CN107018759B - Automatic clamping and base-shearing type apple picking device based on single-chip microcomputer control - Google Patents
Automatic clamping and base-shearing type apple picking device based on single-chip microcomputer control Download PDFInfo
- Publication number
- CN107018759B CN107018759B CN201710427077.0A CN201710427077A CN107018759B CN 107018759 B CN107018759 B CN 107018759B CN 201710427077 A CN201710427077 A CN 201710427077A CN 107018759 B CN107018759 B CN 107018759B
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- China
- Prior art keywords
- apple
- rod
- servo motor
- clamping rod
- circuit board
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Classifications
-
- 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
- A01D46/253—Portable motorised fruit pickers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Abstract
The utility model provides an automatic centre gripping cuts base of a fruit type apple picker based on singlechip control, including cylindric receiver, cylindric receiver lower extreme is equipped with the lower opening with the collection car intercommunication, and cylindric receiver upper end is equipped with the upper opening, and cylindric receiver up end is equipped with the mount pad, is equipped with the clamping structure that corresponds with the upper opening on the mount pad, and mount pad one side is equipped with cuts base of a fruit structure, and cylindric receiver outer wall one side is equipped with the control circuit board that control clamping structure pressed from both sides tight apple and control cuts base of a fruit structure and cut apple stem. According to the invention, the cylindrical bearing body is supported at the apple at the high position of the fruit tree through the telescopic rod, the control circuit board controls the clamping structure to clamp the apple, and controls the stem cutting structure to cut off the stem of the apple, so that the apple at the stem cutting structure is led into the collecting vehicle through the folding hose.
Description
Technical Field
The invention belongs to the technical field of apple picking tools, and particularly relates to an automatic clamping and pedicle shearing type apple picking device based on single chip microcomputer control.
Background
Apple, sweet and sour, is delicious and rich in nutrition, and is one of fruits suitable for the old and the young. However, for fruit farmers who plant apples, the harvesting of apples is a main problem in one year, because the heights of apple branches are different, the current manual harvesting of apples must climb a tree ladder to finish harvesting fruits at the high positions of fruit trees, so that the bark is worn, the growth of the fruit trees is affected, and personal safety hazards exist, such as damage to fruits and influence on the quality of the fruits if long-rod threshing is adopted. There is therefore a need for improvements.
Disclosure of Invention
The invention solves the technical problems that: the invention provides an automatic clamping and stem-shearing type apple picker based on single chip microcomputer control, a cylindrical receiving body is supported at an apple position at the high position of a fruit tree through a telescopic rod, a control circuit board controls a clamping structure to clamp the apple, and controls a stem cutting structure to cut off the stem of the apple, so that the apple at the cut stem is led into a collecting vehicle through a fold hose.
The invention adopts the technical scheme that: the utility model provides an automatic centre gripping is cut base of a fruit type apple and is picked ware based on singlechip control, includes the cylindric carrier, cylindric carrier lower extreme is equipped with the lower opening with the collection car intercommunication, cylindric carrier upper end is equipped with the upper opening, cylindric carrier up end is equipped with the mount pad, be equipped with the clamping structure that corresponds with the upper opening on the mount pad, mount pad one side is equipped with cuts base of a fruit structure, cylindric carrier outer wall one side is equipped with the control circuit board that control clamping structure pressed from both sides tight apple and control cut base of a fruit structure cut apple base of a fruit portion.
The clamping structure comprises a servo motor I, a left clamping rod, a right clamping rod, a guide polish rod and a left-right rotation thread shaft, two mutually parallel supporting seats are arranged on a mounting seat on one side of an upper opening of a cylindrical bearing body, two ends of the left-right rotation thread shaft are rotatably supported on the two supporting seats, the servo motor I is fixed on one supporting seat and is connected with one end of the left-right rotation thread shaft, two ends of the guide polish rod are respectively fixed on the two supporting seats and are mutually parallel to the left-right rotation thread shaft, rear end connecting parts of the left clamping rod and the right clamping rod are respectively screwed with the left-right rotation thread shaft in opposite rotation directions, and rear end connecting parts of the left clamping rod and the right clamping rod are simultaneously connected with the guide polish rod in a sliding mode.
Further, the left clamping rod and the right clamping rod are of a bending structure which can be matched with the cambered surface of the outer surface of the apple.
Further, the pedicle cutting structure comprises a servo motor II and a screw rod, the screw rod is vertically rotatably supported on a mounting seat on one side of the upper opening, the servo motor II is fixed on the lower portion of the mounting seat, an output shaft of the servo motor II is fixedly connected with the lower end of the screw rod penetrating through the mounting seat, the screw rod is screwed with a double nut, and a cutter is arranged on the double nut.
