CN106664965A - Portable apple pickup device based on negative pressure suction - Google Patents
Portable apple pickup device based on negative pressure suction Download PDFInfo
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- CN106664965A CN106664965A CN201710102445.4A CN201710102445A CN106664965A CN 106664965 A CN106664965 A CN 106664965A CN 201710102445 A CN201710102445 A CN 201710102445A CN 106664965 A CN106664965 A CN 106664965A
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- housing
- cambered
- cambered blade
- rotary table
- blade
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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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention belongs to the technical field of agricultural machines, and particularly relates to a portable apple pickup device based on negative pressure suction. The portable apple pickup device comprises an annular cutterhead (1), arc blades (2), an annular rotating disc (3), a shell (4), a control switch (9), a telescopic rod (10), a direct-current motor (11) and a pinion (12); an arc blade set is arranged between the annular rotating disc (3) and the annular cutterhead (1) and comprises three arc blades (2), three holes are formed in the circumference of the annular cutterhead (1), and three radial grooves are formed in the radial direction of the inner side of the annular rotating disc (3); a pin shaft at one end of each arc blade (2) is rotationally connected with one hole in the annular cutterhead (1), and a pin shaft at the other end of each arc blade (2) is located in the radial groove of the annular rotating disc (3); cutting edges of the three arc blades (2) are opposite mutually, and an opening with the size changing along with motion is formed by the three arc blades (2); an apple collecting bag (8) is arranged below the shell (4).
Description
Technical field
The invention belongs to agricultural machinery technological field, more particularly to a kind of portable apple-picking dress based on negative-pressure sucking
Put.
Background technology
In apple production operation, the harvesting operation of Fructus Mali pumilae is a most laborious, time-consuming link.Pluck operation quality
Quality, directly influences storage, processing and the sale of Fructus Mali pumilae, final to affect the market price and economic benefit.Due to plucking operation
Complexity, pluck automaticity it is very low, apple-picking operation substantially still has been manually done.It is quick with global economy
Development and the aggravation of aged tendency of population, Fructus Mali pumilae harvests cost and improves constantly.Therefore, the mechanized harvest skill of Fructus Mali pumilae is eaten in development raw
Art, research and development apple-picking machinery, has great importance.
Research about Fructus Mali pumilae Mechaniaed harvest starts from the U.S. of the sixties in 20th century, and the harvesting approach of employing is mainly machine
Tool shakes formula and pneumatic shaking formula, and it has the disadvantage fruit rapid wear, inefficient, particularly cannot selectively be harvested.From
20th century, the mid-80 started, and with the development of electronic technology and computer technology, particularly Industrial Robot Technology, calculated
Machine image processing techniquess and artificial intelligence technology it is increasingly mature, countries in the world have been done big in the research for harvesting picking robot
The work of amount, has tested various results picking robots with artificial intelligence successfully.But in actual tests, harvest picking machine
The service behaviour of device people is unsatisfactory.Occur that claw type cutter scratches fruit surface when plucking such as apple picking robot, affect
Fresh preservation effect and sale condition.
The significant challenge that at present research and development of apple picking robot are present is how rapidly and accurately to recognize and position fruit.
Because the fruit stem of Fructus Mali pumilae is shorter, it is close to Fruit branch pattern, not easy to identify and positioning, the workload of Vision Builder for Automated Inspection is big.Utilize
Air negative pressure attracts a range of Fructus Mali pumilae in front, and with " identification fruit " replacement " identification fruit stem ", target size is big, with environment
Difference is obvious, reduces identification and the difficulty for positioning, and can effectively reduce the workload of Vision Builder for Automated Inspection, improves efficiency.By air
Application of sub-atmospheric pressure recognizes and positions fruit on terminal executor of picking robot with the mode of " identification fruit ", will promote fruit
With the sharp separation of Fruit branch, efficiency and quality that picking robot plucks operation are improved.
