CN107006220A - A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric apricot device for picking - Google Patents

Abstract

The present invention provides a kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric apricot 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 shear 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 axis hole that the other end of connecting rod is set on shear knife, the blade of shear knife is serrated, the groove of U-shaped is provided with the periphery of roller, human assistance handle, turn on the power switch, electromagnetism load push-pull drives shear knife to move back and forth, roller is rotated on apricot branch, cutting knife cuts off the carpopodium of apricot, apricot is fallen into collecting bag.

Description

A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric apricot device for picking

Technical field

The present invention relates to a kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric apricot device for picking, belong to agricultural machinery Technical field.

Background technology

Apricot is a kind of half berry, and pulp succulence, exocuticle is damaged and surface oxidation blackening after tumble injury, tries one's best and avoid during harvesting Exocuticle is damaged, apricot harvesting both domestic and external is by various ways, and first way is that apricot is manually directly captured with hand, apricot and carpopodium point From 1-3 apricot of each crawl, picking efficiency is low, and labor intensity is big, and second method is comb-tooth-type, and apricot is located at picking comb during harvesting Two broach between, the broach of picking comb and apricot plane-plane contact, broach produces mutual extruding force with apricot surface, and apricot is in broach table Face is moved, damage apricot surface, the apricot surface oxidation blackening of damage, the marketing quality of influence harvesting quality and apricot, and Third Way is Aspiration vibration-type, high intensity airflow function is on fruit tree, and air-flow shakes fruit tree, weight and air that fruit passes through itself Impact fall, in dropping process, produce acceleration, mutually collided during landing, damage exocuticle, fourth way is shaking Formula, is rigidly connected by the reciprocating motion and fruit of eccentric four-bar mechanism, apricot is come off by force, and the 5th mode is that vibrations are tapped Formula, is a kind of destructive harvesting, damages serious to apricot, and the growth of the wooden next year of influence number and yield, eccentric block shaking are adopted Pluck, be a kind of deformation for shaking percussive.

The content of the invention

A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric apricot device for picking, is suitable for nut and berry harvesting, Including handle, support bar, spring, device for picking and collecting bag, handle is provided with spring, support bar and device for picking, support bar and hand Handle is hinged, and cutting knife is moved back and forth under the drive of power, and cutting knife is moved in the outer surface for pressing close to apricot branch, cuts off the fruit of apricot Handle, during the branch diameter change of apricot, by roller compression spring, and then drives straight line parallel side of the cutting knife along apricot branch surface To motion, but the cutting angle of cutting knife is constant, is cut off the carpopodium of apricot by the blade of shear knife, the carpopodium of residual is attached to apricot Fruit on, no nutrient loss, to the surface of apricot fruit without squeezing action power.

Its technical scheme is：A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric apricot 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 hand On handle, and it is hinged with handle, device for picking is made up of roller, expansion link, spring and shear knife and collecting bag, and spring is stage clip, is stretched Contracting bar one end couples with roller, and the through hole that the other end is set on spring and handle simultaneously couples with handle, and connecting rod one end passes through It is bolted on expansion link, long slot bore is provided with expansion link, the other end of connecting rod runs through the axis hole set on shear knife, cut The blade of cutting knife is serrated, and unclamps position of the bolt regulation connecting rod on expansion link, and then adjust shear knife and apricot branch Relative position, be that the point of a knife of shear knife presses close to apricot branch, on the periphery of roller be provided with U-shaped groove, apricot branch Be placed in the groove of U-shaped, during farm work, a hand holds the apricot branch to be plucked, hand of the another hand to device for picking Handle applies pressure, and handle overcomes pin joint of the pressure of spring on support bar to rotate, drives roller and shear knife to open, will roll Wheel is placed on the branch of apricot, and in the groove of the insertion roller of apricot branch, roller is rolled on apricot branch, when apricot branch is straight When footpath changes, pair roller applies active force, and roller has the spring set on floating copying function, compression expansion link, and then band Dynamic shear knife motion, shear knife presses close to the apparent motion of apricot branch all the time, and apricot noncontact, only with the carpopodium of apricot and apricot branch Bar surface is contacted, and releases the application pressure to handle, and roller is fixed on apricot branch, turned on the power out by the active force of spring Close, electromagnetism load push-pull energization compression spring adhesive, spring to break is upheld, and then drive shear knife to close and open reciprocal fortune It is dynamic, frequency passage time Control is upheld, human assistance handle, roller is rotated on apricot branch, shear knife is by apricot Carpopodium is cut off, and apricot is fallen into collecting bag.

