Gripper installed on citrus picking machine

Abstract

The utility model discloses a gripper installed on a citrus picking machine, and relates to the field of agricultural machinery. The gripper installed on the citrus picking machine comprises two semi-spherical gripping pieces arranged oppositely and a driving piece, the driving piece comprises a fixed supporting arm and an overturning arm, and the overturning arm drives the two semi-spherical gripping pieces to be opened and closed; the semispherical grabbing piece comprises a semispherical cover and a separation hole formed in the top end of the semispherical cover, a cutting tool bit is fixedly arranged in the separation hole, and a rubber protection gasket is fixedly arranged on the inner wall of the separation hole. According to the gripper installed on the citrus picking machine, during picking, the two hemispherical covers enclose and wrap a citrus, the cutting tool bit makes contact with branches at the top end of the citrus, the driving piece pulls backwards, the branches are cut off through the cutting tool bit, the hemispherical covers can effectively avoid extrusion caused when the citrus is grabbed in the process, meanwhile, the top end of the citrus makes contact with the rubber protection gasket, and therefore the citrus is grabbed. Therefore, the citrus is effectively prevented from being squeezed in the picking process, and the citrus is prevented from being damaged in the picking process.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery technical field, concretely is the gripper installed on the orange picking machine. BACKGROUND

[0002] Oranges as a very popular fruit, its high yield, moisture, and rich in VC, while the overall price is also relatively people, therefore in many areas of our country widely cultivated, and oranges grow in the top of orange branches, in picking, for the high oranges usually use orange picking machine operation.

[0003] The orange picking machine is provided with a mechanical gripper at the end, which grasps the orange through the gripper and then pulls it outwards, so that the orange is separated from the branch and the picking is completed. However, in the prior art, during the grasping process of the gripper, due to the different sizes of oranges, the closure of the gripper is set too large, which is easy to miss, and the closure is too small, which is easy to pinch the orange, and during the pulling process, the orange and the gripper are also squeezed, which also causes damage to the orange. Therefore, a gripper installed on an orange picking machine is provided to solve the above problems. SUMMARY

[0004] In view of the deficiencies of the prior art, the utility model provides a gripper installed on an orange picking machine, which solves the problem of missing in the prior art during the grasping process of the gripper due to the different sizes of oranges, the closure of the gripper is set too large, which is easy to miss, and the closure is too small, which is easy to pinch the orange, and during the pulling process, the orange and the gripper are also squeezed, which also causes damage to the orange.

[0005] To achieve the above purpose, the utility model is realized by the following technical scheme: a gripper installed on an orange picking machine, comprising:

[0006] Two half-spherical gripping members arranged in opposite directions;

[0007] A driving member, the driving member comprises a fixed branch and two groups of turnover arms rotatably arranged at the top of the fixed branch, and the two groups of turnover arms are respectively fixedly connected with the two groups of half-spherical gripping members for driving the two groups of half-spherical gripping members to open and close;

[0008] The half-spherical gripping member comprises a half-spherical cover and a separation hole opened at the top end of the half-spherical cover, a cutting tool bit is fixedly arranged inside the separation hole, and a rubber protective gasket is fixedly arranged on the inner wall of the separation hole.

[0009] Preferably, a driving push rod is slidably arranged inside the fixed branch, the top ends of the driving push rod are respectively movably connected with the two groups of turnover arms, and the driving push rod drives the two groups of turnover arms to rotate and open and close by moving up and down.

[0010] Preferably, the outer wall of the semi-spherical grabbing piece is provided with an observation port.

[0011] Preferably, the bottom end of the semi-spherical grabbing piece is integrally formed with a connecting portion, and the connecting portion is fixedly connected with the turnover arm.

[0012] Preferably, the cutting tool head is composed of semicircular blades fixedly arranged on two groups of semi-spherical covers respectively, the bottom surface of the semicircular blade is inclined towards the middle part, and the cross section of the semicircular blade is a reverse triangle.

[0013] Preferably, the top end of the driving push rod is fixedly provided with a hinged piece, the outer wall of the fixed supporting arm is provided with a sliding groove, and the two ends of the hinged piece are slidingly arranged in the sliding groove.

[0014] Preferably, the two ends of the hinged piece are movably hinged with connecting shafts respectively, and the other end of the connecting shaft is movably hinged with the bottom end of the turnover arm.

