CN106973638A - A kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device - Google Patents
A kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device Download PDFInfo
- Publication number
- CN106973638A CN106973638A CN201710215647.XA CN201710215647A CN106973638A CN 106973638 A CN106973638 A CN 106973638A CN 201710215647 A CN201710215647 A CN 201710215647A CN 106973638 A CN106973638 A CN 106973638A
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- China
- Prior art keywords
- cherry
- roller
- handle
- cutting knife
- spring
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Classifications
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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
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
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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
The present invention provides a kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device, 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, expansion link one end couples with roller, the other end runs through the through hole set on spring and handle and coupled with handle, connecting rod one end 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 cherry branch, cutting knife cuts off the carpopodium of cherry, cherry is fallen into collecting bag.
Description
Technical field
The present invention relates to a kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device, belong to agriculture machine
Tool technical field.
Background technology
Cherry sugar content is high, aqueous many, belongs to berry, and pericarp is thin, and the cherry picking of China is by six kinds of modes, the first side
Formula is directly to be plucked with hand from cherry branch, and picking efficiency is low, and labor intensity is big, and the second way is to use picking comb, by
It is aqueous many, rich in sugar in cherry, cherry is located between two broach of picking comb during harvesting, power drives broach to rotate, and passes through
Pulling separates cherry with carpopodium, and the tensile strength of cherry carpopodium is much larger than the anti-stretch breaking strength of cherry, and even larger than pericarp is resistance to
Ability is racked, when carpopodium is separated with cherry, the partial pericarp or pulp of cherry come off, and the place that comes off causes cherry nutrient loss,
Extruding of the broach to cherry fruit surface causes epidermis to be damaged, surface oxidation, influences the quality of cherry, and being that one kind is destructive adopts
Pluck, the third mode is aspirated-air type, though air-flow can not enter cluster round between the fruit grown thickly, throughput is increased, aspirated-air type root
Originally harvesting can not be realized, aspirated-air type decides that the harvesting of air-flowing type can not be realized, the 4th kind of mode is clipping, and surface produces phase
To motion, it is badly damaged and hinders the surface of cherry, fifth procedure is shaken in percussive, cherry dropping process, is made by gravity
With damage outer surface, the 6th kind of mode is eccentric block vibrations harvesting, is a kind of deformation for shaking percussive.
The content of the invention
A kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device, 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 cherry branch outer surface move, cut off cherry carpopodium and
Acupuncture on branch, during the branch diameter change of cherry, by roller compression spring, and then drives cutting knife along cherry branch surface
Straight line parallel direction is moved, but the cutting angle of cutting knife is constant, is cut off the carpopodium of cherry by the blade of cutting knife, the fruit of residual
Handle is attached on cherry fruit, no nutrient loss, to the surface of cherry without squeezing action power.
Its technical scheme is：A kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device, 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, connecting rod one end with handle
It 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, presses close to the surface of cherry branch, the relative position of bolt regulation cutting knife and cherry branch is unclamped, in rolling
The periphery of wheel is provided with the groove of U-shaped, and cherry branch is placed in the groove of U-shaped, and during farm work, a hand is held and adopted
The cherry branch plucked, another hand applies pressure to the handle of device for picking, and handle overcomes hinge of the pressure of spring on support bar
Contact is rotated, and is driven roller and cutting knife to open, roller is placed on the branch of cherry, the groove of the insertion roller of cherry branch
Interior, roller is rolled on cherry branch, when the branch diameter change of cherry, and pair roller applies active force, and roller, which has, to float
The spring set on profile modeling function, compression expansion link, and then cutting knife motion is driven, cutting knife presses close to the surface fortune of cherry branch all the time
It is dynamic, with cherry noncontact, only contacted with the carpopodium of cherry and cherry branch surface, release the application pressure to handle, spring
Roller is fixed on cherry branch by active force, is turned on the power switch, motor be minisize dc buncher, motor output shaft with
Rotating disk couples, and motor rotation drives rotating disk rotation, on the rotating pan provided with eccentric crank, and rotating disk moves in a circle,
And crank does straight reciprocating motion, crank-motion drives cutting knife to move back and forth, human assistance handle, and roller turns on cherry branch
Dynamic, cutting knife cuts off the carpopodium of cherry, and cherry is fallen into collecting bag.
A kind of described roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device, roller and cutting knife are paired
Set, roller can be shifted to install, arranged not on same plumb line.
