CN101601345A - A kind of portable fruit picking machine capable of automatic gripping and cutting - Google Patents
A kind of portable fruit picking machine capable of automatic gripping and cutting Download PDFInfo
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- CN101601345A CN101601345A CNA2009100409900A CN200910040990A CN101601345A CN 101601345 A CN101601345 A CN 101601345A CN A2009100409900 A CNA2009100409900 A CN A2009100409900A CN 200910040990 A CN200910040990 A CN 200910040990A CN 101601345 A CN101601345 A CN 101601345A
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Abstract
The invention provides a kind of portable fruit picking machine capable of automatic gripping and cutting, comprise the harvesting mechanism, transmission mechanism and the driving mechanism that connect successively, pluck mechanism and be provided with fruit stalk detector, driving mechanism is provided with corresponding telemetry circuit; Driving mechanism is the driving mechanism of electronic mode, comprises the clamping reel and the cutting drum that are respectively applied for lay winding wire ropes, is respectively equipped with corresponding clamping motor and cutting motor in clamping reel and the cutting drum; Driving mechanism and telemetry circuit all are located at the handle end of plucking the body of rod.During picking machine operation of the present invention, only need the operator to move the harvesting body of rod, make the harvesting mechanism that is located at its end near carpopodium, system will finish automatically to by the operation of the identification of fruit-picking carpopodium, clamping and cutting, thereby can reduce the labour intensity of fruit picking significantly, improve picking efficiency, save cost; The work of its clamping and cutting is automatically performed by the input signal of telemetry circuit according to fruit stalk detector, the automaticity height.
Description
Technical field
The present invention relates to the fruit picking technology, particularly a kind of portable fruit picking machine capable of automatic gripping and cutting.
Background technology
At present, the automation degree of equipment of fruit picking is lower, and its picking efficiency is also low, thereby automated mechanical harvesting equipment has good application prospects.With regard to the fruit picking mechanism of present appearance, majority possesses motor-driven or strength, hydraulically powered structure, and adopt the harvesting device structure of these structures comparatively complicated mostly, the transmission mechanism that needs complexity has increased the loss of energy and cost is generally higher, poor practicability, difficult in maintenance.For example Chinese patent 200810060259.X discloses a kind of device for picking fruit, it is made up of power source, strut and the harvesting portion that is arranged on the strut top, harvesting portion is formed by connecting by motor and picking head, picking head is a column structure, cylinder is provided with the tooth bar of some projectioies, power source is a power supply, and power supply is connected with motor by lead.Though it is bigger that this device for picking fruit has effectively solved life-span weak point, the picking head of portable picking machine existence, use the problem difficult, that efficient is lower in the place that branch is closeer, but because its picking head is to rotate under the driven by motor of power drives, therefore need provide extra power supply, increased the consumption of energy, the line between this external power and the motor has also limited the convenient of picking device and has moved; Simultaneously motor is arranged in the cavity of picking head, and its output also is provided with planetary reduction gear, and this has just increased the complexity of its structure and the difficulty of maintenance; In addition, because fruit is various, not of uniform size, need dissimilar picking head, and the replacing of tooth bar is difficult for, this makes it that certain limitation also be arranged on versatility.In addition, Chinese patent 200420050927.8 discloses a kind of picking device that adopts the strength conveyer, wheels are plucked in this picking device utilization and compressed air stream carries out continuous harvesting and the conveying of cotton, it has and can work continuously, the advantage that pluck, conveying and packaging can be finished automatically, but need to add extra driving and wind pushing mechanism, also relatively poor to the adaptability of environment (rainwater, dust etc.), and for the harvesting of fruits, practicality is not high.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of and be easy to carry, can realize the portable fruit picking machine capable of automatic gripping and cutting of the identification automatically of fruit carpopodium, clamping and cutting.