[0015] Preferably, the bottom end of the driving push rod is integrally formed with a fixed outer screw ring, and the bottom end of the driving push rod is integrally formed with a connecting outer screw column.

[0016] The utility model discloses a gripper installed on citrus picking machine, and has the beneficial effects as follows: two semi-spherical covers are driven to open and close through the driving part, when picking, two semi-spherical covers enclose and wrap citrus, at this moment, the cutting tool head at the top end of the semi-spherical cover contacts the branch at the top end of the citrus, at this moment, the driving part is pulled back, and the branch is cut off through the cutting tool head, in this process, the semi-spherical cover can effectively avoid extrusion when picking the citrus, and in the picking process, the top end of the citrus contacts the rubber protection gasket, the cutting tool head is quickly cut off when pulling, thereby effectively avoiding extrusion on the citrus in the picking process, and damage to the citrus in the picking process is avoided. ACCURACY

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creating labor.

[0018] Figure 1 It is the whole outer surface structure schematic diagram of the utility model;

[0019] Figure 2 It is the driving part outer surface structure schematic diagram of the utility model;

[0020] Figure 3 It is the semi-spherical grabbing piece structure schematic diagram of the utility model;

[0021] Figure 4 The utility model discloses Figure 3 The A part structure enlarged view of

[0022] In the drawing: 1, drive piece, 11, fixed support arm, 12, turnover arm, 13, sliding slot, 14, hinged piece, 15, connecting shaft, 16, drive push rod, 17, fixed outer screw ring, 18, connecting outer stud, 2, hemispherical grabbing piece, 21, hemispherical cover, 22, observation port, 23, connecting part, 24, separation hole, 25, rubber protection gasket, 26, cutting tool bit. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantage of the utility model embodiment more clear, the technical scheme in the utility model embodiment is clearly and completely described, obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making the creative labor are within the protection scope of the utility model.

[0024] The gripper provided in the embodiment of the application is installed on the citrus picking machine, and solves the problems that in the prior art, during the grabbing process of the gripper, because the sizes of the citrus are different, the closing degree of the gripper is set too large, the citrus is easily missed, the closing degree is too small, the citrus is easily pinched, and in the pulling process, the citrus is also squeezed with the gripper, and the citrus is also damaged.

[0025] In order to better understand the above technical scheme, the above technical scheme will be described in detail in combination with the drawings of the specification and specific embodiments.

[0026] The utility model discloses a gripper installed on a citrus picking machine.

[0027] According to the Figures 1-4 As shown in the figure, comprising;

[0028] Two hemispherical grabbing pieces 2 arranged in a split manner;

[0029] The drive piece 1 includes the fixed support arm 11 and the two groups of turnover arms 12 rotationally arranged at the top of the fixed support arm 11, and the two groups of turnover arms 12 are fixedly connected with the two groups of hemispherical grabbing pieces 2 respectively for driving the two groups of hemispherical grabbing pieces 2 to open and close;

[0030] The hemispherical grabbing piece 2 includes the hemispherical cover 21 and the separation hole 24 opened at the top end of the hemispherical cover 21, the separation hole 24 is fixedly provided with the cutting tool bit 26 inside, and the inner wall of the separation hole 24 is fixedly provided with the rubber protection gasket 25.

[0031] The inner slide of the fixed supporting arm 11 is provided with a driving push rod 16, the top end of the driving push rod 16 is movably connected with two groups of turnover arms 12 respectively, and the driving push rod 16 drives the two groups of turnover arms 12 to rotate open and close in an up-down manner.

[0032] When picking, the two hemispherical covers 21 wrap the citrus, the cutting knife head 26 at the top end of the hemispherical cover 21 contacts the branch at the top end of the citrus, the driving member 1 is pulled backward to cut off the branch by the cutting knife head 26, and in this process, the hemispherical cover 21 can effectively avoid squeezing the citrus when the citrus is grabbed, and in the picking process, the top end of the citrus contacts the rubber protection gasket 25, the cutting knife head 26 is quickly cut off when pulled, so that squeezing of the citrus in the picking process is effectively avoided, and damage to the citrus in the picking process is avoided.

[0033] An observation port 22 is formed in the outer wall of the hemispherical grabbing member 2, so that the state of the citrus can be observed.

