CN205357149U - Executor is picked to apple based on four components become born of same parents mechanism - Google Patents

Abstract

An apple picking actuator based on a four-component metamorphic mechanism, above the driving rod of the four-component metamorphic mechanism, an apple-shaped trumpet-shaped adsorption body is arranged, and the adsorption body is connected downwards with the base of the four-component metamorphic mechanism through a fixed bracket. Then, the contact of the four-member metamorphic mechanism passes through the central through hole at the bottom of the adsorption body, and the upper end of the contact cooperates with the adsorbed apple to form a trigger base point. There are two left and right handles for relative movement to cut apple fruit stems outside the adsorption body. The cutting knife, the lower end of the cutting knife is installed on the driving rod of the four-member metamorphic mechanism, and the cutting knife upper end is provided with cutting edges arranged oppositely. Adsorb the apples to be picked by vacuum negative pressure, apply downward pressure to the contact, drive the four-member metamorphic mechanism, make the cutting knives on the driving rod move towards each other, cut off the stem of the apple, and complete the picking movement, reducing the The damage rate of the picked apples is guaranteed, the appearance of the apples is complete, the design is reasonable, the service life is long, and the maintenance is convenient.

Description

An Apple Picking Actuator Based on Four-Component Metamorphic Mechanism

technical field

The utility model relates to the technical field of apple picking, in particular to an apple picking actuator based on a four-member metamorphic mechanism.

Background technique

In the apple picking process, in order to reduce the damage to the apple skin caused by the traditional grasping and picking method, people pay more and more attention to picking apples by vacuum suction. Most of the existing vacuum-suction apple picking machines pick the fruit by rotating, twisting off the fruit stem or pulling, which is easy to damage the branches of the fruit tree, increase the apple damage rate and the mechanical failure rate.

Contents of the invention

The utility model provides an apple picking actuator based on a four-member metamorphic mechanism with reasonable design, which can reduce the damage rate of apples and is easy to operate.

For solving the problems of the technologies described above, the technical solution of the utility model is:

An apple picking actuator based on a four-component metamorphic mechanism, including a four-component metamorphic mechanism, the four-component metamorphic mechanism includes a contact, a driving rod, a base rod and a base, and is characterized in that a There is an apple vacuum adsorption device. The apple vacuum adsorption device is provided with a trumpet-shaped adsorption body with an upper end opening. The gas port and the suction port are connected to the vacuum generator through a vacuum suction pipe. A central through hole is provided at the bottom of the adsorbent. The above-mentioned contact is set in the middle of the adsorbent through the central through hole. There is a sealing device between them, the upper end of the contact and the adsorbed apple cooperate to form the trigger base point, and there are two left and right cutting knives for cutting the fruit stem of the apple in relative motion outside the adsorbing body, and the lower end of the cutting knife is installed on the driving rod. The upper end of the cutting knife is provided with opposite cutting edges.

The technical problem to be solved by the utility model can be further realized by the following technical solution, in which two air suction ports are uniformly arranged around the lower part of the side wall of the adsorption body.

The technical problem to be solved by the utility model can be further realized through the following technical solutions, the sealing device is a rubber sealing ring.

The technical problem to be solved by the utility model can also be further realized through the following technical solutions, the upper end of the contact is equipped with an apple holder.

The technical problem to be solved by the utility model can be further realized through the following technical solutions, the apple holder is made of elastic material.

The utility model uses the vacuum generator to generate negative pressure to suck the apples to be picked, and at the same time, the sucked apples apply downward pressure to the contacts, thereby driving the four-member metamorphic mechanism to overcome the gap between the driving rod and the base rod. The elastic force of the inter-torsion spring produces metamorphic movement, so that the cutting knife set on the driving rod moves towards each other, realizes the closed cutting action, cuts off the stem of the apple, and completes the picking movement, which reduces the damage rate of the picked apples and ensures The appearance of the apple is complete, and the rotation additional force for twisting and breaking the fruit stem of the apple is cancelled. Compared with the prior art, the utility model has the advantages of reasonable design, long service life and convenient maintenance.

Description of drawings

Fig. 1 is a structural representation of the utility model;

Fig. 2 is a schematic structural view of the utility model when in use.

detailed description

The utility model will be further described in detail below in conjunction with specific embodiments and accompanying drawings, but the implementation of the utility model is not limited thereto.