The present invention is achieved through the following technical solutions: a kind of portable fruit picking machine capable of automatic gripping and cutting, comprise the harvesting mechanism, transmission mechanism and the driving mechanism that connect successively, described harvesting mechanism is provided with fruit stalk detector, and described driving mechanism is provided with corresponding telemetry circuit; Described driving mechanism is the driving mechanism of electronic mode, comprises the clamping reel and the cutting drum that are respectively applied for lay winding wire ropes, is respectively equipped with corresponding clamping motor and cutting motor in clamping reel and the cutting drum; Described driving mechanism and telemetry circuit all are located at the handle end of plucking the body of rod.
The described mechanism of plucking comprises clamp assemblies and the cutting assembly that is connected with transmission mechanism side by side; The clamping back-moving spring that clamp assemblies comprises the grip shank of two angled settings and is located at angled end, the angled end of clamp assemblies is connected with one group of steel wire rope of transmission mechanism; Cutting assembly comprises the cutting handle of two angled settings and the cutting back-moving spring of being located at angled end, and the angled end of cutting assembly is connected with another group steel wire rope of transmission mechanism; Described fruit stalk detector is installed on the grip shank of plucking mechanism.
Described transmission mechanism comprises two groups of corresponding with clamp assemblies and cutting assembly respectively steel wire ropes, and an end of steel wire rope is connected with clamp assemblies or cutting assembly, and the other end is connected with clamping reel or cutting drum; Steel wire rope is with conduit outward, and conduit is located at and is plucked in the body of rod.
Both be provided with built-in power in the drive circuit of described clamping motor or cutting motor, also be provided with the socket of external power supply.
The observing and controlling switch of described drive circuit is located at the outer surface of plucking body of rod handle end.
The described harvesting body of rod is the cylinder of hollow.
The described mechanism of plucking is fixed on the installing plate that links to each other with the harvesting body of rod.
The described grip shank openend of mechanism of plucking is for clamping the tooth-shape structure that carpopodium is used.
When portable fruit picking machine capable of automatic gripping and cutting of the present invention uses, its course of work is: the hand-held handle end of plucking the body of rod of operator, the grip shank of clamp assemblies is in open configuration (original state) under the elastic force effect of clamping back-moving spring, the cutting handle of cutting assembly is in open configuration (original state) under the elastic force effect of cutting back-moving spring; The operator moves to grip shank and cutting handle between the carpopodium, when fruit stalk detector detects carpopodium, then exports the carpopodium signal and gives telemetry circuit; After telemetry circuit receives the carpopodium signal, export first group of signal and make the rotation of clamping driven by motor clamping reel, corresponding steel wire rope is wrapped on the clamping reel, thereby pulling grip shank closure is clamped carpopodium; After grip shank was clamped carpopodium, telemetry circuit is exported second group of signal made cutting motor drive the cutting drum rotation, and corresponding steel wire rope is wrapped on the cutting drum, and pulling cutting handle closure is cut off carpopodium; After fruit is plucked the separating fruit tree, be clipped between the grip shank, the operator moves to fruit in the fruit basket, cut off the observing and controlling switch, telemetry circuit is exported the 3rd group of signal all is cut off the power supply of clamping motor and cutting motor, moment of torsion between clamping motor and clamping reel, cutting motor and the cutting drum disappears, cut handle and restPose under the elastic force effect of cutting back-moving spring this moment, grip shank also restPoses under the elastic force effect of clamping back-moving spring, through the steel wire rope pulling of correspondence, clamping reel and cutting drum also rotate back into initial position; After finishing, the operator only needs to move between the another one fruit carpopodium to be plucked plucking mechanism, can carry out the harvesting operation of next round.
Wherein, the operation principle of telemetry circuit is: after fruit stalk detector detects carpopodium, output carpopodium signal (low level signal) is to Schmidt trigger, the carpopodium signal inputs to single-chip microcomputer after Schmidt trigger is handled, under the control of single-chip microcomputer, export control signal, being switched on or switched off of control electromagnet coil, and then make the drive circuit of clamping motor or cutting motor be switched on or switched off by the effect of magnetic force, thus realize the fruit picking process of automatic clamping and cutting.
