CN107006221A - A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric Chinese chestnut 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 Chinese 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 shear 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 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 Chinese chestnut branch, cutting knife cuts off the carpopodium of Chinese chestnut, Chinese chestnut is fallen into collecting bag.

Description

A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric Chinese chestnut 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 Chinese chestnut device for picking, belong to agriculture machine Tool technical field.

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 electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric Chinese chestnut device for picking, is suitable for nut and berry is adopted Pluck, including handle, support bar, spring, device for picking and collecting bag, handle is provided with spring, support bar and device for picking, support bar with 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 Chinese chestnut branch, cut-out Chinese chestnut Carpopodium, 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 to put down Line direction is moved, but the cutting angle of cutting knife is constant, is cut off the carpopodium of Chinese chestnut by the blade of shear knife, the carpopodium of residual is attached On Chinese chestnut fruit, to the surface of Chinese chestnut fruit without squeezing action power.

Its technical scheme is：A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric Chinese chestnut 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 shear knife and collecting bag, spring is pressure Spring, one end of expansion link couples with roller, and the through hole that the other end is set on spring and handle simultaneously couples with handle, connecting rod One end is bolted on expansion link, and long slot bore is provided with expansion link, and the other end of connecting rod is set on shear knife Axis hole, the blade of shear knife is serrated, and unclamps position of the bolt regulation connecting rod on expansion link, so adjust shear knife with The relative position of Chinese chestnut branch, is that the point of a knife of shear knife presses close to Chinese chestnut branch, and the groove of U-shaped is provided with the periphery of roller, Chinese chestnut branch is placed in the groove of U-shaped, and during farm work, a hand holds the Chinese chestnut branch to be plucked, and another hand is to adopting The handle for plucking device applies pressure, and handle overcomes pin joint of the pressure of spring on support bar to rotate, drives roller and shear knife Open, roller be placed 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 change of Chinese chestnut, pair roller applies active force, and roller has to be set on floating copying function, compression expansion link Spring, and then drive shear knife motion, the apparent motion for pressing close to Chinese chestnut branch all the time of shear knife, and Chinese chestnut noncontact, only Contacted with the carpopodium of Chinese chestnut and Chinese chestnut branch surface, release the application pressure to handle, roller is fixed on by the active force of spring On Chinese chestnut branch, turn on the power switch, electromagnetism load push-pull energization compression spring adhesive, spring to break is upheld, and then drive shearing Knife closes and opened reciprocating motion, upholds frequency passage time Control, human assistance handle, and roller is in Chinese chestnut branch Upper to rotate, shear knife cuts off the carpopodium of Chinese chestnut, and Chinese chestnut is fallen into collecting bag.

A kind of described electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric Chinese chestnut device for picking, roller and shear knife into To setting, roller 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 picking comb surface, it is difficult to fall, and a kind of electromagnetism push-and-pull human assistance is non- Contact type mechanical hand-electric 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 plate The carpopodium of chestnut, 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 plate Chestnut surface nondestructive is hindered, and carpopodium is partially left on Chinese chestnut, and existing picked technology can not be realized, the cutting angle of cutting knife passes through spiral shell Bolt is adjusted, 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 cutting knife is constant, can only be cut off the carpopodium of Chinese chestnut by the sophisticated blade of cutting knife, right The surface of Chinese chestnut fruit, without squeezing action power, is that one kind on Chinese chestnut branch rolls contactless harvesting, structure is different, in principle Difference, roller and cutting knife also can using it is single set, can also two be used in combination, flexibly and easily, in addition, machinery is adopted Pluck and be accurately positioned that difficulty is larger, artificial picking efficiency is low, and the application picking knife cuts off carpopodium along the parallel motion of branch surface, Roller is moved on branch, realizes that reducing is plucked, the combs of other forms is plucked, flexible harvesting, clamping harvesting, the surface to Chinese chestnut Apply extruding force, produce relative motion, can only in one plane pluck, and aspirated-air type is plucked, air-flow, which can not enter, clusters round clump Even if between raw fruit, throughput increase, aspirated-air type can not realize harvesting at all, and air-flow is difficult to Chinese chestnut from tough and tensile carpopodium Upper to depart from, air-flowing type decides that the harvesting of Chinese chestnut can not be realized, picking lever is held in clipping harvesting 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 Chinese chestnut is in branch Bar growth angle is different, is clamped by rotating, and dynamic rotation refers to that de-clamping is static and the different Chinese chestnut of angle, it is difficult to suitable Profit 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 Degree is different, and one can only be sheared every time, there is precise positioning technical problem, and labor intensity is big, shakes percussive, is a kind of destruction Property 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 struck Hit a kind of deformation of formula, and the application is while motion, roller also can realize the rotation on branch simultaneously, realize that 360 degree are cut The rotation harvesting of knife, motor drives circular saw, can only be rotated during rotation by an angle, whole branch is sawed together with Chinese chestnut Under, it is also a kind of destructive harvesting, because Chinese chestnut is inconsistent in the growth angle of branch, the finger of the robot nothing in terms of harvesting By how also not replace people, the finger of robot is the multi-joint mechanism being made up of metal material, without thinking in images, simply Mechanical action is performed, and the harvesting of fruit is random, it is impossible to performed along regulated procedure, and people is that have thinking and perception Animal, 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 grows 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 shear knife along Chinese chestnut branch, cuts off the carpopodium of Chinese chestnut, roller tool There is floating copying function, realize that reducing is moved, shear knife cuts off the carpopodium of Chinese chestnut, squeezing action is not produced to Chinese chestnut fruit.