The content of the invention
It is an object of the invention to propose that a kind of damage to Fructus Mali pumilae is lower, pluck effect preferably based on negative-pressure sucking
Portable apple-picking device.
The purpose of the present invention is achieved through the following technical solutions：
Based on the portable apple-picking device of negative-pressure sucking, it include annulus cutterhead 1, cambered blade 2, annular rotary table 3,
Housing 4, controlling switch 9, expansion link 10, direct current generator 11 and little gear 12；
Wherein, housing 4 is a hollow cavity；
Annulus cutterhead 1 is fixed in the front end of housing 4；
Direct current generator 11 is fixed in housing 4, and little gear 12 is cased with the output shaft of direct current generator 11；
The outer rim of the annular rotary table 3 is provided with cell body, and the cell body bottom is toothed around, and the gear teeth are nibbled with little gear 12
Close；
Cambered blade group is provided between annular rotary table 3 and annulus cutterhead 1；
The cambered blade group includes three cambered blades 2, and the blade of cambered blade 2 is arranged on arc inner edge, cambered blade 2
Two ends are provided with bearing pin；
Annulus cutterhead 1 is provided with three holes along its circumference, and angle is 120 ° between adjacent holes；The inner side edge of annular rotary table 3
Three radial slots are radially provided with, angle is 120 ° between adjacent radial groove；The bearing pin of one end of three cambered blades 2 and annulus knife
A hole on disk 1 rotates connection, and the bearing pin of the other end is located in a radial slot of annular rotary table 3；So that three curved knifes
The blade of piece 2 is relative, and three cambered blades 2 form the opening that a size moves with it change；
The lower section of housing 4 is provided with equal with the openings of sizes of Fructus Mali pumilae collecting bag 8 and forms maximum not less than three cambered blades 2
The opening of the Internal tangential circular areas of opening, arranges Fructus Mali pumilae collecting bag 8 at the opening；
Expansion link 10 is connected with housing 4, and expansion link 10 is provided with controlling switch 9；
Centrifugal blower 7 is connected by heavy caliber air hose 6 with the rear end of housing 4.
The two ends of cambered blade 2 are provided with the boss of differing heights so that three layered arrangements of cambered blade 2.
The rear end of housing 4 and the junction of heavy caliber air hose 6 are provided with protective sheet 5, are provided with protective sheet 5 equally distributed
Aperture.
The axis of expansion link 10 is vertical with the axis of housing 4, with the opening homonymy of the lower section of housing 4 and at grade.
The length of the cell body arranged in the outer rim of annular rotary table 3 is the 20%~25% of the circumferential length of annular rotary table 3.
More than the radius of annular rotary table 3, the radian of cambered blade 2 is 92 °~98 ° to the radius of cambered blade 2.
The radian of the cambered blade 2 is 94 °.
The beneficial effects of the present invention is：
(1) compared with artificial harvesting, the plucking height of the picker is higher, plucks scope bigger；
(2) device attracts Fructus Mali pumilae using air negative pressure, reduces the positioning difficulty of Fructus Mali pumilae, can significantly reduce automatization and adopt
Pluck the workload of Vision Builder for Automated Inspection during Fructus Mali pumilae；
(3) device, from various sizes of cutterhead, can better adapt to difference according to different Fructus Mali pumilae species
Apple-picking under environment, is easy to the popularization of product；
(4) pluck cutter with claw type to compare, damage of the picker to Fructus Mali pumilae is lower, plucks effect more preferable.
