CN107041205A - A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric persimmon 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 persimmon 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 persimmon branch, cutting knife cuts off the carpopodium of persimmon, persimmon is fallen into collecting bag.

Description

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

Background technology

Persimmon is the berry more than a kind of pulp, and ripe persimmon appearance is soft and soggy, is damaged and the outflow of tumble injury rear slurry, Surface Oxygen Change blackening, tried one's best during harvesting and avoid damage to exocuticle, persimmon harvesting both domestic and external is by various ways, and first way is artificial uses Hand directly captures persimmon, and persimmon is separated with carpopodium, and picking efficiency is low, and labor intensity is big, and the second way is billhook formula, is directed at persimmon Son directly captures persimmon harvesting with billhook, and the third mode is comb-tooth-type, and persimmon is located between two broach of picking comb during harvesting, The broach of picking comb and persimmon dermal contact, broach produce easy damaged in mutual extruding force, broach rotation process with persimmon surface The epidermis of persimmon is stabbed, the marketing quality of quality and persimmon is plucked in the persimmon surface oxidation blackening of damage, influence, and fourth way is Shaking formula, by the reciprocating motion of eccentric four-bar mechanism, makes persimmon come off by force, is a kind of destructive harvesting, was falling Cheng Zhong, produces acceleration, is mutually collided during landing, damages exocuticle, damages serious to persimmon tree, the life of the wooden next year of influence number Long and yield, the 5th mode is clipping, and clip contacts the epidermis of persimmon, produces chucking power, slides, chucking power is excessive, Persimmon is deformed, and skin breakage, retaining part is most important.

The content of the invention

A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric persimmon 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 persimmon branch, cut-out persimmon Carpopodium, during the branch diameter change of persimmon, by roller compression spring, and then drives straight line of the cutting knife along persimmon branch surface to put down Line direction is moved, but the cutting angle of cutting knife is constant, is cut off the carpopodium of persimmon by the blade of shear knife, the carpopodium of residual is attached On persimmon fruit, no nutrient loss, to the surface of persimmon fruit without squeezing action power.

Its technical scheme is：A kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric persimmon 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, expansion link one end couples with roller, and the through hole that the other end is set on spring and handle simultaneously couples, connecting rod one end with handle It is bolted on expansion link, long slot bore is provided with expansion link, the other end of connecting rod runs through the axle set on shear knife Hole, the blade of shear knife is serrated, and unclamps position of the bolt regulation connecting rod on expansion link, and then adjust shear knife and persimmon The relative position of branch, is that the point of a knife of shear knife presses close to persimmon branch, and the groove of U-shaped, persimmon are provided with the periphery of roller Branch is placed in the groove of U-shaped, and during farm work, a hand holds the persimmon branch to be plucked, and another hand is to device for picking Handle apply pressure, handle overcomes pin joint of the pressure of spring on support bar to rotate, and drives roller and shear knife to open, Roller is placed on the branch of persimmon, in the groove of the insertion roller of persimmon branch, roller is rolled on persimmon branch, works as persimmon Branch diameter change when, pair roller applies active force, and roller has a floating copying function, the bullet set on compression expansion link Spring, and then drive shear knife motion, shear knife presses close to the apparent motion of persimmon branch all the time, and persimmon noncontact, only and persimmon Carpopodium and the contact of persimmon branch surface, release to the application pressure of handle, roller is fixed on persimmon branch by the active force of spring On bar, turn on the power switch, electromagnetism load push-pull energization compression spring adhesive, spring to break is upheld, and then drive shear knife to close Close and open reciprocating motion, uphold frequency passage time Control, human assistance handle, roller turns on persimmon branch Dynamic, shear knife cuts off the carpopodium of persimmon, and persimmon is fallen into collecting bag.