[0034] The cutting knife head 26 is composed of semicircular blades fixed on the two groups of hemispherical covers 21 respectively, the bottom surface of the semicircular blade is inclined towards the middle part, the cross section of the semicircular blade is a reverse triangle, when the two hemispherical covers 21 enclose, the two groups of semicircular blades wrap the outer surface of the branch, and when the driving member 1 is pulled backward, the semicircular blades are inserted into the branch to cut the branch.

[0035] The bottom end of the hemispherical grabbing member 2 is integrally formed with a connecting part 23, the connecting part 23 is fixedly connected with the turnover arm 12, the top end of the driving push rod 16 is fixedly provided with a hinged member 14, a sliding groove 13 is formed in the outer wall of the fixed supporting arm 11, the two ends of the hinged member 14 are slidably arranged in the sliding groove 13, the two ends of the hinged member 14 are movably hinged with connecting shafts 15 respectively, and the other ends of the connecting shafts 15 are movably hinged with the bottom ends of the turnover arms 12.

[0036] The driving push rod 16 is slid upward in the fixed supporting arm 11, the top end of the driving push rod 16 drives the two groups of connecting shafts 15 to move upward through the hinged member 14, the top end of the connecting shaft 15 props open the bottom end of the turnover arm 12, the top end of the turnover arm 12 drives the two groups of hemispherical covers 21 to prop open, and vice versa.

[0037] The bottom end of the driving push rod 16 is integrally formed with a fixed outer screw ring 17, the bottom end of the driving push rod 16 is integrally formed with a connecting outer screw column 18, the driving push rod 16 is installed with an external fixing member through the fixed outer screw ring 17, and the driving push rod 16 is installed with an external power member through the connecting outer screw column 18.

[0038] The basic principle and main features of the present application and the advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. Gripper mounted on a citrus picking machine, characterized in that, Comprise; Two half-spherical grabbing pieces (2) arranged in a pair of halves; A driving piece (1) comprising a fixed support arm (11) and two groups of turnover arms (12) arranged rotatably on the top of the fixed support arm (11), the two groups of turnover arms (12) being fixedly connected with two groups of half-spherical grabbing pieces (2) respectively for driving the two groups of half-spherical grabbing pieces (2) to open and close; The half-spherical grabbing piece (2) comprises a half-spherical cover (21) and a separation hole (24) formed in the top end of the half-spherical cover (21), a cutting tool bit (26) being fixedly arranged in the separation hole (24), and a rubber protective gasket (25) being fixedly arranged on the inner wall of the separation hole (24).

2. The on-tree citrus picker of claim 1, wherein: A driving push rod (16) is slidably arranged in the fixed support arm (11), the top end of the driving push rod (16) being movably connected with the two groups of turnover arms (12) respectively, and the driving push rod (16) being used to drive the two groups of turnover arms (12) to rotate and open and close.

3. The on-tree citrus picker of claim 1, wherein: An observation port (22) is formed in the outer wall of the half-spherical grabbing piece (2).

4. The on-tree citrus picker of claim 1, wherein: A connecting portion (23) is integrally formed at the bottom end of the half-spherical grabbing piece (2), and the connecting portion (23) is fixedly connected with the turnover arm (12).

5. The on-tree citrus picker of claim 1, wherein: The cutting tool bit (26) is composed of semicircular blades fixedly arranged on the two half-spherical covers (21) respectively, the bottom surface of the semicircular blade being inclined towards the middle part, and the cross section of the semicircular blade being a reverse triangle.

6. The on-tree citrus picker of claim 2, wherein: A hinged piece (14) is fixedly arranged at the top end of the driving push rod (16), a sliding groove (13) is formed in the outer wall of the fixed support arm (11), and the two ends of the hinged piece (14) are slidably arranged in the sliding groove (13).

7. The on-tree citrus picker of claim 6, wherein: A connecting shaft (15) is movably hinged at the two ends of the hinged piece (14), and the other end of the connecting shaft (15) is movably hinged with the bottom end of the turnover arm (12).

8. The on-tree citrus picker of claim 6, wherein: A fixed outer screw ring (17) is integrally formed at the bottom end of the driving push rod (16), and a connecting outer screw column (18) is integrally formed at the bottom end of the driving push rod (16).

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