Compare with above-mentioned prior art, the present invention has following beneficial effect:
1, during the operation of this portable fruit picking machine capable of automatic gripping and cutting, only need the operator to move the harvesting body of rod, make the harvesting mechanism that is located at its end near carpopodium, system will finish automatically to by the operation of the identification of fruit-picking carpopodium, clamping and cutting, thereby can reduce the labour intensity of fruit picking significantly, improve picking efficiency, save cost.
2, during the operation of this portable fruit picking machine capable of automatic gripping and cutting, the work of its clamping and cutting is automatically performed by the input signal of telemetry circuit according to fruit stalk detector, the automaticity height.
3, the transmission mechanism power source of this portable fruit picking machine capable of automatic gripping and cutting all is built in the handle end of plucking the body of rod, plucks the moment of torsion that the body of rod is produced by gravity with respect to handle end in the time of effectively reducing operation; Transmission mechanism is installed in the inside that hollow cylinder shape is plucked the body of rod, and it is simple in structure, helps the convenient of picking machine and moves, and except being used for the fruit picking of level land fruit-bearing forest, also is applicable to the fruit-bearing forest fruit picking of multiple landform such as mountain region.
4, the driving mechanism of this portable fruit picking machine capable of automatic gripping and cutting adopts electric device, and power source is an electric energy, and the power supply that allows to connect comprises accumulator, rechargeable battery, direct current transmitter etc., and can be to its internal battery charging, and pollution-free, adaptability is strong.
Description of drawings
Fig. 1 is the structural representation of this portable fruit picking machine capable of automatic gripping and cutting.
Fig. 2 is the harvesting mechanism structural representation of this portable fruit picking machine capable of automatic gripping and cutting.
Fig. 3 is the telemetry circuit schematic diagram of this portable fruit picking machine capable of automatic gripping and cutting.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
A kind of portable fruit picking machine capable of automatic gripping and cutting of present embodiment as shown in Figure 1, comprises the harvesting mechanism, transmission mechanism and the driving mechanism that connect successively, wherein plucks mechanism and is provided with fruit stalk detector 1, and driving mechanism is provided with corresponding telemetry circuit 13; Driving mechanism is the driving mechanism of electronic mode, comprises the clamping reel 11 and the cutting drum 10 that are respectively applied for lay winding wire ropes, is respectively equipped with corresponding clamping motor 21 and cutting motor 20 in clamping reel 11 and the cutting drum 10; Whole driving mechanism and telemetry circuit 13 all are located at the handle end of plucking the body of rod 9.
Pluck mechanism and comprise clamp assemblies 3 and the cutting assembly 2 that is connected with transmission mechanism side by side; As shown in Figure 2, clamp assemblies 3 comprises the grip shank 16 of two angled settings and the clamping back-moving spring 19 of being located at angled end, and the angled end of clamp assemblies 3 is connected with one group of steel wire rope 7 of transmission mechanism; Cutting assembly 2 comprises the cutting handle 17 of two angled settings and the cutting back-moving spring 18 of being located at angled end, and the angled end of cutting assembly 2 is connected with another group steel wire rope 5 of transmission mechanism; Fruit stalk detector 1 is installed on the grip shank 16 of plucking mechanism.
As shown in Figure 1, transmission mechanism comprises respectively corresponding with clamp assemblies 3 and cutting assembly 2 two groups of steel wire ropes 7 and 5, and an end of steel wire rope is connected with clamp assemblies 3 or cutting assembly 2, and the other end is connected with clamping reel 11 or cutting drum 10; Steel wire rope 7 and 5 outsides are with conduit 8 and 6 respectively, and conduit 8 and 6 all is located at and is plucked in the body of rod 9.
Both be provided with built-in power 14 in the drive circuit of clamping motor 21 or cutting motor 20, also be provided with the socket 15 of external power supply; The observing and controlling switch 12 of drive circuit is located at the outer surface of plucking the body of rod 9 handle ends.
In the above structure, plucking the body of rod 9 is the cylinder of hollow; Plucking mechanism is fixed on the installing plate 4 that links to each other with the harvesting body of rod 9; The openend of plucking the grip shank 16 of mechanism is to clamp the tooth-shape structure that carpopodium is used.
