruit non-destructive picking device to solve the technical problems raised in the above background technology.

[0007] The above technical objectives of the utility model are achieved through the following technical solutions: a fruit non-destructive picking device, comprising a mounting seat, a plurality of clamping jaws are arranged on the top of the mounting seat, a driving mechanism for driving the clamping jaws to rotate is arranged in the mounting seat, an elastic air bag is fixedly installed on the inner side of the clamping jaw, a cylinder is fixedly installed inside the mounting seat, the elastic air bag is connected with the cylinder through a connecting component, a piston is slidably installed inside the cylinder, a first spring is arranged inside the cylinder, the piston is elastically connected to the inner side wall of the cylinder through the first spring, a mounting plate is arranged inside the cylinder, a pressure sensor is fixedly installed on the mounting plate, a detection end of the pressure sensor is fixedly connected to a second spring, a positioning plate is fixedly installed on one end of the second spring close to the piston, the pressure sensor is connected to the driving mechanism signal, and a branch cutting component is arranged on the top of one of the clamping jaws.

[0008] The utility model is further configured as follows: the connecting component includes a connecting ring, a connecting pipe and an air supply pipe, the connecting ring is fixedly sleeved on the mounting seat, a plurality of elastic airbags are connected to the connecting ring through the air supply pipe, and the connecting ring is connected to the cylinder through the connecting pipe.

[0009] The utility model is further configured as follows: a connecting seat is fixedly installed at the bottom end of the clamping jaw, a plurality of mounting grooves are opened at the top end of the mounting seat, the connecting seat is rotatably installed in the mounting grooves through a connecting shaft, and the connecting shaft is fixedly connected to the connecting seat.

[0010] The utility model is further configured as follows: a connecting cap is fixedly installed on the end of the connecting shaft, a connecting rod is fixedly installed on one side of the connecting cap, the driving mechanism comprises an electric push rod, a driving disk and a driving rod, the driving rod is rotatably installed on the end of the connecting rod away from the connecting cap, the driving disk is slidably installed inside the mounting seat, a plurality of sliding grooves are provided on the driving disk, a sliding block is slidably installed in the sliding groove, the bottom end of the driving rod is fixedly connected to the sliding block, an electric push rod is fixedly installed in the mounting seat, and the output end of the electric push rod is fixedly connected to the driving disk.

[0011] The utility model is further configured as follows: an adjusting screw is rotatably mounted on a side of the mounting plate away from the piston, a nut is fixedly mounted on the side wall of the cylinder, the adjusting screw passes through the nut, and the adjusting screw is threadedly connected to the nut, and a knob is fixedly mounted on one end of the adjusting screw away from the mounting plate.

[0012] The utility model is further configured as follows: a guide column is fixedly mounted on a side of the mounting plate away from the piston, a sleeve is fixedly mounted on a side wall of the cylinder, the guide column penetrates the sleeve, and the guide column and the sleeve are slidably matched.

[0013] The utility model is further configured as follows: the branch cutting assembly includes a mounting plate, a cylinder and a cutter, the mounting plate is fixedly mounted on the top end of one of the clamping jaws, the cylinder is fixedly mounted on one side of the mounting plate, a cutter holder is fixedly mounted on the output end of the cylinder, and the cutter is fixedly mounted on the cutter holder.

[0014] The utility model is further configured as follows: a support pad is fixedly mounted in the middle of the top end of the mounting seat, a groove is formed on the top of the support pad, and the groove is matched with the bottom of the fruit.

[0015] The utility model is further configured as follows: a telescopic rod is installed at the bottom end of the mounting seat, a connecting tube is fixedly installed at the top end of the telescopic rod, a connecting column is fixedly installed at the bottom end of the mounting seat, the connecting column extends into the connecting tube, and the connecting column is threadedly connected to the connecting tube.

[0016] In summary, the utility model has the following beneficial effects: the utility model arranges the cylinder so that in the initial stage of clamping the fruit, the gas in the elastic airbag can be transported into the cylinder, so that the contact position between the elastic airbag and the fruit is recessed, thereby increasing the contact area between the elastic airbag and the fruit, thereby better fixing the fruit and reducing the pressure value required to fix the fruit. When the piston contacts the positioning plate, due to the intervention of the second spring, the resistance to the movement of the piston increases, and then when the clamp continues to move, it is more difficult for the elastic airbag to continue to deform, thereby gradually increasing the pressure between the elastic airbag and the fruit. The value detected by the pressure sensor can be used to infer the compression degree of the second spring, and then the moving stroke of the push plate can be inferred. The greater the moving stroke of the push plate, the greater the pressure value between the elastic airbag and the fruit. The pressure value at which the pressure sensor triggers the drive mechanism to stop running is set according to actual needs, thereby achieving lossless picking of fruits. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the utility model after removing the telescopic rod;

[0019] Figure 3 This is a schematic diagram of the cross-sectional structure of the utility model after the telescopic rod is removed;

[0020] Figure 4 It is a cross-sectional structural schematic diagram of the cylinder of the utility model;

[0021] Figure 5 It is a structural schematic diagram of the mounting seat of the utility model;

[0022] Figure 6 It is a structural schematic diagram of the driving mechanism of the utility model;

[0023] Figure 7 It is a structural schematic diagram of the branch cutting assembly of the utility model.

