CN106856832A - A kind of roller sliding block human assistance non-contact type mechanical hand-electric apricot device for picking - Google Patents

Abstract

The invention provides a roller slider artificially assisted non-contact manipulator electric apricot picker, comprising a handle, a support rod, a spring, a picker and a collection bag, the spring, the support rod and the picker are fixedly installed on the handle, and the support rod is installed on On the handle and hinged with the handle, the picker is composed of a roller, a telescopic rod, a spring and a cutter. , one end of the connecting rod is fixed on the telescopic rod through bolts, and the other end of the connecting rod is connected with the connecting plate on the motor through bolts. There are U-shaped grooves, manual auxiliary handle, turn on the power switch, the motor rotates, driving the cutter to reciprocate, the roller rotates on the apricot branch, the cutter cuts off the stalk of the apricot, and the apricot falls into the collection bag.

Description

A roller slider artificially assisted non-contact manipulator electric apricot picker

technical field

The invention relates to a non-contact manipulator electric apricot picker assisted manually by a roller slider, which belongs to the technical field of agricultural machinery.

Background technique

Apricot is a kind of semi-berry with juicy pulp. The surface of apricot is oxidized and blackened after bruising and falling. Try to avoid damage to the outer skin when picking. There are many ways to pick apricots at home and abroad. The first way is manual Grab the apricots directly, the apricots are separated from the fruit handle, and each time you grab 1-3 apricots, the picking efficiency is low and the labor intensity is high. The second method is the comb type. When picking, the apricots are located between the two comb teeth of the picking comb , the comb teeth of the picking comb are in contact with the surface of the apricot, and the comb teeth and the surface of the apricot generate mutual extrusion force, and the apricot moves on the surface of the comb teeth, which damages the surface of the apricot, and the surface of the damaged apricot becomes oxidized and black, which affects the quality of picking and the commodity of the apricot. Quality, the third way is the air suction vibration type, the high-intensity airflow acts on the fruit tree, the airflow makes the fruit tree shake, the fruit falls through its own weight and the impact of the air, during the falling process, acceleration is generated, and when they hit the ground, they collide with each other. To damage the outer skin, the fourth method is the shaking method. Through the reciprocating movement of the eccentric four-bar mechanism, the apricots are forcibly shed. The fifth method is the vibration and knocking method, which is a destructive picking method that seriously damages the apricot tree. , Affect the growth and output of several trees in the next year, and the eccentric block shakes and picks, which is a deformation of the vibration and knocking method.

Contents of the invention

An electric apricot picker with a roller slider artificially assisted non-contact manipulator is suitable for picking berries, including a handle, a support rod, a spring, a picker and a collection bag. The handle is provided with a spring, a support rod and a picker, and the support rod is connected to the The handle is hinged, and the cutting knife reciprocates under the drive of the power. The cutting knife moves close to the outer surface of the apricot branch, and cuts off the stem of the apricot and needles on the branch. When the diameter of the branch of the apricot changes, the roller compresses the spring to drive the cutting. The knife moves along the straight line parallel to the surface of the apricot branch, but the cutting angle of the knife remains unchanged. The apricot stalk is cut off by the blade of the knife, and the remaining stalk is attached to the apricot fruit without loss of nutrients. No crushing force.

