CN106973633A - A kind of roller sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking - Google Patents

Abstract

The present invention provides a kind of roller sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking, including handle, support bar, spring, device for picking and collecting bag, spring is fixedly mounted on handle, support bar and device for picking, support bar is arranged on handle, and be hinged with handle, device for picking is by roller, expansion link, spring and cutting knife composition, spring is stage clip, one end of expansion link couples with roller, the other end runs through the through hole set on spring and handle and coupled with handle, one end of connecting rod is bolted on expansion link, the other end of connecting rod is coupled by bolt with the gusset piece on motor, the blade of cutting knife is in the small arc-shaped of multiple indents, the groove of U-shaped is provided with the periphery of roller, human assistance handle, turn on the power switch, motor rotates, cutting knife is driven to move back and forth, roller is rotated on persimmon branch, cutting knife cuts off the carpopodium of persimmon, persimmon is fallen into collecting bag.

Description

A kind of roller sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking

Technical field

The present invention relates to a kind of roller sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking, belong to agriculture machine Tool technical field.

Background technology

Persimmon is a kind of many berries of pulp, and ripe persimmon appearance is soft and soggy, is damaged and the outflow of tumble injury rear slurry, surface oxidation Blackening, tries one's best during harvesting and avoids damage to exocuticle, and persimmon harvesting both domestic and external is by various ways, and first way is manually to use hand Persimmon is directly captured, persimmon is separated with carpopodium, and picking efficiency is low, labor intensity is big, and the second way is billhook formula, be directed at persimmon Persimmon harvesting is directly captured with billhook, the third mode is comb-tooth-type, persimmon is located between two broach of picking comb during harvesting, adopts The broach and persimmon dermal contact of comb are plucked, broach produces easy damaged in mutual extruding force, broach rotation process with persimmon surface and pricked Hinder the epidermis of persimmon, the marketing quality of quality and persimmon is plucked in the persimmon surface oxidation blackening of damage, influence, and the 4th kind of mode is Shaking formula, by the reciprocating motion of eccentric four-bar mechanism, makes persimmon come off by force, is a kind of destructive harvesting, was falling Cheng Zhong, produces acceleration, is mutually collided during landing, damages exocuticle, damages serious to persimmon tree, the life of the wooden next year of influence number Long and yield, fifth procedure is clipping, and clip contacts the epidermis of persimmon, produces chucking power, slides, chucking power mistake Greatly, persimmon is deformed, and skin breakage, retaining part is most important.

The content of the invention

A kind of roller sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking, is suitable for berry harvesting, including Handle, support bar, spring, device for picking and collecting bag, handle are provided with spring, support bar and device for picking, and support bar is cut with scissors with handle Connect, cutting knife is moved back and forth under the drive of power, cutting knife pressing close to persimmon branch outer surface move, cut off persimmon carpopodium and Acupuncture on branch, during the branch diameter change of persimmon, by roller compression spring, and then drives cutting knife along persimmon branch surface Straight line parallel direction is moved, but the cutting angle of cutting knife is constant, is cut off the carpopodium of persimmon by the blade of cutting knife, the fruit of residual Handle is attached on persimmon, no nutrient loss, to the surface of persimmon without squeezing action power.

Its technical scheme is：A kind of roller sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking, including hand Handle, support bar, spring, device for picking and collecting bag, are fixedly mounted spring, support bar and device for picking on handle, and support bar is installed It is hinged on handle, and with handle, device for picking is made up of roller, expansion link, spring and cutting knife and collecting bag, spring is stage clip, One end of expansion link couples with roller, and the through hole that the other end is set on spring and handle simultaneously couples, the one of connecting rod with handle End is bolted on expansion link, and the other end of connecting rod is coupled by bolt with the gusset piece on motor, the blade of cutting knife In the small arc-shaped of multiple indents, press close to the surface of persimmon branch, unclamp the relative position of bolt regulation cutting knife and persimmon branch, The periphery of roller is provided with the groove of U-shaped, and persimmon branch is placed in the groove of U-shaped, during farm work, and hand is held will The persimmon branch of harvesting, another hand applies pressure to the handle of device for picking, and handle overcomes the pressure of spring on support bar Pin joint is rotated, and is driven roller and cutting knife to open, roller is placed on the branch of persimmon, the groove of the insertion roller of persimmon branch Interior, roller is rolled on persimmon branch, when the branch diameter change of persimmon, and pair roller applies active force, and roller, which has, to float The spring set on profile modeling function, compression expansion link, and then drive cutting knife motion, the surface for pressing close to persimmon branch all the time of cutting knife Motion, with persimmon noncontact, only contacts with the carpopodium of persimmon and persimmon branch surface, releases the application pressure to handle, spring Active force roller is fixed on persimmon branch, turn on the power switch, motor be minisize dc buncher, motor output shaft Couple with rotating disk, motor rotation drives rotating disk rotation, and on the rotating pan provided with eccentric crank, rotating disk does circumference fortune It is dynamic, and crank does straight reciprocating motion, crank-motion drives cutting knife to move back and forth, human assistance handle, and roller is in persimmon branch Upper to rotate, cutting knife cuts off the carpopodium of persimmon, and persimmon is fallen into collecting bag.

