CN107006222A - A kind of roller sliding block human assistance non-contact type mechanical hand-electric hawthorn device for picking - Google Patents

Abstract

The present invention provides a kind of roller sliding block human assistance non-contact type mechanical hand-electric hawthorn 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 hawthorn branch, cutting knife cuts off the carpopodium of hawthorn, hawthorn is fallen into collecting bag.

Description

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

Technical field

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

Background technology

Hawthorn harvesting both domestic and external is by various ways, and first way is to cut carpopodium on hawthorn branch, harvesting with scissors Efficiency is low, and labor intensity is big, and the second way is directly to capture hawthorn with hand, is that hawthorn separates with carpopodium, and the third mode is Using mechanical picking, the no rule of growth of the hawthorn on branch can be followed, it is impossible to be grown in approximately the same plane, and height is straggly not One, even if implementing machinery trimming, mechanical picking is also difficult to, and mechanical picking directly cuts off mountain using scissors or rotating knife nothing but The branch of short, bristly hair or beard, mechanical picking can only be plucked along approximately the same plane, and the 4th kind of mode is grapple or dynamic determine pawl be substantially to comb The mutation of tooth-like Softening, picking comb produces relative motion with hawthorn surface, damages the surface of hawthorn, fifth procedure Clipping positioning is difficult, the 6th kind of mode manipulator harvesting, and hawthorn growth is irregular to follow, and hawthorn size has differences, robot Harvesting can not distinguish that thornbuss grows the age, and the growth position of hawthorn, mechanical hand is contacted with hawthorn federation surface, is produced and is clamped Power, retaining part is different, slides, and clamping is not tight, and cost is high, and efficiency is low.

The content of the invention

A kind of roller sliding block human assistance non-contact type mechanical hand-electric hawthorn 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 hawthorn branch outer surface move, cut off hawthorn carpopodium and Acupuncture on branch, during the branch diameter change of hawthorn, by roller compression spring, and then drives cutting knife along hawthorn branch surface Straight line parallel direction is moved, but the cutting angle of cutting knife is constant, is cut off the carpopodium of hawthorn by the blade of cutting knife, the fruit of residual Handle is attached on haw berry, no nutrient loss, to the surface of hawthorn without squeezing action power.

Its technical scheme is：A kind of roller sliding block human assistance non-contact type mechanical hand-electric hawthorn 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 hawthorn branch, unclamp the relative position of bolt regulation cutting knife and hawthorn branch, The periphery of roller is provided with the groove of U-shaped, and hawthorn branch is placed in the groove of U-shaped, during farm work, and hand is held will The hawthorn 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 hawthorn, the groove of the insertion roller of hawthorn branch Interior, roller is rolled on hawthorn branch, when the branch diameter change of hawthorn, 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 hawthorn branch all the time of cutting knife Motion, with hawthorn noncontact, only contacts with the carpopodium of hawthorn and hawthorn branch surface, releases the application pressure to handle, spring Active force roller is fixed on hawthorn 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 hawthorn branch Upper to rotate, cutting knife cuts off the carpopodium of hawthorn, and hawthorn is fallen into collecting bag.