Description of the drawings
Fig. 1 is the portable apple-picking device structural representation based on negative-pressure sucking of the present invention；
Fig. 2 is the portable apple-picking device structure decomposition figure based on negative-pressure sucking of the present invention；
Fig. 3 be the present invention portable apple-picking device critical piece based on negative-pressure sucking (omit centrifugal blower 7,
Fructus Mali pumilae collecting bag 8 and heavy caliber air hose 6) schematic diagram；
Fig. 4 be the present invention portable apple-picking device critical piece based on negative-pressure sucking (omit centrifugal blower 7,
Fructus Mali pumilae collecting bag 8 and heavy caliber air hose 6) exploded view；
Fig. 5 a are the structural representation of the cambered blade in the portable apple-picking device based on negative-pressure sucking of the present invention
Figure；
Fig. 5 b are that the side view of the cambered blade in the portable apple-picking device based on negative-pressure sucking of the present invention is (each
Cambered blade has the schematic diagram of differing heights boss)；
Fig. 6 a are that the cambered blade group of the present invention is in the opening that the cambered blade of the first extreme position, i.e., three 2 is formed
When maximum, the front view of annulus cutterhead 1, cambered blade 2 and the installation relation of annular rotary table 3；
Fig. 6 b are that the cambered blade group of the present invention is in the opening that the cambered blade of the first extreme position, i.e., three 2 is formed
When maximum, the rearview of annulus cutterhead 1, cambered blade 2 and the installation relation of annular rotary table 3；
Fig. 7 a are the arrangement schematic diagram of cambered blade 2 the invention is provided with boss；
Fig. 7 b are the arrangement schematic diagram of cambered blade 2 for being not provided with boss of the present invention；
Fig. 8 a are that the cambered blade group of the present invention screws the opening formed to the cambered blade of the second extreme position, i.e., three 2
The front view being reduced to during minimum；
Fig. 8 b are that the cambered blade group of the present invention screws the opening formed to the cambered blade of the second extreme position, i.e., three 2
The rearview being reduced to during minimum.
Reference：
The annular rotary table of 1 annulus cutterhead, 2 cambered blade 3
The heavy caliber air hose of 4 housing, 5 protective sheet 6
The controlling switch of 7 centrifugal blower, 8 Fructus Mali pumilae collecting bag 9
The little gear of 10 expansion link, 11 direct current generator 12
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.
As shown in Fig. 1~Fig. 4, Fig. 5 a, based on the portable apple-picking device of negative-pressure sucking, including annulus cutterhead 1, arc
Shape blade 2, annular rotary table 3, housing 4, protective sheet 5, controlling switch 9, expansion link 10, direct current generator 11 and little gear 12.
Wherein, housing 4 is a hollow cavity.
Annulus cutterhead 1 is fixed in the front end of housing 4.
Direct current generator 11 is fixed in housing 4, and the output shaft of direct current generator 11 is connected with little gear 12.
The outer rim of the annular rotary table 3 is provided with cell body, and the cell body bottom is toothed around, and the gear teeth are nibbled with little gear 12
Close.Preferably, the length of the cell body is the 20%~25% of the circumferential length of annular rotary table 3.
Cambered blade group is provided between annular rotary table 3 and annulus cutterhead 1.
Preferably, the cambered blade group includes three cambered blades 2, and the radius of cambered blade 2 is more than the half of annular rotary table 3
Footpath, the radian of cambered blade 2 is 92 °~98 °, in the present embodiment, it is preferable that the radian of cambered blade 2 is 94 °, cambered blade 2
Blade be arranged on arc inner edge, the two ends of cambered blade 2 are provided with bearing pin.
As shown in Fig. 6 a~Fig. 6 b, annulus cutterhead 1 is provided with three holes along its circumference, and angle is 120 ° between adjacent holes,
Annular rotary table 3 is radially inside provided with three radial slots, and between adjacent radial groove angle is 120 °.Three cambered blades 2
The bearing pin of one end is rotated with a hole on annulus cutterhead 1 and is connected, and the bearing pin of the other end is located at a radial slot of annular rotary table 3
It is interior so that the blade of three cambered blades 2 is relative, because the bearing pin of the one end of cambered blade 2 can turn around the hole on annulus cutterhead 1
It is dynamic, the bearing pin of the other end can with the reciprocating rotation of annular rotary table 3 reciprocating rotation, and can enter in the radial slot of annular rotary table 3
Row linear reciprocating motion so that three cambered blades 2 form the opening that a size moves with it change.Such as Fig. 8 a~Fig. 8 b institutes
Show, be the present invention cambered blade group screw to the cambered blade of the second extreme position, i.e., three 2 formed opening be reduced to minimum when
State.
