CN105532184B - A kind of hydraulic cutter tomato stripper unit - Google Patents
A kind of hydraulic cutter tomato stripper unit Download PDFInfo
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- CN105532184B CN105532184B CN201610009828.2A CN201610009828A CN105532184B CN 105532184 B CN105532184 B CN 105532184B CN 201610009828 A CN201610009828 A CN 201610009828A CN 105532184 B CN105532184 B CN 105532184B
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- tomato
- bennet
- hydraulic
- bar
- hydraulic cutter
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
A kind of hydraulic cutter tomato stripper unit, the device includes hydraulic cutter mechanism, sliding block structure, tomato locking mechanism, bennet and wins clamping structure.Hydraulic cutter mechanism includes bearing, armed lever, hydraulic cylinder drive, hydraulic jack, supporting table.Slide block mechanism, which includes straight-bar, set tomato locking mechanism, includes fastening disc, frame, connecting rod, adjusting rod, check lock lever, kind set.Bennet is won clamping structure and stretched out including anchorage clip, bearing pin, one-level bennet hole, two grades of bennet hydraulic cutter mechanisms driving piston rods, and tomato locking mechanism carries out preliminary bag to tomato, and bennet wins that clamping structure is climing to bennet, the calyx of tomato to be fixed simultaneously.Hydraulic shearing machine drives piston rod to withdraw, and slide block mechanism is moved in parallel, and tomato locking mechanism carries out the tight cooperation that clamping structure is won using slide block mechanism and bennet to tomato, and tomato is completed to shear.
Description
Technical field
The present invention relates to a kind of hydraulic cutter tomato stripper unit, belong to agricultural machinery automation development technical field.
Background technology
With the continuous increase of tomato planting area, the problem that tomato is increasingly becoming peasants' headache is won.Now
Most of peasant is directly won with hand, and a hand pinches bennet, and another hand is plucked.Even if thering are agriculture Scissorses to cut bennet to pluck
Take, but because the bennet of tomato has bitter taste, so must be removed before listing, the tomato that in the market is sold all be do not have it is pedunculate,
Therefore also need to remove the bennet stayed on tomato after the tomato so cut, and this remains unchanged hand abrasion can be made to fester.Due to
To be hand provide frictional force to the pressure of handle balances each other with plucking the power of tomato, so need finger offer very big pressure, can be by
Significantly wear and tear.Peasant's hand that many long campaigns pluck tomato festers, so tragic that one cannot bear to look at it.
In the U.S., because government takes strict border management policy, some rely on the farm of immigrant labour
It is main that their visual field is just turned into one kind just in developing machine for picking fruits device people of new generation.Energid obtains United States Department of Agriculture
Fund is developing a kind of robot for harvesting citrus.The robot developed has the ability of machine vision and operation, is applicable
In harvest citrus, apple and other kinds of fruit.
The scheme of Energid scientific ＆ technical corporation combines the intelligence of robot and the economy of batch harvest.It is low using one
The mechanism of cost, information processing and control are carried out by vision sensor and the computer of high speed.The end that fruit is won is performed
Device is disposable, and fast changeable, maintenance cost is cheap.The system remotely or can be controlled nearby, the design mesh of system
Mark is to win 32 fruit each second, is persistently won 16 times, stays fruit to be in the tree less than 4%.
In Japan, the problem of agricultural workforce's aging and agricultural workforce are not enough is very prominent, is asked to solve this
Topic, Japan have developed a series of agricultural robot of different purposes, just include the robot of fruit-picking among these.
Although above-mentioned robot efficiency is very high, it can reduce farmer's burdens significantly, expensive, most peasants can not
Undertake.So developing a simple tomato stripper unit, mitigate the hand burden during vast farmerses friend harvesting tomato.
Tomato almost covers the whole nation in the planting range of China, and cultivated area is at the forefront in the world.Its harvesting is labour intensive
Type operation.As social economic modernization and commercialization develop, also for meeting great demand of the people to tomato, tomato planting
Garden scale is also increasing, and this generates the problem of tomato harvesting.Original pure picked by hand tomato cost is high, the time
Long and quality is difficult to ensure that.However, existing industry picks fruit, robot is expensive, and many peasants can not undertake.
The content of the invention
It is an object of the invention to propose a kind of hydraulic cutter tomato stripper unit, based on the background above state of the art, if
A simple tomato stripper unit has been counted, while being greatly saved manpower, high-quality and the hygienic requirements of tomato has been also ensure that.