Patent 2014202986769,2015206720504,2011205523464 and 201410485185X, using broach
Formula Softening, cherry is located between two broach of picking comb during harvesting, the broach of picking comb and cherry plane-plane contact, broach with
Cherry surface produces mutual extruding force, and cherry, in broach apparent motion, damage cherry surface, the cherry surface oxidation of damage becomes
It is black, the marketing quality of influence harvesting quality and cherry, secondly, the stretching resistance of cherry carpopodium is far longer than the stretching resistance of cherry, cherry
During peach carpopodium comes off from cherry, tensile force can be produced to berry cherry, cause the fruit of cherry and cherry carpopodium junction
Meat comes off, because cherry is that slurries are lost in berry, cherry fruit, and a kind of roller sliding block human assistance non-contact type mechanical torch
Dynamic cherry picking device, can realize that reducing is plucked, cutting knife is moved in the outer surface of cherry branch, cut off the carpopodium of cherry, carpopodium
The overwhelming majority is stayed on fruit, and cherry fruit is not contacted with cutting knife, between the two without relative motion, and cherry surface nondestructive is hindered,
And carpopodium is partially left on cherry, existing picked technology can not be realized, the cutting angle of cutting knife is adjusted by bolt, cherry
During branch diameter change, by roller compression spring, and then straight line parallel direction of the cutting knife along cherry branch surface is driven to move,
But the cutting angle of cutting knife is constant, the carpopodium of cherry can only be cut off by the sophisticated blade of cutting knife, to the surface of cherry fruit
That one kind on cherry branch rolls contactless harvesting, structure is different, different in principle without squeezing action power, roller with
Cutting knife also can using it is single set, can also two be used in combination, flexibly and easily, in addition, mechanical picking is accurately positioned
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
Upper motion, realizes that reducing is plucked, the combs of other forms is plucked, flexible harvesting, clamping harvesting, the surface of cherry is applied and extruded
Power, produces relative motion, can only in one plane pluck, and aspirated-air type is plucked, and air-flow can not enter the fruit for clustering round and growing thickly
Even if between, throughput increase, aspirated-air type can not realize harvesting at all, and air-flow is difficult to depart from cherry from tough and tensile carpopodium,
Air-flowing type decides that the harvesting of cherry can not be realized, clipping harvesting, holds 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 cherry is in shoot growth
Angle is different, and by rotating clamping, dynamic rotation refers to de-clamping static state and the different cherry of angle, it is difficult to smoothly press from both sides
Hold, hand is lifted formula electric shear and is located at there is also cherry carpopodium between two scissors, cherry fruit grows thickly, and the angle of each growth is not
Together, one can only be sheared every time, there is precise positioning technical problem, labor intensity is big, shakes percussive, be a kind of destructive
Harvesting, damages serious to cherry tree, the growth of the wooden next year of influence number and yield, and eccentric block vibrations harvesting is vibrations percussive
A kind of deformation, and the application is while travelling forward, and roller also can realize the rotation on branch simultaneously, realize that 360 degree are cut
The rotation harvesting of knife, because cherry is inconsistent in the growth angle of branch, the finger of robot in terms of harvesting anyway
Instead of not people, the finger of robot is the multi-joint mechanism being made up of metal material, without thinking in images, simply perform machinery
Action, and the harvesting of fruit is random, it is impossible to performed along regulated procedure, and people is the animal for having thinking and perceiving,
The growth year of cherry is different, and the tensile strength of its carpopodium is differed, and picking robot can not distinguish that cherry tree grows age, cherry
The growth position of peach, mechanical hand is contacted with cherry federation surface, produces chucking power, and retaining part is different, slides, and clamping is not
Tightly, this point is indubitable, and artificial harvesting can cut the carpopodium of cherry with scissors, and the surface directly with cherry fruit does not connect
Touch, picking efficiency is low, and single harvesting, robot is not accomplished at present, and the application exactly utilizes this point, by roller in branch
Roll, directly cut carpopodium, non-contact mechanical hand once realizes multiple harvestings, and cutting knife and cherry fruit surface are contactless, roller
With floating copying function, reducing harvesting overcomes the extruding phenomenon to cherry, robot is not accomplished at present, existing technology
Scheme is different from the technical scheme principle of the application, in structure, the success or failure of Details technical scheme.
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 cherry branch, cuts off the carpopodium of cherry, and roller has
Floating copying function, realizes that reducing is moved, cutting knife cuts off the carpopodium of cherry, and squeezing action is not produced to cherry fruit.
