CN106973641A - A kind of roller human assistance non-contact type mechanical palm chestnut device for picking - Google Patents

Abstract

The present invention provides a kind of roller human assistance non-contact type mechanical palm chestnut 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 rotary cutter 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 rotary cutter, the trapezoidal shape of blade of rotary cutter, the surface of Chinese chestnut branch is pressed close on the long base of trapezoidal shape, the groove of U-shaped is provided with the periphery of roller, human assistance handle, turn on the power switch, roller is rotated on Chinese chestnut branch, rotary cutter cuts off the carpopodium of Chinese chestnut, Chinese chestnut is fallen into collecting bag.

Description

A kind of roller human assistance non-contact type mechanical palm chestnut device for picking

Technical field

The present invention relates to a kind of roller human assistance non-contact type mechanical palm chestnut device for picking, belong to agricultural mechanical technology neck Domain.

Background technology

Chestnut has many acupunctures, and following four Softening is generally used at present, and first way is directly with cutting Knife cuts the carpopodium of Chinese chestnut, and picking efficiency is low, and labor intensity is big, and the second way is to use picking comb, because chestnut has Many acupunctures, Chinese chestnut is located between two broach of picking comb during harvesting, and power drives broach to rotate, by pulling Chinese chestnut and fruit Handle is separated, and chestnut has many acupunctures to cause Chinese chestnut to be difficult to depart from picking comb, is attached to picking comb surface, it is difficult to fall, The third mode is aspirated-air type, though air-flow can not enter cluster round between the fruit grown thickly, throughput is increased, the basic nothing of aspirated-air type Method realizes harvesting, and aspirated-air type decides that the harvesting of air-flowing type can not be realized, the 4th kind of mode is clipping, holds harvesting high with hand Bar, the center of gravity of bar is located at middle and upper part, and the pushing time holds picking lever high and produces shake, and deviation occurs in sight, positions inaccurate, harvesting Efficiency is low, and labor intensity is big, and fifth procedure is vibrations percussive, is a kind of destructive harvesting, damages serious to Chinese chestnut tree, Growth and the yield of the wooden next year of number are influenceed, the 6th kind of mode is eccentric block vibrations harvesting, be a kind of deformation for shaking percussive.

The content of the invention

A kind of roller human assistance non-contact type mechanical palm chestnut 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 hinged with handle, rotary cutting Knife is rotated under the drive of power, and rotary cutter is moved in the outer surface for pressing close to Chinese chestnut branch, cuts off the carpopodium and branch of Chinese chestnut Upper acupuncture, during the branch diameter change of Chinese chestnut, by roller compression spring, and then drives straight line of the cutting knife along Chinese chestnut branch surface Parallel direction is moved, but the cutting angle of rotary cutter is constant, is cut off the carpopodium of Chinese chestnut by the blade of rotary cutter, to plate The surface of chestnut fruit is without squeezing action power.

Its technical scheme is：A kind of roller human assistance non-contact type mechanical palm chestnut device for picking, including 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 arranged on handle On, and be hinged with handle, device for picking is made up of roller, expansion link, spring, rotary cutter and collecting bag, and spring is stage clip, is stretched Bar one end couple with roller, the through hole that the other end is set on spring and handle simultaneously couple with handle, and one end of connecting rod is logical Cross and be bolted on expansion link, the other end of connecting rod is coupled by bolt with rotary cutter, the blade of rotary cutter is trapezoidal The surface of Chinese chestnut branch is pressed close on shape, the long base of trapezoidal shape, and the structure of trapezoidal shape is easy to after cutting carpopodium and fruit pin along curved surface Shed, do not accumulated when rotary cutter is rotated because cutting object is adhered to, influence picking efficiency and then damage Chinese chestnut fruit, unclamp bolt regulation The relative position of rotary cutter and Chinese chestnut branch, be provided with the groove of U-shaped on the periphery of roller, and Chinese chestnut branch is placed in U-shaped Groove in, during farm work, a hand holds the Chinese chestnut branch to be plucked, and another hand applies to the handle of device for picking presses Power, handle overcomes pin joint of the pressure of spring on support bar to rotate, and drives roller and rotary cutter to open, roller is placed in On the branch of Chinese chestnut, in the groove of the insertion roller of Chinese chestnut branch, roller is rolled on Chinese chestnut branch, when the branch diameter of Chinese chestnut During change, pair roller applies active force, and roller has the spring set on floating copying function, compression expansion link, and then drives Rotary cutter is moved, and rotary cutter presses close to the apparent motion of Chinese chestnut branch all the time, and Chinese chestnut noncontact, only with the carpopodium of Chinese chestnut and Chinese chestnut branch surface is contacted, and releases the application pressure to handle, and roller is fixed on Chinese chestnut branch by the active force of spring, is opened Power switch, minisize dc buncher drives rotary cutter rotation, and human assistance handle, roller is rotated on Chinese chestnut branch, Rotary cutter cuts off the carpopodium of Chinese chestnut, and Chinese chestnut is fallen into collecting bag.