The technical solution is: a roller slider artificially assisted non-contact manipulator electric apricot picker, including a handle, a support rod, a spring, a picker and a collection bag, and a spring, a support rod and a picker are fixedly installed on the handle, and the support rod Installed on the handle and hinged with the handle, the picker is composed of a roller, a telescopic rod, a spring, a cutter and a collection bag. The hole is connected with the handle, one end of the connecting rod is fixed on the telescopic rod through a bolt, and the other end of the connecting rod is connected with the connecting plate on the motor through a bolt, and the blade of the cutter is in the form of multiple concave small arcs, close to the apricot branch On the surface of the surface, loosen the bolts to adjust the relative position between the cutter and the apricot branches. There is a U-shaped groove on the outer surface of the roller, and the apricot branches are placed in the U-shaped groove. When working in the field, one hand Hold the apricot branch to be picked, and apply pressure to the handle of the picker with the other hand. The handle overcomes the pressure of the spring and rotates around the hinge point on the support rod, driving the roller and the cutter to open, and the roller is placed on the branch of the apricot. , the apricot branch is embedded in the groove of the roller, and the roller rolls on the apricot branch. When the diameter of the apricot branch changes, a force is applied to the roller. Knife movement, the cutting knife is always close to the surface of the apricot branch, non-contact with the apricot, only in contact with the stalk of the apricot and the surface of the apricot branch, the pressure on the handle is released, and the force of the spring fixes the roller on the apricot branch. Turn on the power switch, the motor is a micro DC speed regulating motor, the output shaft of the motor is connected with the rotating disk, the rotation of the motor drives the rotating disk to rotate, and an eccentric crank is set on the rotating disk, the rotating disk makes circular motion, while the crank makes linear reciprocating motion, The crank movement drives the cutter to reciprocate, the artificial auxiliary handle and the roller rotate on the apricot branch, the cutter cuts off the stalk of the apricot, and the apricot falls into the collection bag.

In the described apricot picker with manual auxiliary non-contact manipulator with roller sliders, the rollers and the cutters are arranged in pairs, and the rollers can be dislocated and arranged not on the same vertical line.

Patent 2014104860098, paper "Research and Experimental Analysis on Key Factors of Apricot Vibration Harvesting", when picking apricots, the apricots are located between the two comb teeth of the picking comb, and the comb teeth of the picking comb are in contact with the surface of the apricot, and the comb teeth and the surface of the apricot are squeezed together force, and the apricot moves on the surface of the comb teeth, damages the surface of the apricot, and the surface of the damaged apricot is oxidized and blackened, which affects the quality of picking and the quality of the apricot. Secondly, the tensile strength of the apricot stalk is much greater than that of the apricot. When the fruit stalk falls off from the apricot, it will produce a tearing force on the apricot, causing the flesh at the joint between the apricot and the apricot fruit stalk to fall off. Because the apricot is a berry, the pulp in the apricot fruit will lose its pulp, the flesh will shrink, lose its luster, and lose weight. It is the most ideal The picking is to leave the stem part on the fruit of the apricot. A roller slider artificially assisted non-contact manipulator electric apricot picker can achieve variable-diameter picking. The cutter moves on the outer surface of the apricot branch to cut off the stem of the apricot. , most of the stalk remains on the fruit, the apricot fruit does not touch the cutter, there is no relative movement between the two, no damage to the surface of the apricot, and the stalk remains on the apricot, which cannot be achieved by the existing picking technology. When the diameter of the branch of the apricot changes, the spring is compressed by the roller, and then the cutter is driven to move along the straight line and parallel direction of the surface of the branch, but the cutting angle of the cutter remains unchanged, and the apricot stalk can only be cut off by the blade at the tip of the cutter , no extrusion force on the surface of the apricot fruit, a