A kind of described electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric apricot device for picking, roller and shear knife are paired Set, roller can be shifted to install, arranged not on same plumb line.

Patent 2014104860098, paper《Apricot vibrations harvesting key factor research and experiment analysis》, apricot is located at during harvesting Between two broach of picking comb, broach and the apricot plane-plane contact of picking comb, broach produce mutual extruding force with apricot surface, and apricot exists The marketing quality of broach apparent motion, damage apricot surface, the apricot surface oxidation blackening of damage, influence harvesting quality and apricot, secondly, The stretching resistance of apricot carpopodium is far longer than the stretching resistance of apricot, during apricot carpopodium comes off from apricot, can produce tensile force to apricot, cause Apricot and the pulp of apricot carpopodium junction come off, and because apricot is that slurries are lost in half berry, Apricot Fruit, pulp shrinks, and tarnishes, weight Amount mitigates, and optimal harvesting is that carpopodium is partially left on the fruit of apricot, and a kind of electromagnetism push-and-pull work auxiliary non-contact type mechanical Hand-electric apricot device for picking, can realize that reducing is plucked, cutting knife is moved in the outer surface of apricot branch, cut off the carpopodium of apricot, carpopodium is exhausted Major part is stayed on fruit, and Apricot Fruit is not contacted with cutting knife, between the two without relative motion, and apricot surface nondestructive is hindered, and carpopodium It is partially left on apricot, existing picked technology can not be realized, during the branch diameter change of apricot, by roller compression spring, and then Straight line parallel direction of the cutting knife along apricot branch surface is driven to move, but the cutting angle of cutting knife is constant, can only be by the point of cutting knife The blade at end cuts off the carpopodium of apricot, to the surface of apricot fruit without squeezing action power, and a kind of on apricot branch rolls noncontact Formula is plucked, and structure is different, different in principle, and roller and cutting knife can also be set using single, can also two combine and make With flexibly and easily, in addition, mechanical picking is accurately positioned, difficulty is larger, and artificial picking efficiency is low, and the application picking knife is along branch table Face parallel motion, carpopodium is cut off, and roller is moved on branch, realizes that reducing is plucked, the combs of other forms is plucked, flexible harvesting, Clamping harvesting, applies extruding force to the surface of apricot, produces relative motion, can only in one plane pluck, and aspirated-air type is adopted Pluck, though air-flow can not enter cluster round between the fruit grown thickly, throughput is increased, aspirated-air type can not realize harvesting, air-flow at all It is difficult to depart from apricot from tough and tensile carpopodium, air-flowing type decides that the harvesting of apricot can not be realized, clipping harvesting is held high with hand and adopted Bar is plucked, 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, and positioning is inaccurate, adopts Pluck efficiency low, apricot is different in shoot growth angle, clamped by rotating, dynamic rotation refer to that de-clamping is static and angle not Same and of different shapes apricot, it is difficult to which smoothly clamping, hand lifts formula electric shear, makes apricot carpopodium between two scissors, apricot Fruit is grown thickly, and the angle of each growth is different, and one can only be sheared every time, there is precise positioning technical problem, labor intensity Greatly, aspiration vibration-type, high intensity airflow function is on fruit tree, and air-flow shakes fruit tree, fruit by itself weight and The impact of air is fallen, in dropping process, is produced acceleration, is mutually collided during landing, damages exocuticle, and shaking formula passes through The reciprocating motion of eccentric four-bar mechanism is rigidly connected with fruit, apricot is come off by force, shakes percussive, and being that one kind is destructive adopts Pluck, serious is damaged to apricot, the growth of the wooden next year of influence number and yield, eccentric block shaking harvesting is shake percussive one Kind of deformation, and the application is while travelling forward, roller also can realize the rotation on branch simultaneously, and all apricots are all grown in On branch, either on side shoot or side shoot, coupled by carpopodium with branch, the rotation harvesting of 360 degree of cutting knifes is realized, due to apricot Inconsistent in the growth angle of branch, the finger of robot does not replace people, the hand of robot anyway in terms of harvesting yet Finger is the multi-joint mechanism being made up of metal material, without thinking in images, simply performs mechanical action, and the harvesting of fruit does not have Rule, it is impossible to performed along regulated procedure, and people is the animal for having thinking and perceiving, the growth year of apricot is different, its fruit The tensile strength of handle is differed, and picking robot can not distinguish that apricot grows age, the growth position of apricot, mechanical hand and apricot federation Surface is contacted, and produces chucking power, and retaining part is different, slides, and clamping is not tight, and this point is indubitable, and artificial harvesting can To cut the carpopodium of apricot with scissors, do not contacted with the surface of Apricot Fruit directly, picking efficiency is low, single harvesting, apricot is on branch The no rule of growth can follow, it is impossible to grow in approximately the same plane, height it is straggly differs, growth position of the apricot on branch is not Together, the apricot quantity of each fruit ear is different, and clusters round into fringe, causes the apricot of each fruit ear to grow not in approximately the same plane, even if Implement machinery trimming, mechanical picking is also difficult to, mechanical picking directly cuts off nothing but the branch of apricot using scissors or rotating knife, Mechanical picking can only be plucked along approximately the same plane, and robot is not accomplished at present, and the application exactly utilizes this point, passes through roller Rolled in branch, directly cut carpopodium, non-contact mechanical hand once realizes the harvesting of multiple fruit ears, i.e., more than two fruit ears are adopted Pluck, symmetrical cutting knife, cutting knife and Apricot Fruit surface are contactless, roller has floating copying function, reducing harvesting is overcome to apricot Extruding phenomenon, robot do not accomplish at present, in the technical scheme principle of existing technical scheme and the application, in structure not Together, 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 shear knife along apricot branch, cuts off the carpopodium of apricot, and roller has floating Dynamic profile modeling function, realizes that reducing is moved, shear knife cuts off the carpopodium of apricot, and squeezing action is not produced to apricot fruit.