Further, be equipped with the spring card on the cylindric carrier section of thick bamboo wall, spring card one end passes cylindric carrier section of thick bamboo wall can with getting into the interior apple surface contact of cylindric carrier, the button of control circuit board can be touched under the drive of apple gravity to the spring card other end, control circuit board is connected with servo motor I and servo motor II electricity respectively, left clamping lever and right clamping lever inboard are equipped with contact button, contact button is connected with the control circuit board electricity, the control circuit board is based on singlechip control principle.
Further, the mounting seat is provided with a telescopic rod, and the telescopic rod is fixedly connected with the mounting seat through a rod connecting seat.
Further, the lower opening of the cylindrical receiving body is communicated with the collecting vehicle through a corrugated hose.
Compared with the prior art, the invention has the advantages that:
1. according to the scheme, people can prop the cylindrical bearing body at the apple position at the high position of the fruit tree through the telescopic rod, the control circuit board controls the clamping structure to clamp the apple, and controls the stem cutting structure to cut off the stem of the apple, so that the apple at the stem cutting structure is led into the collecting vehicle through the folding hose;
2. this scheme cuts through the centre gripping of centre gripping structure and cuts the cutting of base of a fruit structure and plucks the apple to make the apple pass through fold hose and leading-in collection vehicle, avoided the stock to beat plucking and the apple to drop the damage that causes the fruit, guaranteed the apple quality.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the A-direction of FIG. 1;
fig. 3 is a control schematic of the present invention.
Detailed Description
Embodiments of the present invention are described below with reference to fig. 1-3.
The automatic clamping and stem-cutting type apple picking device based on single chip microcomputer control is shown in fig. 1 and 2, and comprises a cylindrical supporting body 1, wherein a lower opening 102 is formed in the lower end of the cylindrical supporting body 1, the lower opening 102 is communicated with a collecting vehicle through a corrugated hose 19, and an upper opening 101 is formed in the upper end of the cylindrical supporting body 1.
As shown in fig. 1, the upper end surface of the cylindrical supporting body 1 is provided with an installation seat 20, the installation seat 20 is provided with a clamping structure 2 corresponding to the upper opening 101, specifically, the clamping structure 2 comprises a servo motor i 4, a left clamping rod 5, a right clamping rod 6, a guiding polished rod 7 and a left-right threaded shaft 8, the left clamping rod 5 and the right clamping rod 6 are provided with curved structures capable of adapting to the outer cambered surface of an apple, the installation seat 20 on one side of the upper opening 101 of the cylindrical supporting body 1 is provided with two mutually parallel supporting seats 3, two ends of the left-right threaded shaft 8 are rotatably supported on the two supporting seats 3, the servo motor i 4 is fixed on one supporting seat 3, an output shaft of the servo motor is connected with one end of the left-right threaded shaft 8, two ends of the guiding polished rod 7 are respectively fixed on the two supporting seats 3 and are mutually parallel to the left-right threaded shaft 8, rear end connecting parts of the left clamping rod 5 and the right clamping rod 6 are respectively screwed with the left-right threaded shaft 8 in opposite directions, and the rear end connecting parts of the left clamping rod 5 and the right clamping rod 6 are simultaneously connected with the rear end of the guiding polished rod 7. The servo motor I4 in the clamping structure 2 is positively and negatively rotated to control the positive and negative rotation of the left-right screw thread shaft 8, so that the rear end connecting parts of the left clamping rod 5 and the right clamping rod 6 which are screwed with the left-right screw thread shaft 8 move along the left-right screw thread shaft 8 in opposite directions, the clamping and loosening of apples are realized, and the guiding polished rod 7 can play a guiding role on the left clamping rod 5 and the right clamping rod 6.
One side of the mounting seat 20 is provided with a pedicel cutting structure 10, specifically, as shown in fig. 2, the pedicel cutting structure 10 comprises a servo motor II 11 and a screw rod 12, the screw rod 12 is vertically and rotatably supported on the mounting seat 20 at one side of the upper opening 101, the servo motor II 11 is fixed at the lower part of the mounting seat 20, an output shaft of the servo motor II is fixedly connected with the lower end of a screw rod 12 penetrating through the mounting seat 20, a double nut 13 is screwed on the screw rod 12, and a cutter 14 is arranged on the double nut 13. The cutter 14 in the pedicel cutting structure 10 is connected with the screw rod 12 through the double nuts 13, and the position of the cutter 14 on the screw rod 12 can be changed to adapt to apples with different sizes.