A kind of described roller human assistance non-contact type mechanical palm chestnut device for picking, roller and cutting knife are arranged in pairs, rolling Wheel can be shifted to install, and be arranged not on same plumb line.

Patent 201410027348X, 2014101845452 and 2013101813141, using comb-tooth-type Softening, by There are many acupunctures in chestnut, and acupuncture is hook, hook acupuncture makes multiple Chinese chestnuts link together, and Chinese chestnut is located at during harvesting Between two broach of picking comb, power drives broach to rotate, and is separated Chinese chestnut with carpopodium by pulling, chestnut has many pins Thorn causes Chinese chestnut to be difficult to depart from picking comb, is attached to the surface of picking comb, it is difficult to fall, and a kind of roller human assistance is non-connects Touch manipulator Chinese chestnut device for picking, can realize that reducing is plucked, cutting knife is moved in the outer surface of Chinese chestnut branch, cut off the fruit of Chinese chestnut Handle, the carpopodium overwhelming majority is stayed on fruit, and Fruits in Chinese Chestnut is not contacted with cutting knife, between the two without relative motion, to Chinese chestnut surface Not damaged, and carpopodium is partially left on Chinese chestnut, existing picked technology can not be realized, the cutting angle of cutting knife is adjusted by bolt It is whole, during the branch diameter change of Chinese chestnut, by roller compression spring, and then drive straight line parallel of the cutting knife along Chinese chestnut branch surface Direction is moved, but the cutting angle of cutting knife is constant, can only be cut off the carpopodium of Chinese chestnut by the sophisticated blade of cutting knife, to Chinese chestnut The surface of fruit, without squeezing action power, is that one kind on Chinese chestnut branch rolls contactless harvesting, structure is different, in principle not Together, roller and cutting knife also can using it is single set, can also two be used in combination, flexibly and easily, in addition, mechanical picking It is accurately positioned difficulty larger, artificial picking efficiency is low, the application picking knife cuts off carpopodium along the parallel motion of branch surface, rolls Wheel is moved on branch, realizes that reducing is plucked, the combs of other forms is plucked, flexible harvesting, clamping harvesting, the surface of Chinese chestnut is applied Plus extruding force, relative motion is produced, can only in one plane be plucked, and aspirated-air type is plucked, air-flow, which can not enter to cluster round, grows thickly Even if fruit between, throughput increase, aspirated-air type can not realize harvesting at all, and air-flow is difficult to Chinese chestnut from tough and tensile carpopodium Depart from, air-flowing type decides that the harvesting of Chinese chestnut can not be realized, clipping harvesting holds picking lever high with hand, during the center of gravity of bar is located at Top, 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 Chinese chestnut is in branch Growth angle is different, is clamped by rotating, and dynamic rotation refers to de-clamping static state and the different Chinese chestnut of angle, it is difficult to smoothly Clamping, hand is lifted formula electric shear and is located at there is also Chinese chestnut carpopodium between two scissors, and Chinese chestnut fruit grows thickly, the angle of each growth Difference, can only shear one every time, there is precise positioning technical problem, and labor intensity is big, shakes percussive, be a kind of destructive Harvesting, serious is damaged to Chinese chestnut tree, the growth of the wooden next year of influence number and yield, eccentric block vibrations harvesting is that vibrations are tapped A kind of deformation of formula, and the application is while travelling forward, roller also can realize the rotation on branch simultaneously, realize 360 degree The rotation harvesting of cutting knife, motor drives circular saw, can only be rotated during rotation by an angle, by whole branch together with Chinese chestnut It is also a kind of destructive harvesting, because Chinese chestnut is inconsistent in the growth angle of branch, the finger of robot is in terms of harvesting under saw People is not replaced anyway yet, the finger of robot is the multi-joint mechanism being made up of metal material, without thinking in images, only It is to perform mechanical action, and the harvesting of fruit is random, it is impossible to performed along regulated procedure, and people is that have thinking and sense The animal known, the growth year of Chinese chestnut is different, and the tensile strength of its carpopodium is differed, and picking robot can not distinguish that Chinese chestnut tree is given birth to Long age, the growth position of Chinese chestnut, mechanical hand is contacted with Chinese chestnut federation surface, produces chucking power, and retaining part is different, slides Move, clamp not tight, this point is indubitable, and artificial harvesting can cut the carpopodium of Chinese chestnut with scissors, not directly and Fruits in Chinese Chestnut Surface contact, picking efficiency is low, and single harvesting, robot is not accomplished at present, and the application exactly utilizes this point, passes through and rolls Wheel is rolled in branch, directly cuts carpopodium, and non-contact mechanical hand once realizes multiple harvestings, and cutting knife and Fruits in Chinese Chestnut surface are without connecing Touch, roller has floating copying function, reducing harvesting overcomes the extruding phenomenon to Chinese chestnut, robot is not accomplished at present, existing Technical scheme it 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 Chinese chestnut branch, cuts off the carpopodium of Chinese chestnut, and roller has Floating copying function, realizes that reducing is moved, cutting knife is obliquely installed, and squeezing action is not produced to Chinese chestnut fruit.