To achieve the above object, the technical solution adopted by the present invention is a kind of hydraulic cutter tomato stripper unit, the device
Clamping structure is won including hydraulic cutter mechanism, slide block mechanism, tomato locking mechanism, bennet.
Hydraulic cutter mechanism includes bearing 1, cantilever lever 2, hydraulic cylinder drive 3, hydraulic jack 4, supporting table 5.
Slide block mechanism includes straight-bar 7, sleeve 8.
Tomato locking mechanism includes fastening disc 9, frame 10, connecting rod 11, adjusting rod 12, check lock lever 13, tomato set 14.
Bennet, which wins clamping structure, includes anchorage clip 15, bearing pin 16, one-level bennet hole 17, two grades of bennet holes 18.
Bearing 1 is connected with cantilever lever 2 constitutes the driving agent structure of hydraulic cutter, and bearing 1 is arranged on hydraulic shearing machine
The bottom of structure；Hydraulic cylinder drive 3 is arranged on bearing 1, and hydraulic cylinder drive 3 is connected with hydraulic jack 4, hydraulic cylinder drive
The parallel motion of piston rod 6 of 3 driving hydraulic jacks 4, cantilever lever 2 is provided with supporting table 5；
Piston rod 6 is connected with straight-bar 7, and piston rod 6 and straight-bar 7 are on the same line.
The fastening disc 9 of tomato locking mechanism is arranged in supporting table 5；The centre of fastening disc 9 is provided with through hole；Sleeve 8
It is horizontally set on the side of close hydraulic cylinder drive 3 of fastening disc 9；Straight-bar 7 is passed through after sleeve 8 again through fastening disc 9
Through hole.
Three groups of frames 10 are symmetrically arranged along the circumference of fastening disc 9；The axle of end of three groups of connecting rods 11 along straight-bar 7
To symmetrically arranging；Adjusting rod 12 is connected with connecting rod 11, and check lock lever 13 is connected with frame 10；Connecting rod 11 and locking
It is connected between bar 13 by adjusting rod 12；Tomato set 14 is arranged on the end of check lock lever 13.
The anchorage clip 15 that bennet wins clamping structure is fixed on the end of cantilever lever 2 by bearing pin 16, and anchorage clip 15 is along perpendicular
Nogata is sequentially provided with one-level bennet hole 17, two grades of bennet holes 18 upwards；The diameter in one-level bennet hole 17 is less than two grades of bennet holes 18
Diameter；Bennet of the one-level bennet hole 17 to lock tomato, two grades of bennet holes 18 are climing to the calyx for locking tomato.
The side of the sleeve 8 is provided with horizontal guide grooves, and straight-bar 7 is provided with sliding block, and sliding block is engaged with horizontal guide grooves, and then
Ensure the stabilization of the moving process of straight-bar 7.
The tomato set 14 is cambered surface elastic component, prevents tomato to be damaged in shear history.
The frame 10 is curved bar.
Each rod member of the tomato locking mechanism can be moved along the direction of rod member, and then tomato is locked.
Compared with prior art, the present invention has the advantages that.
1st, the apparatus structure is simple and convenient to operate, and can greatly alleviate the various problems during tomato is won, meeting to hold
Supervention is opened up and the social theory of economies.
2nd, the simple tomato stripper unit uses a series of ingenious mechanical linkages, can pass through control machinery hand opening and closing
Win tomato, and freely adjustable dynamics size.
3rd, the cost of whole device is low, automaticity is high simultaneously for easy processing, meets the growth requirement of industry.
Brief description of the drawings
Fig. 1 is the hydraulic cutter mechanism map of the present invention.
Fig. 2 is the three-dimensional facade structure chart of the present invention.
Fig. 3 is that the tomato locking mechanism of the present invention and bennet win clamping structure figure.
Fig. 4 is the overall structure diagram of the present invention.
Fig. 5 is the front view of the present invention.
Fig. 6 is the top view of the present invention.
In figure：1-bearing, 2-cantilever lever, 3-hydraulic cylinder drive, 4-hydraulic jack, 5-supporting table, 6-piston
Bar, 7-straight-bar, 8-sleeve, 9-fastening disc, 10-frame, 11-connecting rod, 12-adjusting rod, 13-check lock lever, 14-
Tomato set, 15-anchorage clip, 16-bearing pin, 17-one-level bennet hole, 18-two grades of bennet holes.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
The physical characteristic of tomato is to pluck the Research foundation of operation, decides the conceptual design of simple tomato stripper unit.
