CN107041206A - A kind of roller human assistance non-contact type mechanical hand hawthorn device for picking - Google Patents

Abstract

The present invention provides a kind of roller human assistance non-contact type mechanical hand 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 rotary cutter 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 rotary cutter, the trapezoidal shape of blade of rotary cutter, the surface of hawthorn branch is pressed close on the long base of trapezoidal shape, the groove of U-shaped is provided with the periphery of roller, human assistance handle, turn on the power switch, roller is rotated on hawthorn branch, rotary cutter cuts off the carpopodium of hawthorn, hawthorn is fallen into collecting bag.

Description

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

Technical field

The present invention relates to a kind of roller human assistance non-contact type mechanical hand hawthorn device for picking, belong to agricultural mechanical technology neck Domain.

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 second method is that hawthorn is directly captured with hand, and hawthorn separates with carpopodium, and the third mode is to use 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 to differ, Even if implementing machinery trimming, mechanical picking is also difficult to, and mechanical picking directly cuts off hawthorn using scissors or rotating knife nothing but Branch, mechanical picking can only pluck along approximately the same plane, and the 4th kind of mode is grapple or dynamic determines pawl substantially broach The mutation of formula Softening, picking comb produces relative motion with hawthorn surface, damages the surface of hawthorn, fifth procedure folder Hold formula positioning difficult, the 6th kind of mode manipulator harvesting, hawthorn growth is irregular to be followed, and hawthorn size is had differences, and robot is adopted Plucking can not distinguish that thornbuss grows the age, and the growth position of hawthorn, mechanical hand is contacted with hawthorn federation surface, generation chucking 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 human assistance non-contact type mechanical hand 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 hinged with handle, rotary cutting Knife is rotated under the drive of power, and rotary cutter is moved in the outer surface for pressing close to hawthorn branch, cuts off the carpopodium and branch of hawthorn Upper acupuncture, during the branch diameter change of hawthorn, by roller compression spring, and then drives straight line of the cutting knife along hawthorn branch surface Parallel direction is moved, but the cutting angle of rotary cutter is constant, is cut off the carpopodium of hawthorn by the blade of rotary cutter, to mountain The surface of short, bristly hair or beard fruit is without squeezing action power.

Its technical scheme is：A kind of roller human assistance non-contact type mechanical hand hawthorn 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 handle On, and be hinged with handle, device for picking is made up of roller, expansion link, spring, rotary cutter and collecting bag, and spring is stage clip, is stretched One end of bar couples with roller, and the through hole that the other end is set on spring and handle simultaneously couples with handle, and one end of connecting rod leads to Cross and be bolted on expansion link, the other end of connecting rod is coupled by bolt with rotary cutter, the blade of rotary cutter is trapezoidal The surface of hawthorn branch is pressed close on shape, the long base of trapezoidal shape, and the structure of trapezoidal shape is easy to after cutting carpopodium and fruit pin along curved surface Shed, do not accumulated when rotary cutter is rotated because cutting object is adhered to, influence picking efficiency and then damage haw berry, unclamp bolt regulation The relative position of rotary cutter and hawthorn branch, be provided with the groove of U-shaped on the periphery of roller, and hawthorn branch is placed in U-shaped Groove in, during farm work, a hand holds the hawthorn branch to be plucked, and another hand applies to the handle of device for picking presses Power, handle overcomes pin joint of the pressure of spring on support bar to rotate, and drives roller and rotary cutter to open, roller is placed in On the branch of hawthorn, in the groove of the insertion roller of hawthorn branch, roller is rolled on hawthorn branch, when the branch diameter of hawthorn During change, pair roller applies active force, and roller has the spring set on floating copying function, compression expansion link, and then drives Rotary cutter is moved, and rotary cutter presses close to the apparent motion of hawthorn branch all the time, and hawthorn noncontact, only with the carpopodium of hawthorn and Hawthorn branch surface is contacted, and releases the application pressure to handle, and roller is fixed on hawthorn branch by the active force of spring, is opened Power switch, minisize dc buncher drives rotary cutter rotation, and human assistance handle, roller is rotated on hawthorn branch, Rotary cutter cuts off the carpopodium of hawthorn, and hawthorn is fallen into collecting bag.