[0024] In the figure: 1, mounting seat; 101, mounting groove; 2, clamping claw; 3, elastic airbag; 4, air delivery pipe; 5, connecting ring; 6, cylinder; 7, connecting pipe; 8, piston; 9, first spring; 10, mounting plate; 11, pressure sensor; 12, positioning plate; 13, second spring; 14, adjusting screw; 15, nut; 16, knob; 17, guide column; 18, sleeve; 19, connecting seat; 20, connecting shaft; 21, connecting cap; 22, connecting rod; 23, driving rod; 24, sliding block; 25, driving plate; 2501, slide groove; 26, electric push rod; 27, support pad; 2701, groove; 28, branch cutting assembly; 281, cylinder; 282, mounting plate; 283, knife seat; 284, cutting knife; 29, telescopic rod; 30, connecting column; 31, connecting tube. DETAILED DESCRIPTION

[0025] The present invention will be further described below with reference to the accompanying drawings in the embodiments of the present invention.

[0026] See also Figures 1 to 7In an embodiment of the utility model, a non-destructive fruit picking device includes a mounting seat 1, a telescopic rod 29 is installed at the bottom end of the mounting seat 1, a connecting tube 31 is fixedly installed at the top end of the telescopic rod 29, a connecting column 30 is fixedly installed at the bottom end of the mounting seat 1, the connecting column 30 extends into the connecting tube 31, and the connecting column 30 is threadedly connected to the connecting tube 31, a plurality of clamping jaws 2 are arranged at the top end of the mounting seat 1, a driving mechanism for driving the clamping jaws 2 to rotate is arranged in the mounting seat 1, an elastic air bag 3 is fixedly installed on the inner side of the clamping jaw 2, a cylinder 6 is fixedly installed inside the mounting seat 1, the elastic air bag 3 is connected to the cylinder 6 through a connecting component, and the connecting component includes a connecting ring 5, a connecting pipe 7 and an air supply pipe 4, and the connecting ring 5 is fixedly sleeved on the mounting seat On the seat 1, a plurality of elastic airbags 3 are connected to the connecting ring 5 through the air delivery pipe 4, the connecting ring 5 is connected to the cylinder 6 through the connecting pipe 7, a piston 8 is slidably installed inside the cylinder 6, a first spring 9 is arranged inside the cylinder 6, the piston 8 is elastically connected to the inner wall of the cylinder 6 through the first spring 9, a mounting plate 10 is arranged inside the cylinder 6, a pressure sensor 11 is fixedly installed on the mounting plate 10, a second spring 13 is fixedly connected to the detection end of the pressure sensor 11, the elastic modulus of the second spring 13 is greater than the elastic modulus of the first spring 9, a positioning plate 12 is fixedly installed on the end of the second spring 13 close to the piston 8, the pressure sensor 11 is connected to the drive mechanism signal, and a branch cutting component 28 is arranged on the top of one of the clamping jaws 2;When picking, the telescopic rod 29 is extended to a suitable length, and the plurality of clamping jaws 2 are driven away from each other by the driving mechanism. When the clamping jaws 2 are moved until the fruit is located between the plurality of clamping jaws 2, the plurality of clamping jaws 2 are driven toward each other by the driving mechanism, so that the elastic airbag 3 fits the fruit. When the elastic airbag 3 is pressurized, the elastic airbag 3 is deformed, and the gas in the elastic airbag 3 is input into the connecting ring 5 through the air supply pipe 4, and then input into the cylinder 6 through the connecting pipe 7, thereby pushing the piston 8 to move. When the piston 8 moves to contact with the positioning plate 12, as the piston 8 moves, the second spring 13 is pressurized, so that the pressure on the pressure sensor 11 gradually increases. When the pressure value detected by the pressure sensor 11 reaches the set value, the pressure value of the elastic airbag 3 on the fruit is just enough to fix the fruit. The pressure sensor 11 transmits a signal to the driving mechanism through the PLC controller to stop the clamping jaws 2 from moving. This solution enables the setting of the cylinder 6 to In the initial stage of fruit clamping, the gas in the elastic airbag 3 can be transported into the cylinder 6, so that the position where the elastic airbag 3 contacts the fruit is concave, thereby increasing the contact area between the elastic airbag 3 and the fruit, thereby better fixing the fruit and reducing the pressure value required to fix the fruit. When the piston 8 contacts the positioning plate 12, due to the intervention of the second spring 13, the resistance to the movement of the piston 8 increases, and then when the clamping claw 2 continues to move, it is difficult for the elastic airbag 3 to continue to deform, so that the pressure between the elastic airbag 3 and the fruit gradually increases, and the value detected by the pressure sensor 11 can be used to calculate the compression degree of the second spring 13, and then the movement stroke of the push plate is calculated. The greater the movement stroke of the push plate, the greater the pressure value between the elastic airbag 3 and the fruit, so the pressure value at which the pressure sensor 11 triggers the drive mechanism to stop running is set according to actual needs, so as to achieve non-destructive picking of fruits. ;