rolling non-contact picking on the apricot branch, the structure is different, the principle is different, the roller and the cutter can also be set in a single setting, or two can be used in combination , flexible and convenient, in addition, the precise positioning of mechanical picking is difficult, and the efficiency of manual picking is low. The picking knife of this application moves in parallel along the surface of the branches to cut off the fruit stalk, and the roller moves on the branches to realize variable-diameter picking. Other forms of comb picking , flexible picking, and clamping picking all apply squeezing force to the surface of the apricot, resulting in relative motion, and can only be picked on one plane, while air-suction picking, the airflow cannot enter between the clustered fruits, even if the airflow increases. Large, the air suction type cannot be picked at all, and the air flow is difficult to separate the apricot from the tough fruit handle. Holding the picking pole high for a long time will cause shaking, deviation of sight, inaccurate positioning, low picking efficiency, and different growth angles of apricot branches. Through rotating and clamping, the dynamic rotating fingers can clamp static and different angles and different shapes. It is difficult to clamp the apricots smoothly. The hand-held electric scissors make the apricot fruit handle between the two scissors. The apricot fruits are clustered, each growing at a different angle, and only one can be cut at a time. There is a technical problem in precise positioning. , labor-intensive, air-suction vibration type, high-intensity airflow acts on the fruit tree, the airflow shakes the fruit tree, the fruit falls through its own weight and the impact of the air, during the falling process, it generates acceleration, collides with each other when landing, and damages the outside Epidermis, shaking type, through the reciprocating movement of the eccentric four-bar mechanism, the apricots are forcibly shed, and the vibration and knocking type is a destructive picking method, which seriously damages the apricot tree and affects the growth and yield of the next year. Eccentric Block shaking picking is a deformation of the vibration percussion , while the present application is moving forward, the rollers can also rotate on the branches at the same time. All apricots grow on the branches, whether they are side branches or on the side branches. Due to the inconsistent growth angles of the apricot branches, the fingers of the robot cannot replace humans in picking. The fingers of the robot are multi-joint mechanisms made of metal materials. There is no image thinking, and they only perform mechanical actions. The picking of fruit is not regular, and it is impossible to follow the prescribed procedures. Humans are animals with thinking and perception. The growth years of apricots are different, and the tensile strength of their fruit stalks is different. Robot picking cannot distinguish the growth age of apricot trees. The growth position of the apricot, the robot hand and the apricot will always contact the surface, resulting in clamping force, the clamping parts are different, there will be slippage, and the clamping is not tight. Directly in contact with the surface of apricot fruit, the picking efficiency is low. Picking individually, the growth of apricots on the branches has no rules to follow, and it is impossible to grow on the same plane. The number of apricots in the ears is different, and they are clustered into ears, so that the growth of apricots in each ear is not on the same plane. Even if mechanical pruning is implemented, mechanical picking is difficult to achieve. Mechanical picking is nothing more than cutting off the branches of apricots directly with scissors or rotary knives. Picking can only be picked along the same plane, which cannot be done by robots at present, but this application just takes advantage of this, and directly cuts off the fruit stalk by rolling the roller on the branch, and the non-contact manipulator realizes the picking of multiple fruit ears at a time, that is, more than two ears. Ear picking, symmetrical cutting knife, no contact between the cutting knife and the surface of the apricot fruit, the roller has a floating profiling function, variable diameter picking, and overcomes the phenomenon of squeezing the apricot, which is currently impossible for robots. The existing technical solutions are similar to this The technical solutions applied for are different in principle and structure, and the details determine the success or failure of the technical solutions.