Brief description of the drawings
Fig. 1 is the roller sliding block reducing branch human assistance non-contact electric cherry picking device knot of the embodiment of the present invention
Structure schematic diagram.
1, handle 2, cherry 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 cherry picking device, 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,
The 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 8 with handle 1
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, cutting knife 7
Blade be in multiple small arc-shapeds, press close to the surface of cherry branch 2, unclamp the relative position of the regulation cutting knife 7 of bolt 9 and cherry branch 2
Put, the groove of U-shaped is provided with the periphery of roller 6, cherry branch 2 is placed in the groove of U-shaped, during farm work, one
Hand holds the cherry 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 on support bar 3 is rotated, and is driven roller 6 and cutting knife 7 to open, roller 6 is placed on the branch of cherry, cherry branch
In the groove of 2 insertion rollers 6, roller 6 is rolled on cherry branch 2, and when the branch diameter change of cherry, pair roller 6 applies
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, cutting knife 7
The apparent motion for pressing close to cherry branch 2 all the time, release to the application pressure of handle 1, the active force of spring 5 fixes roller 6
On cherry branch 2, turn on the power switch, motor rotation drives cutting knife 7 to move back and forth, human assistance handle 1, and roller 6 is in cherry
Rotated on peach branch 2, cutting knife 7 cuts off the carpopodium of cherry, cherry is fallen into collecting bag, after the completion of a cherry branch harvesting,
Apply pressure to handle 1, handle 1 overcomes pin joint of the pressure of spring 5 on support bar 3 to rotate, drives roller 6 and cutting knife 7
Open, the branch that cherry picking device is completed from harvesting is taken away, the above-mentioned course of work is repeated, successively to other cherry branches 2
Harvesting.
Claims (2)
1. a kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device, 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 passes 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 cherry branch（2）Surface, unclamp bolt（9）Adjust cutting knife（7）With cherry branch（2）Relative position
Put, in roller（6）Periphery be provided with U-shaped groove, cherry branch（2）Be placed in the groove of U-shaped, during farm work,
One hand holds the cherry 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 cherry
On the branch of peach, cherry branch（2）Insertion roller（6）Groove in, roller（6）In cherry branch（2）It is upper to roll, work as cherry
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 cherry 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 cherry 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 cherry branch（2）It is upper to rotate, cutting knife（7）
The carpopodium of cherry is cut off, cherry is fallen into collecting bag.
2. a kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device as described in claim 1, it is special
Levy and be：Roller（6）And cutting knife（7）It is arranged in pairs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710215647.XA CN106973638A (en) | 2017-04-04 | 2017-04-04 | A kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710215647.XA CN106973638A (en) | 2017-04-04 | 2017-04-04 | A kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106973638A true CN106973638A (en) | 2017-07-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710215647.XA Pending CN106973638A (en) | 2017-04-04 | 2017-04-04 | A kind of roller sliding block human assistance non-contact type mechanical hand-electric cherry picking device |
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| CN (1) | CN106973638A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005036947A1 (en) * | 2003-10-15 | 2005-04-28 | Valentino Meini | Fruit harvesting device |
| CN102823380A (en) * | 2012-08-15 | 2012-12-19 | 山西农业大学 | Cerasus humilis fruit-stripping machine |
| CN103703933A (en) * | 2012-09-30 | 2014-04-09 | 牛连壁 | Red date picker |
| KR200472987Y1 (en) * | 2012-11-19 | 2014-06-13 | 대한민국 | A fruit-thinning shear including fruit insertion part |
| CN105850368A (en) * | 2016-06-01 | 2016-08-17 | 王保锋 | Agricultural multifunctional fruit picker |
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
-
2017
- 2017-04-04 CN CN201710215647.XA patent/CN106973638A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005036947A1 (en) * | 2003-10-15 | 2005-04-28 | Valentino Meini | Fruit harvesting device |
| CN102823380A (en) * | 2012-08-15 | 2012-12-19 | 山西农业大学 | Cerasus humilis fruit-stripping machine |
| CN103703933A (en) * | 2012-09-30 | 2014-04-09 | 牛连壁 | Red date picker |
| KR200472987Y1 (en) * | 2012-11-19 | 2014-06-13 | 대한민국 | A fruit-thinning shear including fruit insertion part |
| CN105850368A (en) * | 2016-06-01 | 2016-08-17 | 王保锋 | Agricultural multifunctional fruit picker |
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170725 |
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