Referring to Figures 1 and 2, an apple picking actuator based on a four-component metamorphic mechanism includes a four-component metamorphic mechanism, and the four-component metamorphic mechanism includes a contact 4, a driving rod 9, a base rod 11 and a base 13 , an apple vacuum adsorption device is provided above the driving rod, and the apple vacuum adsorption device is provided with a trumpet-shaped adsorption body 1 with an upper end opening, and the adsorption body 1 is connected downwards with the base 13 of the four-member metamorphic mechanism through the fixed bracket 10 , the lower part of the side wall of the adsorption body 1 is provided with a suction port 5, the suction port 5 is connected to the vacuum generator through a vacuum suction tube 7, and a central through hole 6 is provided at the bottom of the adsorption body 1, and the above-mentioned contact 4 passes through the central through hole 6 Set in the middle of the adsorption body 1, a sealing device is provided between the contact 4 and the hole wall of the central through hole 6, the upper end of the contact 4 cooperates with the absorbed apple 14 to form a trigger base point, and there is a Two left and right relative motions cut the cutting knife 2 of apple fruit stem, the lower end of cutting knife 2 is contained on the described driving rod 9, and cutting knife 2 upper end is provided with the cutting edge that sets opposite.

Two drive rods 9 are uniformly hinged around the lower end of the contact 4 of the four-member metamorphic mechanism, and a base rod 11 is hinged downward at the outer end of each drive rod 9, and a torsion rod 9 is provided at the hinge joint of the drive rod 9 and the base rod 11. Spring 8, the lower end of the base rod 11 is hinged with the upper part of the base 13, and the hinge support 12 connected with the base rod 11 is evenly provided on the outer wall of the base upper part.

Two suction ports 5 are uniformly arranged around the lower part of the side wall of the adsorption body 1 .

The sealing device is a rubber sealing ring.

The apple holder 3 is equipped with on the upper end of the contact 4 .

Described apple holder 3 is made of elastic material.

Referring to Fig. 2, the utility model has a symmetrical structure centered on the center line of the base 13, forming an apple picking actuator with two cutting knives 2 that can move in opposite directions to cut apple fruit stems. When the contact 4 is not blocked, the relative rotational separation torque of the driving rod 9 and the base rod 11 subjected to the torsion spring 8 is 0 or less than the closing moment of the torsion spring 8, and the driving rod 9 and the base rod 11 are an integral member; When the adsorption body 1 sucks the apple 14, the apple 14 exerts a downward pressure on the contact 4 through the apple holder 3, and when the pressure moment of the apple on the contact 4 is greater than the elastic moment of the torsion spring 8, the driving rod 9 and the base The mechanism formed by the rod 11 will undergo metamorphosis movement, and the cutting knife 2 will move towards each other under the drive of the drive rod to realize the closed cutting action, and the fruit stem of the apple 14 will be cut off, thereby completing the picking motion of the whole apple.

The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention, and cannot be considered as limiting the implementation scope of the present invention. All equal changes and improvements made according to the scope of the present utility model should still belong to the scope covered by this patent.

Claims (5)

1. null1. the apple-picking executor based on four component metamorphic mechanisms，Including four component metamorphic mechanisms，Described four component metamorphic mechanisms include contact、Drive rod、Base shaft and pedestal，It is characterized in that: be arranged over Fructus Mali pumilae vacuum absorption device at drive rod，Described Fructus Mali pumilae vacuum absorption device is provided with the tubaeform adsorbate of upper end open，Adsorbate passes downwardly through the pedestal of fixed support and four component metamorphic mechanisms and connects，The bottom of adsorbate sidewall is provided with bleeding point，Bleeding point is connected with vacuum generator by vaccum suction pipe，It is provided with central through hole in the bottom of adsorbate，Above-mentioned contact is arranged on adsorbate center through central through hole，It is provided with sealing device between described contact and the hole wall of central through hole，The upper end of contact coordinates composition to trigger basic point with adsorbed Fructus Mali pumilae，The cutter of two the relative motion cutting apple stems in left and right it are externally provided with at adsorbate，The lower end of cutter is contained on described drive rod，Cutter upper end is provided with the cutting cutting edge being oppositely arranged.
2. 2. the apple-picking executor based on four component metamorphic mechanisms according to claim 1, it is characterised in that be uniformly provided with two bleeding points for a week in the bottom of described adsorbate sidewall.
3. 3. the apple-picking executor based on four component metamorphic mechanisms according to claim 1, it is characterised in that described sealing device is rubber seal.
4. 4. the apple-picking executor based on four component metamorphic mechanisms according to claim 1, it is characterised in that described contact upper end is equipped with Fructus Mali pumilae holder.
5. 5. the apple-picking executor based on four component metamorphic mechanisms according to claim 4, it is characterised in that described Fructus Mali pumilae holder is made up of elastomeric material.