As shown in fig. 2, a control circuit board 16 for controlling the clamping structure 2 to clamp apples and controlling the stem cutting structure 10 to cut off the apple stems is arranged on one side of the outer wall of the cylindrical support body 1, a spring card 15 is arranged on the cylinder wall of the cylindrical support body 1, one end of the spring card 15 penetrates through the cylinder wall of the cylindrical support body 1 to be in contact with the surface of apples entering the cylindrical support body 1, the other end of the spring card 15 can touch a button of the control circuit board 16 under the driving of the gravity of the apples, the control circuit board 16 is respectively electrically connected with a servo motor I4 and a servo motor II 11, a contact button 9 is arranged on the inner sides of the left clamping rod 5 and the right clamping rod 6, and the contact button 9 is electrically connected with the control circuit board 16. The control circuit board 16 adopts a singlechip control principle and adopts a direct-current power supply 12-volt storage battery.
The mounting seat 20 is provided with the telescopic rod 18, the telescopic rod 18 is fixedly connected with the mounting seat 20 through the rod connecting seat 17, and the telescopic rod 18 can enable apples at different heights of fruit trees to be picked.
When the apple tree fruit tree processing device is used, as shown in fig. 1 and 3, a cylindrical receiving body 1 is supported at an apple position at a high position by a telescopic rod 18, so that the apple enters an upper opening 101, the surface of the apple contacts a spring card 15, the spring card 15 contacts a button of a control circuit board 16 to work, the control circuit board 16 firstly controls a servo motor I4 to start, the servo motor I4 drives a left-right threaded shaft 8 to rotate positively, the left clamping rod 5 and the right clamping rod 6 are reversely close to move and clamp the apple under the guidance of a guide polished rod 7, at the moment, under the action of clamping force, the apple contacts a contact button 9 at the inner sides of the left clamping rod 5 and the right clamping rod 6, the servo motor I stops working, simultaneously, a servo motor II 11 starts and drives a screw rod 12 to rotate, and a cutter 14 arranged on the screw rod 12 rotates to cut off the stem of the apple, and the apple tree fruit tree is separated; the control circuit board 16 controls the servo motor I4 to reversely rotate, so that the left clamping rod 5 and the right clamping rod 6 reversely move away from each other and loosen apples, and the apples are led into the collecting vehicle through the folding hose 19; according to the invention, apples are picked through the clamping of the clamping structure 2 and the cutting of the pedicle cutting structure 10, and are guided into the collecting vehicle through the folding hose 19, so that damage to fruits caused by picking of long rods and falling of apples is avoided, and the quality of apples is ensured.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent modifications made by the appended claims shall be included in the scope of the present invention.
Claims (3)
1. Automatic clamping and base-shearing type apple picking device based on single chip microcomputer control, and is characterized in that: the apple stem cutting device comprises a cylindrical supporting body (1), wherein a lower opening (102) communicated with a collecting vehicle is formed in the lower end of the cylindrical supporting body (1), an upper opening (101) is formed in the upper end of the cylindrical supporting body (1), an installation seat (20) is arranged on the upper end face of the cylindrical supporting body (1), a clamping structure (2) corresponding to the upper opening (101) is arranged on the installation seat (20), a stem cutting structure (10) is arranged on one side of the installation seat (20), and a control circuit board (16) for controlling the clamping structure (2) to clamp apples and controlling the stem cutting structure (10) to cut apple stems is arranged on one side of the outer wall of the cylindrical supporting body (1);
the clamping structure (2) comprises a servo motor I (4), a left clamping rod (5), a right clamping rod (6), a guide polished rod (7) and a left-right threaded shaft (8), two mutually parallel supporting seats (3) are arranged on a mounting seat (20) on one side of an upper opening (101) of the cylindrical bearing body (1), two ends of the left-right threaded shaft (8) are rotatably supported on the two supporting seats (3), the servo motor I (4) is fixed on one side supporting seat (3) and an output shaft of the servo motor I is connected with one end of the left-right threaded shaft (8), two ends of the guide polished rod (7) are respectively fixed on the two supporting seats (3) and are mutually parallel to the left-right threaded shaft (8), rear end connecting parts of the left clamping rod (5) and the right clamping rod (6) are respectively screwed with the left-right threaded shaft (8) in opposite rotation directions, and rear end connecting parts of the left clamping rod (5) and the right clamping rod (6) are simultaneously connected with the guide polished rod (7) in a sliding mode;
the left clamping rod (5) and the right clamping rod (6) are of a curved structure which can be matched with the cambered surface of the outer surface of the apple;