Brief description of the drawings

Fig. 1 is the knot of the electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric Chinese chestnut device for picking of the embodiment of the present invention Structure schematic diagram.

1, handle 2 wherein in figure, Chinese chestnut 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 Chinese chestnut 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 shear knife 7 and collecting bag, and spring 5 is pressure Spring, 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 with handle 1, even The one end of bar 8 is bolted on expansion link 4, and the other end of connecting rod 8 runs through the axis hole set on shear knife 7, shear knife 7 Blade is serrated, and unclamps position of the bolt regulation connecting rod 8 on expansion link 4, and then adjust shear knife 7 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, farm work When, 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 spring 5 Pin joint of the pressure on support bar 3 rotate, drive roller 6 and shear knife 7 to open, roller 6 be placed on the branch of Chinese chestnut, In the groove of the insertion roller 6 of Chinese chestnut branch 2, roller 6 is rolled on Chinese chestnut branch 2, right when the branch diameter change of Chinese chestnut Roller 6 applies active force, and roller 6 has the spring 5 set on floating copying function, compression expansion link 4, and then drives shear knife 7 motions, the apparent motion for pressing close to Chinese chestnut branch 2 all the time of shear knife 7 releases the application pressure to handle 1, the effect of spring 5 Roller 6 is fixed on Chinese chestnut branch 2 by power, is turned on the power switch, and electromagnetism load push-pull 9 drives shear knife 7 to move back and forth, artificial auxiliary Assistant's handle 1, roller 6 is rotated on Chinese chestnut branch 2, and shear knife 7 cuts off the carpopodium of Chinese chestnut, and Chinese chestnut is fallen into collecting bag, one After the completion of the harvesting of Chinese chestnut branch, apply pressure to handle 1, handle 1 overcomes pin joint of the pressure of spring 5 on support bar 3 to turn It is dynamic, drive roller 6 and shear knife 7 to open, 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 the harvesting of other Chinese chestnut branches 2.

Claims (2)

1. a kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric Chinese 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 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 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 is 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 bolt Adjust connecting rod（8）In expansion link（4）On position, and then adjust shear knife（7）With Chinese chestnut branch（2）Relative position, rolling Wheel（6）Periphery be provided with U-shaped groove, Chinese chestnut branch（2）Be placed in the groove of U-shaped, during farm work, one holding The Chinese chestnut branch firmly to be plucked（2）, handle of the another hand to device for picking（1）Apply pressure, handle（1）Overcome spring（5）'s Pressure is around support bar（3）On pin joint rotate, drive roller（6）And shear knife（7）Open, by roller（6）It is placed in Chinese chestnut On branch, Chinese chestnut branch（2）Insertion roller（6）Groove in, roller（6）In Chinese chestnut branch（2）It is upper to roll, when the branch of Chinese chestnut During bar diameter change, pair roller（6）Apply active force, roller（6）With floating copying function, expansion link is compressed（4）It is upper to set Spring（5）, and then drive shear knife（7）Motion, shear knife（7）All the time Chinese chestnut 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 Chinese chestnut branch（2）On, turn on the power switch, electricity Magnetic load push-pull（9）Drive shear knife（7）Move back and forth, human assistance handle（1）, roller（6）In Chinese chestnut branch（2）It is upper to rotate, Shear knife（7）The carpopodium of Chinese chestnut is cut off, Chinese chestnut is fallen into collecting bag.

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