When portable fruit picking machine capable of automatic gripping and cutting of the present invention uses, its course of work is: the hand-held handle end of plucking the body of rod 9 of operator, the grip shank 16 of clamp assemblies 3 is in open configuration (original state) under the elastic force effect of clamping back-moving spring 19, the cutting handle 17 of cutting assembly 2 is in open configuration (original state) under the elastic force effect of cutting back-moving spring 18; The operator moves to grip shank 16 and cutting handle 17 between the carpopodium, when fruit stalk detector 1 detects carpopodium, then exports the carpopodium signal and gives telemetry circuit 13; After telemetry circuit 13 receives the carpopodium signal, export first group of signal and make clamping motor 21 drive 11 rotations of clamping reel, corresponding steel wire rope 7 is wrapped on the clamping reel 11, thereby pulling grip shank 16 closures are clamped carpopodium; After grip shank 16 was clamped carpopodium, second group of signal of telemetry circuit 13 outputs made cutting motor 20 drive cutting drum 10 rotations, and corresponding steel wire rope 5 is wrapped on the cutting drum 10, and pulling cutting handle 17 closures are cut off carpopodium; After fruit is plucked the separating fruit tree, be clipped between the grip shank 16, the operator moves to fruit in the fruit basket, cut off observing and controlling switch 12, the 3rd group of signal of telemetry circuit 13 outputs all is cut off the power supply of clamping motor 21 and cutting motor 20, clamping motor 21 and clamping reel 11, moment of torsion between cutting motor 20 and the cutting drum 10 disappears, cut handle 17 and restPose under the elastic force effect of cutting back-moving spring 18 this moment, grip shank 16 also restPoses under the elastic force effect of clamping back-moving spring 19, through the steel wire rope pulling of correspondence, clamping reel 11 and cutting drum 10 also rotate back into initial position; After finishing, the operator only needs to move between the another one fruit carpopodium to be plucked plucking mechanism, can carry out the harvesting operation of next round.
Wherein, the operation principle of telemetry circuit as shown in Figure 3, I is connected O with carpopodium inductor 1 among the figure
1Be connected O with clamping motor 21
2Be connected with cutting motor 20. After the fruit stalk detector that is made of a non-contact sensor detects carpopodium, output carpopodium signal (low level signal) is to Schmidt trigger, the carpopodium signal inputs to single-chip microcomputer (its input port is PIN5) after Schmidt trigger is handled, under the control of single-chip microcomputer, export control signal from two ports of PIN7, PIN8, being switched on or switched off of control electromagnet coil, and then make the drive circuit of clamping motor or cutting motor be switched on or switched off, thereby realize the fruit picking process of automatic clamping and cutting by the effect of magnetic force.It is the chip of SN2602 that the chip of present embodiment adopts model, is example with the process of clamping and cutting, as shown in Figure 3, when PIN7 is output as the high level of 5V, makes the triode conducting, and and then make the magnet spool conducting, form magnetic force, make and O
1The drive circuit of the clamping motor that connects is in conducting state, realizes automatic clamping; Time-delay 1S output high level when PIN8 is output as the high level of 5V, makes the triode conducting to PIN8 after the PIN7 conducting, and and then makes the magnet spool conducting, formation magnetic force, feasible and O
2The cutting motor that connects is in conducting state, realizes cutting automatically.
As mentioned above, just can realize the present invention preferably, the foregoing description is preferred embodiment of the present invention only, is not to be used for limiting practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.
Claims (8)
1, a kind of portable fruit picking machine capable of automatic gripping and cutting comprises successively the harvesting mechanism, transmission mechanism and the driving mechanism that connect, it is characterized in that, described harvesting mechanism is provided with fruit stalk detector, and described driving mechanism is provided with corresponding telemetry circuit; Described driving mechanism is the driving mechanism of electronic mode, comprises the clamping reel and the cutting drum that are respectively applied for lay winding wire ropes, is respectively equipped with corresponding clamping motor and cutting motor in clamping reel and the cutting drum; Described driving mechanism and telemetry circuit all are located at the handle end of plucking the body of rod.