A kind of described electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric persimmon 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 20122098881,2013105469618,2015104799380, billhook formula and scrapes and adopts ring type and belong to comb Tooth-like, persimmon is located between two broach of picking comb during harvesting, broach and the persimmon dermal contact of picking comb, broach and persimmon table Face produces the epidermis that easy damaged in mutual extruding force, broach rotation process stabs persimmon, the persimmon surface oxidation blackening of damage, shadow The marketing quality of harvesting quality and persimmon is rung, secondly, persimmon carpopodium is thick, and fiber is more, toughness is big, and persimmon carpopodium comes off from persimmon During, tensile force can be produced to persimmon, cause persimmon and the pulp of persimmon carpopodium junction to come off, nutrient flow in persimmon fruit Lose, pulp shrinks, and tarnishes, weight saving, optimal harvesting is that carpopodium is partially left on the fruit of persimmon, and a kind of electricity Magnetic push-and-pull human assistance non-contact type mechanical hand-electric persimmon device for picking, can realize that reducing is plucked, cutting knife is in persimmon branch Outer surface is moved, and cuts off the carpopodium of persimmon, the carpopodium overwhelming majority stayed on fruit, persimmon fruit is not contacted with cutting knife, both it Between without relative motion, persimmon surface nondestructive is hindered, and carpopodium is partially left on persimmon, existing picked technology can not be realized, persimmon During the branch diameter change of son, by roller compression spring, and then straight line parallel direction of the cutting knife along persimmon branch surface is driven Motion, but the cutting angle of cutting knife is constant, can only be cut off the carpopodium of persimmon by the sophisticated blade of cutting knife, to persimmon fruit Surface is without squeezing action power, and one kind on persimmon branch rolls contactless harvesting, and structure is different, different in principle, roller Can also be set with cutting knife using single, can also two be used in combination, flexibly and easily, in addition, mechanical picking is accurately fixed Position difficulty is larger, and artificial picking efficiency is low, and the application picking knife cuts off carpopodium along the parallel motion of branch surface, and roller is in branch Moved on bar, realize that reducing is plucked, flexible harvesting, the clamping harvesting of other forms apply extruding force, production to the surface of persimmon Raw relative motion, can only in one plane be plucked, clipping harvesting, hold picking lever 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 persimmon is in shoot growth Angle is different, is clamped by rotating, and dynamic rotation refers to de-clamping static state and the different and of different shapes persimmon of angle, It is difficult to smoothly clamping, hand lifts formula electric shear, persimmon carpopodium is located between two scissors, the fruit of persimmon is grown thickly, each The angle of growth is different, and one can only be sheared every time, there is precise positioning technical problem, and labor intensity is big, shaking formula, by inclined The reciprocating motion of heart four-bar mechanism is rigidly connected with fruit, persimmon is come off by force, shakes percussive, and being that one kind is destructive adopts Pluck, serious is damaged to persimmon tree, the growth of the wooden next year of influence number and yield, eccentric block shaking harvesting is vibrations percussive One kind deformation, and the application is while travelling forward, roller also can realize the rotation on branch simultaneously, and all persimmons are all raw It is long either on side shoot or side shoot, to be coupled on branch by carpopodium with branch, the rotation harvesting of 360 degree of cutting knifes is realized, by Inconsistent in the growth angle of branch in persimmon, the finger of robot does not replace people, machine anyway in terms of harvesting yet The finger of people is the multi-joint mechanism being made up of metal material, without thinking in images, simply perform mechanical action, and fruit is adopted Pluck random, it is impossible to perform along regulated procedure, and people is the animal for having thinking and perceiving, the growth year of persimmon is not Together, the tensile strength of its carpopodium is differed, and picking robot can not distinguish that persimmon tree grows age, the growth position of persimmon, machine Device hand is contacted with persimmon federation surface, produces chucking power, and retaining part is different, slides, and clamps not tight, and this point is not housed Doubt, artificial harvesting can cut the carpopodium of persimmon with scissors, the surface directly with persimmon fruit is not contacted, and picking efficiency is low, single Individual harvesting, the no rule of growth of the persimmon on branch can be followed, it is impossible to be grown in approximately the same plane, and height is straggly to differ, persimmon Growth position of the son on branch is different, and mechanical picking can only be plucked along approximately the same plane, and robot is not accomplished at present, and this Shen This point is please exactly utilized, is rolled by roller in branch, directly cuts carpopodium, non-contact mechanical hand once realizes multiple fruit ears Harvesting, i.e. more than two fruit ears harvesting, symmetrical cutting knife, cutting knife and persimmon fruit surface be contactless, and roller has floating Profile modeling function, reducing harvesting, overcomes the extruding phenomenon to persimmon, robot is not accomplished at present, existing technical scheme and sheet It is different in the technical scheme principle of application, in structure.

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 persimmon branch, cuts off the carpopodium of persimmon, roller tool There is floating copying function, realize that reducing is moved, shear knife cuts off the carpopodium of persimmon, squeezing action is not produced to persimmon fruit.

Brief description of the drawings

Fig. 1 is that the electromagnetism push-and-pull work of the embodiment of the present invention aids in the structure of non-contact type mechanical hand-electric persimmon device for picking Schematic diagram.

1, handle 2 wherein in figure, persimmon branch 3, support bar 4, expansion link 5, spring 6, roller 7, shear 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 persimmon 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 persimmon branch 2 Relative position, is provided with the groove of U-shaped on the periphery of roller 6, and persimmon branch 2 is placed in the groove of U-shaped, farm work When, a hand holds the persimmon 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 persimmon, In the groove of the insertion roller 6 of persimmon branch 2, roller 6 is rolled on persimmon branch 2, right when the branch diameter change of persimmon 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 persimmon 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 persimmon 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 persimmon branch 2, and shear knife 7 cuts off the carpopodium of persimmon, and persimmon is fallen into collecting bag, one After the completion of the harvesting of persimmon 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 persimmon device for picking is completed from harvesting is taken away, the above-mentioned course of work is repeated, Successively to the harvesting of other persimmon branches 2.

Claims (2)

1. a kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric persimmon 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 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 persimmon branch（2）Relative position, Roller（6）Periphery be provided with U-shaped groove, persimmon branch（2）Be placed in the groove of U-shaped, during farm work, a hand Hold the persimmon 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 persimmon Branch on, persimmon branch（2）Insertion roller（6）Groove in, roller（6）In persimmon branch（2）It is upper to roll, when persimmon During branch diameter change, pair roller（6）Apply active force, roller（6）With floating copying function, expansion link is compressed（4）On set The spring put（5）, and then drive shear knife（7）Motion, shear knife（7）All the time persimmon 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 persimmon branch（2）On, turn on the power switch, Electromagnetism load push-pull（9）Drive shear knife（7）Move back and forth, human assistance handle（1）, roller（6）In persimmon branch（2）It is upper to turn It is dynamic, shear knife（7）The carpopodium of persimmon is cut off, persimmon is fallen into collecting bag.

2. a kind of electromagnetism push-and-pull human assistance non-contact type mechanical hand-electric persimmon 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.