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

Patent 2013207953131,200420010332X and 200810138684X, pawl reality is determined using grapple is either dynamic It is the mutation of comb-tooth-type Softening in matter, hawthorn is located between two broach of picking comb during harvesting, the broach of picking comb With hawthorn plane-plane contact, broach produces mutual extruding force with hawthorn surface, and hawthorn is in broach apparent motion, damages hawthorn table The marketing quality of face, the hawthorn surface oxidation blackening of damage, influence harvesting quality and hawthorn, secondly, the stretching resistance of hawthorn carpopodium Be far longer than the stretching resistance of hawthorn, during hawthorn carpopodium comes off from hawthorn, can to hawthorn produce tensile force, cause hawthorn with The pulp of hawthorn carpopodium junction comes off, a kind of roller sliding block human assistance non-contact type mechanical hand-electric hawthorn device for picking, energy Enough realize that reducing is plucked, cutting knife is moved in the outer surface of hawthorn branch, cut off the carpopodium of hawthorn, the carpopodium overwhelming majority stays in fruit On, Fructus Crataegi is not contacted with cutting knife, between the two without relative motion, and hawthorn surface nondestructive is hindered, and carpopodium is partially left at mountain On short, bristly hair or beard, existing picked technology can not be realized, the cutting angle of cutting knife is adjusted by bolt, during the branch diameter change of hawthorn, By roller compression spring, and then straight line parallel direction of the cutting knife along hawthorn branch surface is driven to move, but the cutting angle of cutting knife Degree is constant, can only be cut off the carpopodium of hawthorn by the sophisticated blade of cutting knife, to the surface of haw berry without squeezing action power, is One kind on hawthorn branch rolls contactless harvesting, and structure is different, and different in principle, roller and cutting knife can also use single Set, can also two be used in combination, flexibly and easily, in addition, mechanical picking is accurately positioned difficulty larger, artificial harvesting Efficiency is low, and the application picking knife cuts off carpopodium along the parallel motion of branch surface, and roller is moved on branch, realizes that reducing is adopted Pluck, the combs of other forms is plucked, flexible harvesting, clamping harvesting, extruding force is applied to the surface of hawthorn, relative motion is produced, only Can in one plane pluck, and aspirated-air type is plucked, though air-flow can not enter cluster round between the fruit grown thickly, throughput adds Greatly, aspirated-air type can not realize harvesting at all, and air-flow is difficult to depart from hawthorn from tough and tensile carpopodium, and air-flowing type decides hawthorn Harvesting can not realize that picking lever is held in clipping harvesting high with hand, and the center of gravity of bar is located at middle and upper part, and the pushing time holds picking lever high Shake is produced, deviation occurs in sight, and positioning is inaccurate, and picking efficiency is low, and hawthorn is different in shoot growth angle, passes through rotation Turn clamping, dynamic rotation refers to de-clamping static state and the different hawthorn of angle, it is difficult to which smoothly clamping, hand is lifted formula electric shear, made Hawthorn carpopodium is located between two scissors, and haw berry is grown thickly, and the angle of each growth is different, and one can only be sheared every time, is deposited In precise positioning technical problem, labor intensity is big, shakes percussive, is a kind of destructive harvesting, damages serious to thornbuss, Influence growth and the yield of the wooden next year of number, eccentric block vibrations harvesting is a kind of deformation for shaking percussive, and the application to While preceding motion, roller can also be realized simultaneously to be rotated on branch, and all hawthorn are all grown on branch, either side shoot Or on side shoot, coupled by carpopodium with branch, the rotation harvesting of 360 degree of cutting knifes is realized, because hawthorn is at the growth angle of branch Degree is inconsistent, and the finger of robot does not replace people anyway in terms of harvesting yet, and the finger of robot is by metal material The multi-joint mechanism being made, without thinking in images, simply performs mechanical 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 hawthorn is different, the tensile strength of its carpopodium Differ, picking robot can not distinguish that thornbuss grows the age, and the growth position of hawthorn, mechanical hand connects with hawthorn federation surface Touch, produce chucking power, retaining part is different, slides, clamp not tight, this point is indubitable, artificial harvesting can be with cutting Knife cuts the carpopodium of hawthorn, is not contacted with the surface of Fructus Crataegi directly, picking efficiency is low, single harvesting, hawthorn 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 hawthorn on branch Difference, the hawthorn quantity of each fruit ear is different, and clusters round into fringe, causes the hawthorn of each fruit ear to grow not in approximately the same plane On, even if implementing machinery trimming, mechanical picking is also difficult to, and mechanical picking directly cuts off mountain using scissors or rotating knife nothing but The branch of short, bristly hair or beard, 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, is rolled in branch by roller, directly cuts carpopodium, non-contact mechanical hand once realizes the harvesting of multiple fruit ears, i.e., two Fruit ear harvesting above, symmetrical cutting knife, cutting knife and Fructus Crataegi surface are contactless, and roller has floating copying function, reducing Harvesting, overcomes the extruding phenomenon to hawthorn, robot is not accomplished at present, the technical scheme of existing technical scheme and the application It is different in principle, 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 hawthorn branch, cuts off the carpopodium of hawthorn, and roller has Floating copying function, realizes that reducing is moved, cutting knife cuts off the carpopodium of hawthorn, and squeezing action is not produced to haw berry.

Brief description of the drawings

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

1, handle 2, hawthorn 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 hawthorn 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, 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 hawthorn branch 2, unclamp the relative position of the regulation cutting knife 7 of bolt 9 and hawthorn branch 2 Put, the groove of U-shaped is provided with the periphery of roller 6, hawthorn branch 2 is placed in the groove of U-shaped, during farm work, one Hand holds the hawthorn 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 hawthorn, hawthorn branch In the groove of 2 insertion rollers 6, roller 6 is rolled on hawthorn branch 2, and when the branch diameter change of hawthorn, 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 hawthorn branch 2 all the time, release to the application pressure of handle 1, the active force of spring 5 fixes roller 6 On hawthorn 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 on mountain Rotated on short, bristly hair or beard branch 2, cutting knife 7 cuts off the carpopodium of hawthorn, hawthorn is fallen into collecting bag, after the completion of a hawthorn 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 hawthorn device for picking is completed from harvesting is taken away, the above-mentioned course of work is repeated, successively to other hawthorn branches 2 Harvesting.

Claims (2)

1. a kind of roller sliding block human assistance non-contact type mechanical hand-electric hawthorn 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, press close to hawthorn branch（2）Surface, unclamp bolt（9）Adjust cutting knife（7）With hawthorn branch（2）Relative position Put, in roller（6）Periphery be provided with U-shaped groove, hawthorn branch（2）Be placed in the groove of U-shaped, during farm work, One hand holds the hawthorn 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 mountain On the branch of short, bristly hair or beard, hawthorn branch（2）Insertion roller（6）Groove in, roller（6）In hawthorn branch（2）It is upper to roll, work as hawthorn 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 hawthorn 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 hawthorn 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 hawthorn branch（2）It is upper to rotate, cutting knife（7） The carpopodium of hawthorn is cut off, hawthorn is fallen into collecting bag.

2. a kind of roller sliding block human assistance non-contact type mechanical hand-electric hawthorn 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.