the pedicle cutting structure (10) comprises a servo motor II (11) and a screw rod (12), the screw rod (12) is vertically and rotatably supported on a mounting seat (20) at one side of an upper opening (101), the servo motor II (11) is fixed at the lower part of the mounting seat (20) and the output shaft of the servo motor II is fixedly connected with the lower end of the screw rod (12) penetrating through the mounting seat (20), a double nut (13) is screwed on the screw rod (12), and a cutter (14) is arranged on the double nut (13); the cutter (14) in the pedicel cutting structure (10) is connected with the screw rod (12) through the double nuts (13), and the position of the cutter (14) on the screw rod (12) is changed to adapt to apples with different sizes;
the novel apple-shaped socket is characterized in that a spring card (15) is arranged on the wall of the cylindrical socket body (1), one end of the spring card (15) penetrates through the wall of the cylindrical socket body (1) and can be in contact with the surface of an apple entering the cylindrical socket body (1), the other end of the spring card (15) can trigger a button of a control circuit board (16) under the gravity drive of the apple, the control circuit board (16) is respectively electrically connected with a servo motor I (4) and a servo motor II (11), contact buttons (9) are arranged on the inner sides of a left clamping rod (5) and a right clamping rod (6), the contact buttons (9) are electrically connected with the control circuit board (16), and the control circuit board (16) is based on a single chip microcomputer control principle;
the cylindrical bearing body (1) is supported at the apple position at the high position through the telescopic rod (18), so that the apple enters the upper opening (101), the surface of the apple contacts the spring card (15), the spring card (15) contacts a button of the control circuit board (16) to work, the control circuit board (16) firstly controls the servo motor I (4) to start, the servo motor I (4) drives the left-right threaded shaft (8) to rotate positively, the left clamping rod (5) and the right clamping rod (6) are reversely moved to clamp the apple under the guidance of the guide polished rod (7), at the moment, the apple contacts the contact button (9) at the inner sides of the left clamping rod (5) and the right clamping rod (6) under the action of the clamping force, the servo motor I (4) stops working, meanwhile, the servo motor II (11) starts and drives the screw rod (12) to rotate, and the cutter (14) arranged on the screw rod (12) rotates to cut off the stem of the apple, so that the apple and the fruit tree fall off; then the control circuit board (16) controls the servo motor I (4) to rotate reversely, so that the left clamping rod (5) and the right clamping rod (6) move reversely and release apples, and the apples are guided into the collecting vehicle through the folding hose (19).
2. The automatic clamping and pedicle-shearing type apple picker based on single-chip microcomputer control as claimed in claim 1, wherein: the mounting seat (20) is provided with a telescopic rod (18), and the telescopic rod (18) is fixedly connected with the mounting seat (20) through a rod connecting seat (17).
3. The automatic clamping and pedicle-shearing type apple picker based on single chip microcomputer control as claimed in claim 2, wherein: the lower opening (102) of the cylindrical receiving body (1) is communicated with the collecting vehicle through a corrugated hose (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710427077.0A CN107018759B (en) | 2017-06-08 | 2017-06-08 | Automatic clamping and base-shearing type apple picking device based on single-chip microcomputer control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710427077.0A CN107018759B (en) | 2017-06-08 | 2017-06-08 | Automatic clamping and base-shearing type apple picking device based on single-chip microcomputer control |
Publications (2)
| Publication Number | Publication Date |
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| CN107018759A CN107018759A (en) | 2017-08-08 |
| CN107018759B true CN107018759B (en) | 2023-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710427077.0A Active CN107018759B (en) | 2017-06-08 | 2017-06-08 | Automatic clamping and base-shearing type apple picking device based on single-chip microcomputer control |
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| CN (1) | CN107018759B (en) |
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| CN107690958B (en) * | 2017-09-27 | 2020-05-26 | 三峡大学 | Arm is picked to touching formula fruit |
| CN107455090A (en) * | 2017-10-12 | 2017-12-12 | 吴振明 | A kind of agriculture fruit tree stripper |
| CN107567815B (en) * | 2017-10-12 | 2020-08-18 | 绍兴市柯桥区欧祥机械有限公司 | Air bag type citrus picking manipulator end effector |
| CN108207330B (en) * | 2018-02-11 | 2021-03-19 | 宁波大学 | Artificially-assisted fruit picking device |
| CN108419520B (en) * | 2018-05-14 | 2024-04-09 | 安徽工业大学 | High-efficiency real picking end effector, fruit picking device and picking vehicle |
| CN108650995B (en) * | 2018-05-21 | 2021-06-25 | 遵义盛林农业发展有限公司 | Blueberry picking device |
| CN109937698A (en) * | 2019-04-15 | 2019-06-28 | 长安大学 | A kind of booster type fruit picker and its application method |
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