A kind of described roller sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking, roller and cutting knife are paired Set, roller can be shifted to install, arranged not on same plumb line.

Patent 20122098881,2013105469618,2015104799380, billhook formula and scrapes and adopts ring type and belong to comb Tooth-like, persimmon is located between two broach of picking comb during harvesting, broach and the persimmon dermal contact of picking comb, broach and persimmon table Face produces the epidermis that easy damaged in mutual extruding force, broach rotation process stabs persimmon, the persimmon surface oxidation blackening of damage, shadow The marketing quality of harvesting quality and persimmon is rung, secondly, persimmon carpopodium is thick, and fiber is more, toughness is big, and persimmon carpopodium comes off from persimmon During, tensile force can be produced to persimmon, cause persimmon and the pulp of persimmon carpopodium junction to come off, nutrient flow in persimmon fruit Lose, pulp shrinks, and tarnishes, weight saving, optimal harvesting is that carpopodium is partially left on the fruit of persimmon, and a kind of rolling Sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking is taken turns, can realize that reducing is plucked, cutting knife is in persimmon branch Outer surface is moved, and cuts off the carpopodium of persimmon, the carpopodium overwhelming majority stayed on fruit, persimmon fruit is not contacted with cutting knife, both it Between without relative motion, persimmon surface nondestructive is hindered, and carpopodium is partially left on persimmon, existing picked technology can not be realized, persimmon During the branch diameter change of son, by roller compression spring, and then straight line parallel direction of the cutting knife along persimmon branch surface is driven Motion, but the cutting angle of cutting knife is constant, can only be cut off the carpopodium of persimmon by the sophisticated blade of cutting knife, to persimmon fruit Surface is without squeezing action power, and one kind on persimmon branch rolls contactless harvesting, and structure is different, different in principle, roller Can also be set with cutting knife using single, can also two be used in combination, flexibly and easily, in addition, mechanical picking is accurately fixed Position difficulty is larger, and artificial picking efficiency is low, and the application picking knife cuts off carpopodium along the parallel motion of branch surface, and roller is in branch Moved on bar, realize that reducing is plucked, flexible harvesting, the clamping harvesting of other forms apply extruding force, production to the surface of persimmon Raw relative motion, can only in one plane be plucked, clipping harvesting, hold picking lever high with hand, and the center of gravity of bar is located at middle and upper part, The pushing time holds picking lever high and produces shake, and deviation occurs in sight, and positioning is inaccurate, and picking efficiency is low, and persimmon is in shoot growth Angle is different, is clamped by rotating, and dynamic rotation refers to de-clamping static state and the different and of different shapes persimmon of angle, It is difficult to smoothly clamping, hand lifts formula electric shear, persimmon carpopodium is located between two scissors, the fruit of persimmon is grown thickly, each The angle of growth is different, and one can only be sheared every time, there is precise positioning technical problem, and labor intensity is big, shaking formula, by inclined The reciprocating motion of heart four-bar mechanism is rigidly connected with fruit, persimmon is come off by force, shakes percussive, and being that one kind is destructive adopts Pluck, serious is damaged to persimmon tree, the growth of the wooden next year of influence number and yield, eccentric block shaking harvesting is vibrations percussive One kind deformation, and the application is while travelling forward, roller also can realize the rotation on branch simultaneously, and all persimmons are all raw It is long either on side shoot or side shoot, to be coupled on branch by carpopodium with branch, the rotation harvesting of 360 degree of cutting knifes is realized, by Inconsistent in the growth angle of branch in persimmon, the finger of robot does not replace people, machine anyway in terms of harvesting yet The finger of people is the multi-joint mechanism being made up of metal material, without thinking in images, simply perform mechanical action, and fruit is adopted Pluck random, it is impossible to perform along regulated procedure, and people is the animal for having thinking and perceiving, the growth year of persimmon is not Together, the tensile strength of its carpopodium is differed, and picking robot can not distinguish that persimmon tree grows age, the growth position of persimmon, machine Device hand is contacted with persimmon federation surface, produces chucking power, and retaining part is different, slides, and clamps not tight, and this point is not housed Doubt, artificial harvesting can cut the carpopodium of persimmon with scissors, the surface directly with persimmon fruit is not contacted, and picking efficiency is low, single Individual harvesting, the no rule of growth of the persimmon on branch can be followed, it is impossible to be grown in approximately the same plane, and height is straggly to differ, persimmon Growth position of the son on branch is different, and mechanical picking can only be plucked along approximately the same plane, and robot is not accomplished at present, and this Shen This point is please exactly utilized, is rolled by roller in branch, directly cuts carpopodium, non-contact mechanical hand once realizes multiple fruit ears Harvesting, i.e. more than two fruit ears harvesting, symmetrical cutting knife, cutting knife and persimmon fruit surface be contactless, and roller has floating Profile modeling function, reducing harvesting, overcomes the extruding phenomenon to persimmon, robot is not accomplished at present, existing technical scheme and sheet It is different in the technical scheme principle of application, in structure.