[0027] In this embodiment, preferably, a connecting seat 19 is fixedly installed at the bottom end of the clamping jaw 2, a plurality of mounting grooves 101 are provided at the top end of the mounting seat 1, the connecting seat 19 is rotatably installed in the mounting groove 101 via a connecting shaft 20, and the connecting shaft 20 is fixedly connected to the connecting seat 19; a connecting cap 21 is fixedly installed at the end of the connecting shaft 20, a connecting rod 22 is fixedly installed on one side of the connecting cap 21, the driving mechanism comprises an electric push rod 26, a driving disk 25 and a driving rod 23, the driving rod 23 is rotatably installed at one end of the connecting rod 22 away from the connecting cap 21, a driving disk 25 is slidably installed inside the mounting seat 1, and a plurality of slide grooves 2501 are provided on the driving disk 25, A slider 24 is slidably installed in the slide groove 2501, and the bottom end of the driving rod 23 is fixedly connected to the slider 24. An electric push rod 26 is fixedly installed in the mounting seat 1, and the output end of the electric push rod 26 is fixedly connected to the driving disk 25. The pressure sensor 11 is connected to the electric push rod 26 signal through the PLC controller. The output end of the electric push rod 26 can push the driving disk 25 to rise and fall. When the driving disk 25 is raised or lowered, the driving rod 23 is driven to rise or fall through the slider 24, thereby driving the connecting cap 21 to rotate through the connecting rod 22. When the connecting cap 21 rotates, the connecting seat 19 is driven to rotate through the connecting shaft 20, thereby driving the clamping jaws 2 to rotate, thereby realizing driving multiple clamping jaws 2 to rotate through the driving mechanism.

[0028] In this embodiment, preferably, an adjusting screw 14 is rotatably installed on the side of the mounting plate 10 away from the piston 8, a nut 15 is fixedly installed on the side wall of the cylinder 6, the adjusting screw 14 passes through the nut 15, and the adjusting screw 14 is threadedly connected to the nut 15, and a knob 16 is fixedly installed on the end of the adjusting screw 14 away from the mounting plate 10; a guide column 17 is fixedly installed on the side of the mounting plate 10 away from the piston 8, a sleeve 18 is fixedly installed on the side wall of the cylinder 6, the guide column 17 passes through the sleeve 18, and the guide column 17 and the sleeve 18 are slidably matched, so as to adjust the mounting plate 10 is limited so that the mounting plate 10 can only slide and cannot rotate; the knob 16 can drive the adjusting screw 14 to rotate, and the adjusting screw 14 drives the mounting plate 10 to move when rotating, thereby adjusting the position of the mounting plate 10, so that the initial position of the positioning plate 12 can be adjusted. After the initial position of the positioning plate 12 is adjusted, the degree of contraction deformation of the elastic airbag 3 in the initial stage of fixing the fruit can be adjusted, thereby adjusting the degree of deformation of the elastic airbag 3 according to the shape and size of the fruit to be picked, so as to improve the scope of application, and the mounting seat 1 can be disassembled to facilitate the rotation of the knob 16.

[0029] In this embodiment, preferably, the branch cutting assembly 28 includes a mounting plate 282, a cylinder 281 and a cutter 284, the mounting plate 282 is fixedly mounted on the top of one of the clamping jaws 2, the cylinder 281 is fixedly mounted on one side of the mounting plate 282, the output end of the cylinder 281 is fixedly mounted with a knife seat 283, and the cutter 284 is fixedly mounted on the knife seat 283; when the clamping jaws 2 complete the clamping and fixing of the fruit, the output end of the control cylinder 281 is quickly extended, thereby driving the cutter 284 to move through the knife seat 283, so that the cutter 284 quickly cuts off the branches on the fruit to facilitate picking the fruit.

[0030] In this embodiment, preferably, a support pad 27 is fixedly installed in the middle of the top of the mounting seat 1, and a groove 2701 is opened on the top of the support pad 27, and the groove 2701 is adapted to the bottom of the fruit. The support pad 27 is made of elastic rubber material, so as to support the fruit when picking.

[0031] The above description is only a preferred embodiment of the present utility model, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the present utility model patent application are included in the scope of the present utility model patent application.