According to the described a kind of portable fruit picking machine capable of automatic gripping and cutting of claim 1, it is characterized in that 2, the described mechanism of plucking comprises clamp assemblies and the cutting assembly that is connected with transmission mechanism side by side; The clamping back-moving spring that clamp assemblies comprises the grip shank of two angled settings and is located at angled end, the angled end of clamp assemblies is connected with one group of steel wire rope of transmission mechanism; Cutting assembly comprises the cutting handle of two angled settings and the cutting back-moving spring of being located at angled end, and the angled end of cutting assembly is connected with another group steel wire rope of transmission mechanism; Described fruit stalk detector is installed on the grip shank of plucking mechanism.
3, according to the described a kind of portable fruit picking machine capable of automatic gripping and cutting of claim 1, it is characterized in that, described transmission mechanism comprises two groups of corresponding with clamp assemblies and cutting assembly respectively steel wire ropes, one end of steel wire rope is connected with clamp assemblies or cutting assembly, and the other end is connected with clamping reel or cutting drum; Steel wire rope is with conduit outward, and conduit is located at and is plucked in the body of rod.
4, according to the described a kind of portable fruit picking machine capable of automatic gripping and cutting of claim 1, it is characterized in that, both be provided with built-in power in the drive circuit of described clamping motor or cutting motor, also be provided with the socket of external power supply.
According to the described a kind of portable fruit picking machine capable of automatic gripping and cutting of claim 4, it is characterized in that 5, the observing and controlling switch of described drive circuit is located at the outer surface of plucking body of rod handle end.
According to the described a kind of portable fruit picking machine capable of automatic gripping and cutting of claim 1, it is characterized in that 6, the described harvesting body of rod is the cylinder of hollow.
According to the described a kind of portable fruit picking machine capable of automatic gripping and cutting of claim 1, it is characterized in that 7, the described mechanism of plucking is fixed on the installing plate that links to each other with the harvesting body of rod.
According to the described a kind of portable fruit picking machine capable of automatic gripping and cutting of claim 1, it is characterized in that 8, the described grip shank openend of mechanism of plucking is for clamping the tooth-shape structure that carpopodium is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100409900A CN101601345B (en) | 2009-07-09 | 2009-07-09 | Portable fruit picking machine capable of automatic gripping and cutting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100409900A CN101601345B (en) | 2009-07-09 | 2009-07-09 | Portable fruit picking machine capable of automatic gripping and cutting |
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| CN101601345A true CN101601345A (en) | 2009-12-16 |
| CN101601345B CN101601345B (en) | 2011-04-27 |
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| CN2009100409900A Expired - Fee Related CN101601345B (en) | 2009-07-09 | 2009-07-09 | Portable fruit picking machine capable of automatic gripping and cutting |
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Cited By (16)
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| CN104322210A (en) * | 2014-11-15 | 2015-02-04 | 沈福兴 | Orange picker |