The present invention has the following advantages.

1. Small in size and light in weight, it is not only suitable for trunk picking, but also for side branches and side branches, and is easy to operate.

2. The picking speed is fast and the efficiency is high. The cutter moves along the surface of the apricot branch to cut off the stalk of the apricot. The roller has a floating profiling function to realize the variable diameter movement. The cutter cuts off the stalk of the apricot without squeezing the apricot fruit. pressure effect.

Description of drawings

Fig. 1 is a structural schematic diagram of the artificially assisted non-contact electric apricot picker of the roller slider variable diameter branch according to the embodiment of the present invention.

Among them, 1, handle 2, apricot branch 3, support rod 4, telescopic rod 5, spring 6, roller 7, cutter 8, connecting rod 9, bolt.

detailed description

Example.

A roller slider artificially assisted non-contact manipulator electric apricot picker, including a handle 1, a support rod 3, a spring 5, a picker and a collection bag, and a spring 5, a support rod 3 and a picker are fixedly installed on the handle 1, and the support Rod 3 is installed on the handle 1, and is hinged with handle 1, picker is made up of roller 6, telescopic rod 4, spring 5 and cutter 7 and collecting bag, and spring 5 is compression spring, and telescopic rod 4 one end is connected with roller 6, The other end passes through the through hole provided on the spring 5 and the handle 1 and is connected with the handle 1. One end of the connecting rod 8 is fixed on the telescopic rod 4 through a bolt 9, and the other end of the connecting rod 8 is connected with the connecting plate on the motor through a bolt 9. The blade of the cutter 7 is in multiple small arcs, close to the surface of the apricot branch 2, loosen the bolt 9 to adjust the relative position of the cutter 7 and the apricot branch 2, and a U-shaped groove is arranged on the outer circular surface of the roller 6 The apricot branch 2 is placed in the U-shaped groove. When working in the field, hold the apricot branch 2 to be picked with one hand, and apply pressure to the handle 1 of the picker with the other hand. The handle 1 overcomes the pressure of the spring 5 Rotate around the hinge point on the support rod 3, drive the roller 6 and the cutter 7 to open, place the roller 6 on the branch of the apricot, the apricot branch 2 is embedded in the groove of the roller 6, and the roller 6 rolls on the apricot branch 2, When the diameter of the branch of apricot changes, an active force is applied to the roller 6. The roller 6 has a floating profiling function, compresses the spring 5 arranged on the telescopic rod 4, and then drives the cutting knife 7 to move, and the cutting knife 7 is always close to the apricot branch 2. The surface movement removes the pressure on the handle 1, the force of the spring 5 fixes the roller 6 on the apricot branch 2, the power switch is turned on, the motor rotates, and the cutter 7 is driven to reciprocate, and the manual auxiliary handle 1, the roller 6 is on the apricot branch. 2, the cutter 7 cuts off the handle of the apricot, and the apricot falls into the collection bag. After picking an apricot branch, pressure is applied to the handle 1, and the handle 1 overcomes the pressure of the spring 5 and rotates around the hinge point on the support rod 3 , drive roller 6 and cutter 7 to open, and apricot picker is taken away from the branch that plucks, repeat above-mentioned work process, to the picking of other apricot branch 2 successively.

Claims (2)

1. a kind of roller sliding block human assistance non-contact type mechanical hand-electric apricot device for picking, including handle（1）, support bar（3）, bullet Spring（5）, device for picking and collecting bag, it is characterised in that：In handle（1）Upper fixed installation spring（5）, support bar（3）And device for picking, Support bar（3）Installed in handle（1）On, and and handle（1）It is hinged, device for picking is by roller（6）, expansion link（4）, spring（5）With Cutting knife（7）With collecting bag composition, spring（5）It is stage clip, expansion link（4）One end and roller（6）Connection, the other end runs through spring （5）And handle（1）The through hole of upper setting and and handle（1）Connection, connecting rod（8）One end pass through bolt（9）It is fixed on expansion link （4）On, connecting rod（8）The other end pass through bolt（9）Couple with the gusset piece on motor, cutting knife（7）Blade be in multiple indents Small arc-shaped, press close to apricot branch（2）Surface, unclamp bolt（9）Regulation cutting knife（7）With apricot branch（2）Relative position, rolling Wheel（6）Periphery be provided with the groove of U-shaped, apricot branch（2）Be placed in the groove of U-shaped, during farm work, a hand is held The apricot branch to be plucked（2）, handle of the another hand to device for picking（1）Apply pressure, handle（1）Overcome spring（5）Pressure Around support bar（3）On pin joint rotate, drive roller（6）And cutting knife（7）Open, by roller（6）It is placed on the branch of apricot, apricot Branch（2）Embedded roller（6）Groove in, roller（6）In apricot branch（2）Upper rolling, it is right when the branch diameter change of apricot Roller（6）Apply active force, roller（6）With floating copying function, expansion link is compressed（4）The spring of upper setting（5）, and then band Dynamic cutting knife（7）Motion, cutting knife（7）All the time apricot branch is pressed close to（2）Apparent motion, release to handle（1）Applying pressure, spring （5）Active force by roller（6）It is fixed on apricot branch（2）On, turning on the power switch, motor rotation drives cutting knife（7）Reciprocal fortune It is dynamic, human assistance handle（1）, roller（6）In apricot branch（2）Upper rotation, cutting knife（7）The carpopodium of apricot is cut off, apricot falls into collection In bag.

2. a kind of roller sliding block human assistance non-contact type mechanical hand-electric apricot device for picking as described in claim 1, its feature It is：Roller（6）And cutting knife（7）It is arranged in pairs.