Claims

1. A non-destructive fruit picking device, comprising a mounting seat (1), a plurality of clamping claws (2) being arranged at the top of the mounting seat (1), a driving mechanism for driving the clamping claws (2) to rotate being arranged inside the mounting seat (1), characterized in that: An elastic airbag (3) is fixedly mounted on the inner side of the clamping jaw (2); a cylinder (6) is fixedly mounted inside the mounting seat (1); the elastic airbag (3) is connected to the cylinder (6) via a connecting component; a piston (8) is slidably mounted inside the cylinder (6); a first spring (9) is arranged inside the cylinder (6); the piston (8) is elastically connected to the inner wall of the cylinder (6) via the first spring (9); a mounting plate (10) is arranged inside the cylinder (6); a pressure sensor (11) is fixedly mounted on the mounting plate (10); a detection end of the pressure sensor (11) is fixedly connected to a second spring (13); a positioning plate (12) is fixedly mounted on one end of the second spring (13) close to the piston (8); the pressure sensor (11) is connected to a drive mechanism signal; and a branch cutting component (28) is arranged at the top end of one of the clamping jaws (2).

2. The device for non-destructive fruit picking according to claim 1, characterized in that: The connecting assembly comprises a connecting ring (5), a connecting pipe (7) and an air supply pipe (4); the connecting ring (5) is fixedly sleeved on the mounting seat (1); the plurality of elastic airbags (3) are connected to the connecting ring (5) via the air supply pipe (4); and the connecting ring (5) is connected to the cylinder (6) via the connecting pipe (7).

3. The device for non-destructive fruit picking according to claim 1, characterized in that: A connecting seat (19) is fixedly mounted on the bottom end of the clamping jaw (2), a plurality of mounting grooves (101) are formed on the top end of the mounting seat (1), the connecting seat (19) is rotatably mounted in the mounting grooves (101) via a connecting shaft (20), and the connecting shaft (20) is fixedly connected to the connecting seat (19).

4. The device for non-destructive fruit picking according to claim 3, characterized in that: A connecting cap (21) is fixedly mounted on the end of the connecting shaft (20), a connecting rod (22) is fixedly mounted on one side of the connecting cap (21), the driving mechanism comprises an electric push rod (26), a driving disk (25) and a driving rod (23), the driving rod (23) is rotatably mounted on one end of the connecting rod (22) away from the connecting cap (21), a driving disk (25) is slidably mounted inside the mounting seat (1), a plurality of slide grooves (2501) are provided on the driving disk (25), a sliding block (24) is slidably mounted in the sliding grooves (2501), the bottom end of the driving rod (23) is fixedly connected to the sliding block (24), an electric push rod (26) is fixedly mounted inside the mounting seat (1), and an output end of the electric push rod (26) is fixedly connected to the driving disk (25).

5. The device for non-destructive fruit picking according to claim 2, characterized in that: An adjusting screw (14) is rotatably mounted on a side of the mounting plate (10) away from the piston (8), a nut (15) is fixedly mounted on a side wall of the cylinder barrel (6), the adjusting screw (14) passes through the nut (15), and the adjusting screw (14) and the nut (15) are threadedly connected, and a knob (16) is fixedly mounted on one end of the adjusting screw (14) away from the mounting plate (10).

6. The device for non-destructive fruit picking according to claim 5, characterized in that: A guide column (17) is fixedly mounted on the side of the mounting plate (10) away from the piston (8), a sleeve (18) is fixedly mounted on the side wall of the cylinder barrel (6), the guide column (17) passes through the sleeve (18), and the guide column (17) and the sleeve (18) are slidably matched.

7. The device for non-destructive fruit picking according to claim 1, characterized in that: The branch cutting assembly (28) comprises a mounting plate (282), a cylinder (281) and a cutter (284); the mounting plate (282) is fixedly mounted on the top end of one of the clamping jaws (2); the cylinder (281) is fixedly mounted on one side of the mounting plate (282); a cutter seat (283) is fixedly mounted on the output end of the cylinder (281); and the cutter (284) is fixedly mounted on the cutter seat (283).

8. The device for non-destructive fruit picking according to claim 1, characterized in that: A support pad (27) is fixedly mounted in the middle of the top of the mounting seat (1), and a groove (2701) is provided on the top of the support pad (27), and the groove (2701) is adapted to fit the bottom of the fruit.

9. The device for non-destructive fruit picking according to claim 1, characterized in that: A telescopic rod (29) is mounted on the bottom end of the mounting seat (1), a connecting tube (31) is fixedly mounted on the top end of the telescopic rod (29), a connecting column (30) is fixedly mounted on the bottom end of the mounting seat (1), the connecting column (30) extends into the connecting tube (31), and the connecting column (30) is threadedly connected to the connecting tube (31).

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