| CN104365278A (en) * | 2014-11-03 | 2015-02-25 | 北京林业大学 | Spherical fruit and vegetable picking end effector |
| CN105123120A (en) * | 2015-10-27 | 2015-12-09 | 吉林大学 | Nut picking manipulator |
| CN105359723A (en) * | 2015-10-26 | 2016-03-02 | 刘建初 | Fruit picker |
| CN106034566A (en) * | 2016-08-01 | 2016-10-26 | 洛宁超越农业有限公司 | Grape picking device |
| CN106922299A (en) * | 2017-03-29 | 2017-07-07 | 浙江农林大学 | A kind of hickory nut fruit harvester |
| CN108184431A (en) * | 2017-12-31 | 2018-06-22 | 贵州大学 | A kind of fruit picking robot end effector and picking method |
| CN108377747A (en) * | 2018-04-25 | 2018-08-10 | 河南科技大学 | A kind of picking fruit device |
| CN108450151A (en) * | 2018-02-01 | 2018-08-28 | 中南林业科技大学 | A kind of fruit harvesting robot device |
| CN108476726A (en) * | 2018-04-16 | 2018-09-04 | 安徽理工大学 | A kind of simple type strawberry auxiliary picking lever |
| CN111201886A (en) * | 2020-03-13 | 2020-05-29 | 河北农业大学 | Novel telescopic wild jujube picking and cleaning device |
| CN111359749A (en) * | 2020-04-03 | 2020-07-03 | 刘书新 | High-altitude crushing device for electric power porcelain insulator |
| CN112277018A (en) * | 2020-10-19 | 2021-01-29 | 方昌辉 | Vibrations formula bee cake cutterbar |
| CN112369204A (en) * | 2020-11-30 | 2021-02-19 | 山东大学 | Tea leaf collecting device and method |
| CN112825677A (en) * | 2021-02-19 | 2021-05-25 | 攀枝花学院 | Harmless fruit picker |
| CN117242985A (en) * | 2023-10-07 | 2023-12-19 | 河北省农林科学院生物技术与食品科学研究所 | Portable winter jujube picking device |
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2009
- 2009-07-09 CN CN2009100409900A patent/CN101601345B/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104365278A (en) * | 2014-11-03 | 2015-02-25 | 北京林业大学 | Spherical fruit and vegetable picking end effector |
| CN104365278B (en) * | 2014-11-03 | 2017-02-15 | 北京林业大学 | Spherical fruit and vegetable picking end effector |
| CN104322210A (en) * | 2014-11-15 | 2015-02-04 | 沈福兴 | Orange picker |
| CN105359723A (en) * | 2015-10-26 | 2016-03-02 | 刘建初 | Fruit picker |
| CN105123120A (en) * | 2015-10-27 | 2015-12-09 | 吉林大学 | Nut picking manipulator |
| CN106034566A (en) * | 2016-08-01 | 2016-10-26 | 洛宁超越农业有限公司 | Grape picking device |
| CN106922299A (en) * | 2017-03-29 | 2017-07-07 | 浙江农林大学 | A kind of hickory nut fruit harvester |
| CN108184431A (en) * | 2017-12-31 | 2018-06-22 | 贵州大学 | A kind of fruit picking robot end effector and picking method |
| CN108450151A (en) * | 2018-02-01 | 2018-08-28 | 中南林业科技大学 | A kind of fruit harvesting robot device |
| CN108476726A (en) * | 2018-04-16 | 2018-09-04 | 安徽理工大学 | A kind of simple type strawberry auxiliary picking lever |
| CN108377747A (en) * | 2018-04-25 | 2018-08-10 | 河南科技大学 | A kind of picking fruit device |
| CN108377747B (en) * | 2018-04-25 | 2024-05-24 | 河南科技大学 | Fruit picking device |
| CN111201886A (en) * | 2020-03-13 | 2020-05-29 | 河北农业大学 | Novel telescopic wild jujube picking and cleaning device |
| CN111359749A (en) * | 2020-04-03 | 2020-07-03 | 刘书新 | High-altitude crushing device for electric power porcelain insulator |
| CN112277018A (en) * | 2020-10-19 | 2021-01-29 | 方昌辉 | Vibrations formula bee cake cutterbar |
| CN112369204A (en) * | 2020-11-30 | 2021-02-19 | 山东大学 | Tea leaf collecting device and method |
| CN112369204B (en) * | 2020-11-30 | 2021-10-22 | 山东大学 | Tea leaf collecting device and method |
| CN112825677A (en) * | 2021-02-19 | 2021-05-25 | 攀枝花学院 | Harmless fruit picker |
| CN117242985A (en) * | 2023-10-07 | 2023-12-19 | 河北省农林科学院生物技术与食品科学研究所 | Portable winter jujube picking device |
| CN117242985B (en) * | 2023-10-07 | 2024-03-08 | 河北省农林科学院生物技术与食品科学研究所 | Portable winter jujube picking device |
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