As shown in Figure 7b, it is the arrangement schematic diagram of cambered blade 2 for being not provided with boss of the invention.In order to overcome without boss
Cambered blade 2 in motion the problem that easily jumps up and down, the two ends of cambered blade 2 in the embodiment of the present invention are provided with differing heights
Boss, as shown in Fig. 5 b and Fig. 7 a so that three layered arrangements of cambered blade 2, three blade storied placements, by arrange not
Level boss, eliminates the bearing pin at the two ends of cambered blade 2 and turns with the hole of annulus cutterhead 1 or the radial slot on annular rotary table 3
Gap during dynamic connection, it is to avoid cambered blade 2 jumps during motion.
The lower section of housing 4 is provided with equal with the openings of sizes of Fructus Mali pumilae collecting bag 8 and forms maximum not less than three cambered blades 2
The opening of the Internal tangential circular areas of opening, arranges Fructus Mali pumilae collecting bag 8 at the opening, for collecting the Fructus Mali pumilae under plucking.Fructus Mali pumilae falls
During, Fructus Mali pumilae collecting bag 8 produces resistance to Fructus Mali pumilae, reduces Fructus Mali pumilae falling speed, reduces Fructus Mali pumilae collsion damage.
Expansion link 10 is connected with housing 4.The length of expansion link 10 can be adjusted, and for plucking the Fructus Mali pumilae of eminence, increase is plucked
Scope.Preferably, the axis of expansion link 10 is vertical with the axis of housing 4, with the opening homonymy of the lower section of housing 4 and in same plane
On, scope is plucked in increase, makes simple operation.
Expansion link 10 is provided with controlling switch 9.Closure is preferably provided with controlling switch 9, three buttons are opened and stop, being used
In the operating of control direct current generator 11, wherein, close, open rotating forward by key control direct current generator 11, reversion, drive curved knife
The diminution of the opening of piece 2, expansion, realize the cutting to fruit stem and the reset function of cambered blade 2；Press and stop key, unidirectional current
Machine 11 stops immediately, for braking in emergency circumstances.
Centrifugal blower 7 is connected by heavy caliber air hose 6 with the rear end of housing 4, for the air in housing 4 to be detached, is made
Draught head is formed with external environment in housing 4, suction is produced to Fructus Mali pumilae.
The rear end of housing 4 and the junction of heavy caliber air hose 6 are provided with protective sheet 5, are provided with protective sheet 5 equally distributed
Aperture, in the case of ensureing that air circulation is smooth, the blade for preventing Fructus Mali pumilae is entered centrifugal blower 7 by negative pressure, affects centrifugal blower 7
Normal work.
During operation of the present invention, the portable apple-picking based on negative-pressure sucking is placed, and is adjusted by expansion link 10 and is plucked high
Degree.Centrifugal blower 7 is opened, makes the inside of housing 4 produce negative pressure.The front end of housing 4 towards target Fructus Mali pumilae, because vacuum suction Fructus Mali pumilae enters
Enter housing 4.The closure button in controlling switch 9 is pressed, direct current generator 11 is rotated forward, drive annular rotary table 3 to revolve by little gear 12
Turn, the opening of three formation of cambered blade 2 constantly reduces, and after closing completely fruit stem is cut off；Press in controlling switch 9 open by
Button, direct current generator 11 is inverted, and drives annular rotary table 3 to rotate by little gear 12, and the opening of three formation of cambered blade 2 constantly expands
Greatly until resetting.The Fructus Mali pumilae of results falls into Fructus Mali pumilae collecting bag 8 by the lower opening of housing 4, completes the harvesting to Fructus Mali pumilae and collection.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each part, connected mode etc. all can be
Change, every equivalents carried out on the basis of technical solution of the present invention and improvement, should not discharge the guarantor in the present invention
Outside shield scope.