The present invention has advantages below.

1st, small volume, lightweight, is not only applicable to trunk harvesting, is also adapted to side shoot side shoot, easy to operate.

2nd, picking rate is fast, efficiency high, apparent motion of the cutting knife along persimmon branch, cuts off the carpopodium of persimmon, and roller has Floating copying function, realizes that reducing is moved, cutting knife cuts off the carpopodium of persimmon, and squeezing action is not produced to persimmon fruit.

Brief description of the drawings

Fig. 1 is the roller sliding block reducing branch human assistance non-contact electric persimmon device for picking knot of the embodiment of the present invention Structure schematic diagram.

1, handle 2, persimmon branch 3, support bar 4, expansion link 5, spring 6, roller 7, cutting knife 8, company wherein in figure Bar 9, bolt.

Embodiment

Embodiment.

A kind of roller sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking, including handle 1, support bar 3, bullet Spring 5, device for picking and collecting bag, are fixedly mounted spring 5, support bar 3 and device for picking on handle 1, and support bar 3 is arranged on handle 1 On, and be hinged with handle 1, device for picking is made up of roller 6, expansion link 4, spring 5 and cutting knife 7 and collecting bag, and spring 5 is stage clip, One end of expansion link 4 couples with roller 6, and the through hole that the other end is set on spring 5 and handle 1 simultaneously couples, connecting rod with handle 1 8 one end is fixed on expansion link 4 by bolt 9, and the other end of connecting rod 8 is coupled by bolt 9 with the gusset piece on motor, is cut The blade of knife 7 is in multiple small arc-shapeds, presses close to the surface of persimmon branch 2, unclamps the regulation cutting knife 7 of bolt 9 relative with persimmon branch 2 Position, is provided with the groove of U-shaped on the periphery of roller 6, and persimmon branch 2 is placed in the groove of U-shaped, during farm work, and one Hand holds the persimmon branch 2 to be plucked, and another hand applies pressure to the handle 1 of device for picking, and handle 1 overcomes the pressure of spring 5 Pin joint of the power on support bar 3 is rotated, and drives roller 6 and cutting knife 7 to open, roller 6 is placed on the branch of persimmon, persimmon branch In the groove of the insertion roller 6 of bar 2, roller 6 is rolled on persimmon branch 2, and when the branch diameter change of persimmon, pair roller 6 is applied Plus active force, roller 6 has the spring 5 set on floating copying function, compression expansion link 4, and then drives cutting knife 7 to move, and cuts The apparent motion for pressing close to persimmon branch 2 all the time of knife 7, releases the application pressure to handle 1, and the active force of spring 5 consolidates roller 6 It is scheduled on persimmon branch 2, turns on the power switch, motor rotation drives cutting knife 7 to move back and forth, human assistance handle 1, roller 6 exists Rotated on persimmon branch 2, cutting knife 7 cuts off the carpopodium of persimmon, persimmon is fallen into collecting bag, a persimmon branch harvesting is completed Afterwards, pressure is applied to handle 1, handle 1 overcomes pin joint of the pressure of spring 5 on support bar 3 to rotate, and drives roller 6 and cuts Knife 7 opens, and the branch that persimmon device for picking is completed from harvesting is taken away, the above-mentioned course of work is repeated, successively to other persimmon branches 2 Harvesting.

Claims (2)

1. a kind of roller sliding block human assistance non-contact type mechanical hand-electric persimmon device for picking, including handle（1）, support bar（3）、 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 harvesting Device, 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） And cutting knife（7）With collecting bag composition, spring（5）For stage clip, expansion link（4）One end and roller（6）Connection, the other end runs through bullet 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 flexible Bar（4）On, connecting rod（8）The other end pass through bolt（9）Couple with the gusset piece on motor, cutting knife（7）Blade in multiple Recessed small arc-shaped, presses close to persimmon branch（2）Surface, unclamp bolt（9）Adjust cutting knife（7）With persimmon branch（2）Relative position Put, in roller（6）Periphery be provided with U-shaped groove, persimmon branch（2）Be placed in the groove of U-shaped, during farm work, One hand holds the persimmon branch to be plucked（2）, handle of the another hand to device for picking（1）Apply pressure, handle（1）Overcome bullet 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 in persimmon On the branch of son, persimmon branch（2）Insertion roller（6）Groove in, roller（6）In persimmon branch（2）It is upper to roll, work as persimmon Branch diameter change when, pair roller（6）Apply active force, roller（6）With floating copying function, expansion link is compressed（4）On The spring of setting（5）, and then drive cutting knife（7）Motion, cutting knife（7）All the time persimmon branch is pressed close to（2）Apparent motion, release pair Handle（1）Application pressure, spring（5）Active force by roller（6）It is fixed on persimmon branch（2）On, turn on the power switch, electricity Machine rotates, and drives cutting knife（7）Move back and forth, human assistance handle（1）, roller（6）In persimmon branch（2）It is upper to rotate, cutting knife（7） The carpopodium of persimmon is cut off, persimmon is fallen into collecting bag.

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