The each bouquet of Lycopersicon esculentum typically has 3~5 fruits, it is necessary to which tomato is taken when peasant plucks, it is impossible to which bennet is stayed in
Face.
Hand is plucked the antipeduncular pressure offer frictional force of tomato armrest and balanced each other with plucking the power of tomato, it is therefore desirable to very big pressure
Power, pinching the hand of bennet can significantly be worn and torn.So plucking the force mechanism of tomato process to mitigate hand by change
Bear in portion.
As shown in figures 1 to 6, a kind of hydraulic cutter tomato stripper unit, the device include hydraulic cutter mechanism, slide block mechanism,
Tomato locking mechanism, bennet win clamping structure.
Hydraulic cutter mechanism includes bearing 1, cantilever lever 2, hydraulic cylinder drive 3, hydraulic jack 4, supporting table 5.
Slide block mechanism includes straight-bar 7, sleeve 8.
Tomato locking mechanism includes fastening disc 9, frame 10, connecting rod 11, adjusting rod 12, check lock lever 13, tomato set 14.
Bennet, which wins clamping structure, includes anchorage clip 15, bearing pin 16, one-level bennet hole 17, two grades of bennet holes 18.
Bearing 1 is connected with cantilever lever 2 constitutes the driving agent structure of hydraulic cutter, and bearing 1 is arranged on hydraulic shearing machine
The bottom of structure；Hydraulic cylinder drive 3 is arranged on bearing 1, and hydraulic cylinder drive 3 is connected with hydraulic jack 4, hydraulic cylinder drive
The parallel motion of piston rod 6 of 3 driving hydraulic jacks 4, cantilever lever 2 is provided with supporting table 5；
Piston rod 6 is connected with straight-bar 7, and piston rod 6 and straight-bar 7 are on the same line.
The fastening disc 9 of tomato locking mechanism is arranged in supporting table 5；The centre of fastening disc 9 is provided with through hole；Sleeve 8
It is horizontally set on the side of close brace 3 of fastening disc 9；Straight-bar 7 passes through the through hole again through fastening disc 9 after sleeve 8.
Three groups of frames 10 are symmetrically arranged along the circumference of fastening disc 9；The axle of end of three groups of connecting rods 11 along straight-bar 7
To symmetrically arranging；Adjusting rod 12 is connected with connecting rod 11, and check lock lever 13 is connected with frame 10；Connecting rod 11 and locking
It is connected between bar 13 by adjusting rod 12；Tomato set 14 is arranged on the end of check lock lever 13.
The anchorage clip 15 that bennet wins clamping structure is fixed on the end of cantilever lever 2 by bearing pin 16, and anchorage clip 15 is along perpendicular
Nogata is sequentially provided with one-level bennet hole 17, two grades of bennet holes 18 upwards；The diameter in one-level bennet hole 17 is less than two grades of bennet holes 18
Diameter；Bennet of the one-level bennet hole 17 to lock tomato, two grades of bennet holes 18 are climing to the calyx for locking tomato.
The side of the sleeve 8 is provided with horizontal guide grooves, and straight-bar 7 is provided with sliding block, and sliding block is engaged with horizontal guide grooves, and then
Ensure the stabilization of the moving process of straight-bar 7.
The tomato set 14 is cambered surface elastic component, prevents tomato to be damaged in shear history.
The frame 10 is curved bar.
Each rod member of the tomato locking mechanism can be moved along the direction of rod member, and then tomato is locked.
Hydraulic cutter mechanism driving piston rod is stretched out, and tomato locking mechanism is tentatively wrapped up tomato, while bennet is plucked
Take clamping structure is climing to bennet, the calyx of tomato to be fixed.
Hydraulic cutter mechanism drives piston rod to withdraw, and slide block mechanism is moved in parallel, and tomato locking mechanism carries out tight to tomato
Gu, the cooperation of clamping structure is won using slide block mechanism and bennet, tomato is completed to shear.