Claims (7)
1. the portable apple-picking device of negative-pressure sucking is based on, it is characterised in that：It includes annulus cutterhead (1), cambered blade
(2), annular rotary table (3), housing (4), controlling switch (9), expansion link (10), direct current generator (11) and little gear (12)；
Wherein, housing (4) is a hollow cavity；
Annulus cutterhead (1) is fixed in housing (4) front end；
Direct current generator (11) is fixed in housing (4), and little gear (12) is cased with the output shaft of direct current generator (11)；
The outer rim of the annular rotary table (3) is provided with cell body, and the cell body bottom is toothed around, and the gear teeth are nibbled with little gear (12)
Close；
Cambered blade group is provided between annular rotary table (3) and annulus cutterhead (1)；
The cambered blade group includes three cambered blades (2), and the blade of cambered blade (2) is arranged on arc inner edge, cambered blade
(2) two ends are provided with bearing pin；
Annulus cutterhead (1) is provided with three holes along its circumference, and angle is 120 ° between adjacent holes；The inner side edge of annular rotary table (3)
Three radial slots are radially provided with, angle is 120 ° between adjacent radial groove；The bearing pin and annulus of one end of three cambered blades (2)
A hole on cutterhead (1) rotates connection, and the bearing pin of the other end is located in a radial slot of annular rotary table (3)；So that three
The blade of cambered blade (2) is relative, and three cambered blades (2) form the opening that a size moves with it change；
Housing (4) lower section is provided with equal with Fructus Mali pumilae collecting bag (8) openings of sizes and is formed most not less than three cambered blades (2)
The opening of the Internal tangential circular areas of big opening, arranges Fructus Mali pumilae collecting bag (8) at the opening；
Expansion link (10) is connected with housing (4), and expansion link (10) is provided with controlling switch (9)；
Centrifugal blower (7) is connected by heavy caliber air hose (6) with housing (4) rear end.
2. the portable apple-picking device based on negative-pressure sucking according to claim 1, it is characterised in that：
Cambered blade (2) two ends are provided with the boss of differing heights so that three cambered blade (2) layered arrangements.
3. the portable apple-picking device based on negative-pressure sucking according to claim 1, it is characterised in that：
Housing (4) rear end and heavy caliber air hose (6) junction are provided with protective sheet (5), uniform point is provided with protective sheet (5)
The aperture of cloth.
4. the portable apple-picking device based on negative-pressure sucking according to claim 1, it is characterised in that：
Expansion link (10) axis is vertical with the axis of housing (4), with the opening homonymy and at grade below housing (4).
5. the portable apple-picking device based on negative-pressure sucking according to claim 1, it is characterised in that：
The length of the cell body arranged in the outer rim of annular rotary table (3) is the 20%~25% of annular rotary table (3) circumferential length.
6. the portable apple-picking device based on negative-pressure sucking according to claim 1, it is characterised in that：
More than the radius of annular rotary table (3), the radian of cambered blade (2) is 92 °~98 ° to the radius of cambered blade (2).