Brief description of the drawings

Fig. 1 is the structural representation of the non-contact type mechanical palm chestnut device for picking of the embodiment of the present invention.

1, handle 2, Chinese chestnut branch 3, support bar 4, expansion link 5, spring 6, roller 7, rotary cutter wherein in figure 8th, connecting rod 9, bolt.

Embodiment

Embodiment.

A kind of roller human assistance non-contact type mechanical palm chestnut device for picking, including handle 1, support bar 3, spring 5, harvesting Device and collecting bag, are fixedly mounted spring, support bar 3 and device for picking, support bar 3 is arranged on handle 1, and and hand on handle 1 Handle 1 is hinged, and device for picking is made up of roller 6, expansion link 4, spring 5, rotary cutter 7 and collecting bag, and spring 5 is stage clip, expansion link 4 One end couple with roller 6, the through hole that the other end is set on spring 5 and handle 1 simultaneously couples, one end of connecting rod 8 with handle 1 It is fixed on by bolt 9 on expansion link 4, the other end of connecting rod 8 is coupled by bolt 9 with rotary cutter 7, the knife of rotary cutter 7 The surface of Chinese chestnut branch 2 is pressed close on the trapezoidal shape of sword, the long base of trapezoidal shape, unclamps the regulation rotary cutter 7 of bolt 9 and Chinese chestnut branch 2 relative position, is provided with the groove of U-shaped on the periphery of roller 6, and Chinese chestnut branch 2 is placed in the groove of U-shaped, and field is made During industry, a hand holds the Chinese chestnut branch 2 to be plucked, and another hand applies pressure to the handle 1 of device for picking, and handle 1 overcomes bullet Pin joint of the pressure of spring 5 on support bar 3 is rotated, and drives roller 6 and rotary cutter 7 to open, roller 6 is placed in the branch of Chinese chestnut On bar, in the groove of the insertion roller 6 of Chinese chestnut branch 2, roller 6 is rolled on Chinese chestnut branch 2, when the branch diameter change of Chinese chestnut When, pair roller 6 applies active force, and roller 6 has the spring 5 set on floating copying function, compression expansion link 4, and then drives Rotary cutter 7 is moved, and rotary cutter 7 presses close to the apparent motion of Chinese chestnut branch 2 all the time, releases the application pressure to handle 1, spring Roller 6 is fixed on Chinese chestnut branch 2 by 5 active force, is turned on the power switch, and rotary cutter 7 rotates, human assistance handle 1, rolling Wheel 6 is rotated on Chinese chestnut branch 2, and rotary cutter 7 cuts off the carpopodium of Chinese chestnut, and Chinese chestnut is fallen into collecting bag, a Chinese chestnut branch After the completion of harvesting, apply pressure to handle 1, handle 1 overcomes pin joint of the pressure of spring 5 on support bar 3 to rotate, drives rolling Wheel 6 and rotary cutter 7 open, and the branch that Chinese chestnut device for picking is completed from harvesting is taken away, the above-mentioned course of work is repeated, successively to it The harvesting of its Chinese chestnut branch.

Claims (2)

1. a kind of roller human assistance non-contact type mechanical palm chestnut 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 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）And rotary 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 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）With rotary cutter（7）Connection, rotary cutter（7）The trapezoidal shape of blade, it is trapezoidal Chinese chestnut branch is pressed close on the long base of shape（2）Surface, unclamp bolt（9）Adjust rotary cutter（7）With Chinese chestnut branch（2）It is relative Position, in roller（6）Periphery be provided with U-shaped groove, Chinese chestnut branch（2）Be placed in the groove of U-shaped, farm work When, a hand holds the Chinese chestnut branch to be plucked（2）, handle of the another hand to device for picking（1）Apply pressure, handle（1）Gram Take spring（5）Pressure around support bar（3）On pin joint rotate, drive roller（6）And rotary cutter（7）Open, by roller （6）It is placed on the branch of Chinese chestnut, Chinese chestnut branch（2）Insertion roller（6）Groove in, roller（6）In Chinese chestnut branch（2）Upper rolling It is dynamic, when the branch diameter change of Chinese chestnut, pair roller（6）Apply active force, roller（6）With floating copying function, compression is stretched Contracting bar（4）The spring of upper setting（5）, and then drive rotary cutter（7）Motion, rotary cutter（7）All the time Chinese chestnut branch is pressed close to（2） Apparent motion, release to handle（1）Application pressure, spring（5）Active force by roller（6）It is fixed on Chinese chestnut branch（2） On, turn on the power switch, rotary cutter（7）Rotation, human assistance handle（1）, roller（6）In Chinese chestnut branch（2）It is upper to rotate, rotation Turn cutting knife（7）The carpopodium of Chinese chestnut is cut off, Chinese chestnut is fallen into collecting bag.

2. a kind of roller human assistance non-contact type mechanical palm chestnut device for picking as described in claim 1, it is characterised in that： Roller（6）And rotary cutter（7）It is arranged in pairs.