Brief description of the drawings

Fig. 1 is the structure of the electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric apricot device for picking of the embodiment of the present invention Schematic diagram.

1, handle 2 wherein in figure, apricot branch 3, support bar 4, expansion link 5, spring 6, roller 7, cut Cutting knife 8, connecting rod 9, electromagnetism load push-pull.

Embodiment

Embodiment.

A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric apricot device for picking, including handle 1, support bar 3, spring 5th, 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, And be hinged with handle 1, device for picking is made up of roller 6, expansion link 4, spring 5 and shear knife 7 and collecting bag, and spring 5 is stage clip, is stretched The one end of contracting bar 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 one with handle 1 End is bolted on expansion link 4, and the other end of connecting rod 8 runs through the axis hole set on shear knife 7, the blade of shear knife 7 It is serrated, unclamps position of the bolt regulation connecting rod 8 on expansion link 4, and then it is relative with apricot branch 2 to adjust shear knife 7 Position, is provided with the groove of U-shaped on the periphery of roller 6, and apricot branch 2 is placed in the groove of U-shaped, during farm work, and one Hand holds the apricot 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 shear knife 7 to open, roller 6 is placed on the branch of apricot, apricot branch In the groove of the insertion roller 6 of bar 2, roller 6 is rolled on apricot branch 2, and when apricot 2 diameter change of branch, 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 shear knife 7 to move, The apparent motion for pressing close to apricot branch 2 all the time of shear knife 7, releases the application pressure to handle 1, and the active force of spring 5 will be rolled Wheel 6 is fixed on apricot branch 2, is turned on the power switch, and electromagnetism load push-pull 9 drives shear knife 7 to move back and forth, human assistance handle 1, roller 6 is rotated on apricot branch 2, and shear knife 7 cuts off the carpopodium of apricot, and apricot is fallen into collecting bag, and an apricot branch 2 is adopted After the completion of plucking, 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 shear knife 7 open, the branch that apricot device for picking is completed from harvesting is taken away, the above-mentioned course of work is repeated, successively to other apricots The harvesting of branch 2.

Claims (2)

1. a kind of electromagnetism push-and-pull 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 Shear 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 be bolted on expansion link （4）On, connecting rod（8）The other end run through shear knife（7）The axis hole of upper setting, shear knife（7）Blade be serrated, unclamp spiral shell Bolt adjusts connecting rod（8）In expansion link（4）On position, and then adjust shear knife（7）With apricot branch（2）Relative position, Roller（6）Periphery be provided with U-shaped groove, apricot branch（2）Be placed in the groove of U-shaped, during farm work, a hand Hold 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 shear knife（7）Open, by roller（6）It is placed in apricot On branch, apricot branch（2）Insertion roller（6）Groove in, roller（6）In apricot branch（2）It is upper to roll, when the branch of apricot During diameter change, pair roller（6）Apply active force, roller（6）With floating copying function, expansion link is compressed（4）Upper setting Spring（5）, and then drive shear knife（7）Motion, shear knife（7）All the time apricot 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 apricot branch（2）On, turn on the power switch, electromagnetism is pushed away Draw device（9）Drive shear knife（7）Move back and forth, human assistance handle（1）, roller（6）In apricot branch（2）It is upper to rotate, shearing Knife（7）The carpopodium of apricot is cut off, apricot is fallen into collecting bag.

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