7. the portable apple-picking device based on negative-pressure sucking according to claim 6, it is characterised in that：
The radian of the cambered blade (2) is 94 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710102445.4A CN106664965B (en) | 2017-02-24 | 2017-02-24 | Portable apple picking device based on negative pressure suction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710102445.4A CN106664965B (en) | 2017-02-24 | 2017-02-24 | Portable apple picking device based on negative pressure suction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106664965A true CN106664965A (en) | 2017-05-17 |
| CN106664965B CN106664965B (en) | 2022-10-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710102445.4A Active CN106664965B (en) | 2017-02-24 | 2017-02-24 | Portable apple picking device based on negative pressure suction |
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| Country | Link |
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| CN (1) | CN106664965B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107593110A (en) * | 2017-11-10 | 2018-01-19 | 广东工业大学 | A kind of fruit picker |
| CN107771528A (en) * | 2017-11-29 | 2018-03-09 | 浙江海洋大学 | A kind of fruit adsorbent equipment for fruit harvesting robot |
| CN108293427A (en) * | 2018-01-29 | 2018-07-20 | 西安文理学院 | A kind of indirect labor's picker |
| CN108338004A (en) * | 2018-05-08 | 2018-07-31 | 长安大学 | A kind of straight rocking bar fruit shearing picker |
| CN108377725A (en) * | 2018-04-25 | 2018-08-10 | 黄冈师范学院 | A kind of pineapple picker |
| CN108391510A (en) * | 2018-04-28 | 2018-08-14 | 温州大学 | A kind of cherry picking sorting equipment |
| CN108811706A (en) * | 2018-06-08 | 2018-11-16 | 湖南铁路科技职业技术学院 | Cut executive device and its fruit and vegetable picking |
| CN108811749A (en) * | 2018-06-08 | 2018-11-16 | 湖南铁路科技职业技术学院 | Fruit and vegetable picking near the ground |
| CN108811742A (en) * | 2018-06-15 | 2018-11-16 | 苏州格瑞格登新材料科技有限公司 | A kind of agricultural device for picking high fruit that can shear branch |
| CN109005897A (en) * | 2018-05-27 | 2018-12-18 | 苏州花坞信息科技有限公司 | A kind of rapid picking manipulator |
| CN110063136A (en) * | 2019-05-05 | 2019-07-30 | 安徽工程大学 | The design method of fruit picking carpopodium cutter device |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
| CN117616998A (en) * | 2024-01-08 | 2024-03-01 | 华南农业大学 | Intelligent tea bud picking actuator, device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107593110A (en) * | 2017-11-10 | 2018-01-19 | 广东工业大学 | A kind of fruit picker |
| CN107771528A (en) * | 2017-11-29 | 2018-03-09 | 浙江海洋大学 | A kind of fruit adsorbent equipment for fruit harvesting robot |
| CN108293427A (en) * | 2018-01-29 | 2018-07-20 | 西安文理学院 | A kind of indirect labor's picker |
| CN108293427B (en) * | 2018-01-29 | 2024-04-16 | 西安文理学院 | Supplementary manual picking device |
| CN108377725A (en) * | 2018-04-25 | 2018-08-10 | 黄冈师范学院 | A kind of pineapple picker |
| CN108391510B (en) * | 2018-04-28 | 2023-05-16 | 温州大学 | Cherry picking and sorting device |
| CN108391510A (en) * | 2018-04-28 | 2018-08-14 | 温州大学 | A kind of cherry picking sorting equipment |
| CN108338004A (en) * | 2018-05-08 | 2018-07-31 | 长安大学 | A kind of straight rocking bar fruit shearing picker |
| CN109005897A (en) * | 2018-05-27 | 2018-12-18 | 苏州花坞信息科技有限公司 | A kind of rapid picking manipulator |
| CN108811706A (en) * | 2018-06-08 | 2018-11-16 | 湖南铁路科技职业技术学院 | Cut executive device and its fruit and vegetable picking |
| CN108811749A (en) * | 2018-06-08 | 2018-11-16 | 湖南铁路科技职业技术学院 | Fruit and vegetable picking near the ground |
| CN108811706B (en) * | 2018-06-08 | 2020-11-27 | 湖南铁路科技职业技术学院 | Cutting execution device and fruit and vegetable picking machine thereof |
| CN108811742A (en) * | 2018-06-15 | 2018-11-16 | 苏州格瑞格登新材料科技有限公司 | A kind of agricultural device for picking high fruit that can shear branch |
| CN110063136A (en) * | 2019-05-05 | 2019-07-30 | 安徽工程大学 | The design method of fruit picking carpopodium cutter device |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
| CN115989748B (en) * | 2022-12-30 | 2023-07-21 | 北京中科原动力科技有限公司 | Picking device |
| CN117616998A (en) * | 2024-01-08 | 2024-03-01 | 华南农业大学 | Intelligent tea bud picking actuator, device and method |
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