Claims (5)
1. a kind of hydraulic cutter tomato stripper unit, it is characterised in that：The device include hydraulic cutter mechanism, slide block mechanism, kind
Eggplant locking mechanism, bennet win clamping structure；
Hydraulic cutter mechanism includes bearing (1), cantilever lever (2), hydraulic cylinder drive (3), hydraulic jack (4), supporting table (5)；
Slide block mechanism includes straight-bar (7), sleeve (8)；
Tomato locking mechanism include fastening disc (9), frame (10), connecting rod (11), adjusting rod (12), check lock lever (13), kind
Eggplant set (14)；
Bennet, which wins clamping structure, includes anchorage clip (15), bearing pin (16), one-level bennet hole (17), two grades of bennet holes (18)；
Bearing (1) is connected with cantilever lever (2) constitutes the driving agent structure of hydraulic cutter, and bearing (1) is arranged on hydraulic cutter
The bottom of mechanism；Hydraulic cylinder drive (3) is arranged on bearing (1), and hydraulic cylinder drive (3) is connected with hydraulic jack (4), liquid
Piston rod (6) parallel motion of cylinder pressure driver (3) driving hydraulic jack (4), cantilever lever (2) is provided with supporting table (5)；
Piston rod (6) is connected with straight-bar (7), and piston rod (6) and straight-bar (7) are on the same line；
The fastening disc (9) of tomato locking mechanism is arranged in supporting table (5)；The centre of fastening disc (9) is provided with through hole；Sleeve
(8) it is horizontally set on close hydraulic cylinder drive (3) side of fastening disc (9)；Straight-bar (7) pass through sleeve (8) after again through
The through hole of fastening disc (9)；
Three groups of frames (10) are symmetrically arranged along the circumference of fastening disc (9)；End of three groups of connecting rods (11) along straight-bar (7)
Axial direction symmetrically arrange；Adjusting rod (12) is connected with connecting rod (11), and check lock lever (13) is connected with frame (10)；Even
It is connected between extension bar (11) and check lock lever (13) by adjusting rod (12)；Tomato set (14) is arranged on the end of check lock lever (13)
Portion；
The anchorage clip (15) that bennet wins clamping structure is fixed on the ends of cantilever lever (2), anchorage clip (15) by bearing pin (16)
One-level bennet hole (17), two grades of bennet holes (18) are sequentially provided with vertically；The diameter in one-level bennet hole (17) is less than two
The diameter in level bennet hole (18)；Bennet of the one-level bennet hole (17) to lock tomato, two grades of bennet holes (18) are to lock kind
The calyx of eggplant is climing.
2. a kind of hydraulic cutter tomato stripper unit according to claim 1, it is characterised in that：The one of the sleeve (8)
Side is provided with horizontal guide grooves, and straight-bar (7) is provided with sliding block, and sliding block is engaged with horizontal guide grooves, and then ensures straight-bar (7) moving process
Stabilization.
3. a kind of hydraulic cutter tomato stripper unit according to claim 1, it is characterised in that：The tomato set (14) is
Cambered surface elastic component, prevents tomato to be damaged in shear history.
4. a kind of hydraulic cutter tomato stripper unit according to claim 1, it is characterised in that：The frame (10) is song
Bar.
5. a kind of hydraulic cutter tomato stripper unit according to claim 1, it is characterised in that：The tomato locking mechanism
Each rod member can be moved along the direction of rod member, and then tomato is locked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610009828.2A CN105532184B (en) | 2016-01-06 | 2016-01-06 | A kind of hydraulic cutter tomato stripper unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610009828.2A CN105532184B (en) | 2016-01-06 | 2016-01-06 | A kind of hydraulic cutter tomato stripper unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105532184A CN105532184A (en) | 2016-05-04 |
| CN105532184B true CN105532184B (en) | 2017-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610009828.2A Active CN105532184B (en) | 2016-01-06 | 2016-01-06 | A kind of hydraulic cutter tomato stripper unit |
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| CN (1) | CN105532184B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114128488A (en) * | 2021-11-14 | 2022-03-04 | 北京工业大学 | Rotation type lily picking mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5092128B2 (en) * | 2006-02-16 | 2012-12-05 | 国立大学法人 千葉大学 | Robot hand and gear system |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| CN104303709B (en) * | 2014-11-03 | 2016-02-10 | 东北农业大学 | A kind of bionical end effector of dragonfly claw being applicable to crawl different shape fruits and vegetables |
| CN104589366B (en) * | 2014-11-25 | 2016-08-17 | 广西大学 | A kind of change cell type Multifunctional manipulator claw |
| CN205305446U (en) * | 2016-01-06 | 2016-06-15 | 北京工业大学 | Tomato stripper unit is cuted to hydraulic pressure |
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- 2016-01-06 CN CN201610009828.2A patent/CN105532184B/en active Active
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| Publication number | Publication date |
|---|---|
| CN105532184A (en) | 2016-05-04 |
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