A kind of described roller human assistance non-contact type mechanical hand hawthorn device for picking, roller and cutting knife are arranged in pairs, rolling Wheel can be shifted to install, and be 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, and a kind of roller human assistance non-contact type mechanical hand hawthorn device for picking, can realize Reducing is plucked, and cutting knife is moved in the outer surface of hawthorn branch, cuts off the carpopodium of hawthorn, and the carpopodium overwhelming majority is stayed on fruit, mountain Short, bristly hair or beard fruit is not contacted with cutting knife, between the two without relative motion, and hawthorn surface nondestructive is hindered, and carpopodium is partially left on hawthorn, Existing picked technology can not realize that the cutting angle of cutting knife is adjusted by bolt, during the branch diameter change of hawthorn, pass through rolling Wheel compression spring, and then drive straight line parallel direction of the cutting knife along hawthorn branch surface to move, but the cutting angle of cutting knife is constant, The carpopodium of hawthorn can only be cut off by the sophisticated blade of cutting knife, to the surface of haw berry without squeezing action power, in hawthorn branch One kind on bar rolls contactless harvesting, and structure is different, different in principle, and roller and cutting knife can also be set using single, Can two be used in combination, flexibly and easily, in addition, mechanical picking is accurately positioned, difficulty is larger, and artificial picking efficiency is low, The application picking knife cuts off carpopodium along the parallel motion of branch surface, and roller is moved on branch, realizes that reducing is plucked, other The comb of form is plucked, flexibility is plucked, clamping harvesting, applies extruding force to the surface of hawthorn, generation relative motion can only be at one Plucked in plane, and aspirated-air type is plucked, though air-flow can not enter cluster round between the fruit grown thickly, throughput is increased, aspirated-air type Harvesting can not be realized at all, and air-flow is difficult to depart from hawthorn from tough and tensile carpopodium, and air-flowing type decides that the harvesting of hawthorn can not Realize, clipping harvesting, hold picking lever high with hand, the center of gravity of bar is located at middle and upper part, and the pushing time holds picking lever high and produces shake, There is deviation in sight, and positioning is inaccurate, and picking efficiency is low, and hawthorn is different in shoot growth angle, is clamped by rotating, and moves The rotation of state refers to de-clamping static state and the different hawthorn of angle, it is difficult to which smoothly clamping, hand lifts formula electric shear, makes hawthorn carpopodium position Between two scissors, haw berry 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 is big, shakes percussive, is a kind of destructive harvesting, damages serious to thornbuss, under influence number wood The growth of 1 year and yield, eccentric block vibrations harvesting is a kind of deformation for shaking percussive, and the application is same what is travelled forward When, roller can also be realized simultaneously to be rotated on branch, and all hawthorn are all grown on branch, either on side shoot or side shoot , coupled by carpopodium with branch, realize the rotation harvesting of 360 degree of cutting knifes, due to hawthorn in the growth angle of branch inconsistent, machine The finger of device people does not replace people anyway in terms of harvesting yet, and the finger of robot is the multi-joint being made up of metal material Mechanism, without thinking in images, simply performs mechanical action, and the harvesting of fruit is random, it is impossible to along regulated procedure Perform, and people is the animal for having thinking and perceiving, the growth year of hawthorn is different, and the tensile strength of its carpopodium is differed, machine People's 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 this point is indubitable, and artificial harvesting can use scissors to cut hawthorn Carpopodium, is not contacted directly, picking efficiency is low with the surface of Fructus Crataegi, and single harvesting, growth of the hawthorn on branch is not advised Rule can be followed, it is impossible to be grown in approximately the same plane, and height is straggly to differ, and growth position of the hawthorn on branch is different, Mei Geguo The hawthorn quantity of fringe is different, and clusters round into fringe, causes the hawthorn of each fruit ear to grow not in approximately the same plane, even if implementing machine Tool is trimmed, and mechanical picking is also difficult to, and mechanical picking directly cuts off nothing but the branch of hawthorn, machinery using scissors or rotating knife Harvesting can only be plucked along approximately the same plane, and robot is not accomplished at present, and the application exactly utilizes this point, by roller in branch Bar is rolled, and directly cuts carpopodium, non-contact mechanical hand once realizes the harvesting of multiple fruit ears, i.e., more than two fruit ear harvestings, Symmetrical cutting knife, cutting knife and Fructus Crataegi surface are contactless, and roller has floating copying function, and reducing harvesting is overcome to mountain The extruding phenomenon of short, bristly hair or beard, 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 cutting knife along hawthorn branch, cuts off the carpopodium of hawthorn, and roller has Floating copying function, realizes that reducing is moved, squeezing action is not produced to haw berry.

Brief description of the drawings

Fig. 1 is the structural representation of the non-contact type mechanical hand hawthorn device for picking of the embodiment of the present invention.

1, handle 2, hawthorn branch 3, support bar 4, expansion link 5, spring 6, roller 7, rotary cutter wherein in figure 8th, connecting rod 9, bolt.

Embodiment

Embodiment.

A kind of roller human assistance non-contact type mechanical hand hawthorn device for picking, including handle 1, support bar 3, spring 5, harvesting Device and collecting bag, are fixedly mounted spring, support bar 3 and device for picking, support bar 3 is arranged on handle 1, and and hand on handle 1 Handle 1 is hinged, and device for picking is made up of roller 6, expansion link 4, spring 5, rotary cutter 7 and collecting bag, and spring 5 is stage clip, expansion link 4 One end couple with roller 6, the through hole that the other end is set on spring 5 and handle 1 simultaneously couples, one end of connecting rod 8 with handle 1 It is fixed on by bolt 9 on expansion link 4, the other end of connecting rod 8 is coupled by bolt 9 with rotary cutter 7, the knife of rotary cutter 7 The surface of hawthorn branch 2 is pressed close on the trapezoidal shape of sword, the long base of trapezoidal shape, unclamps the regulation rotary cutter 7 of bolt 9 and hawthorn branch 2 relative position, is provided with the groove of U-shaped on the periphery of roller 6, and hawthorn branch 2 is placed in the groove of U-shaped, and field is made During industry, a 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 bullet Pin joint of the pressure of spring 5 on support bar 3 is rotated, and drives roller 6 and rotary cutter 7 to open, roller 6 is placed in the branch of hawthorn On bar, in the groove of the insertion roller 6 of hawthorn branch 2, roller 6 is rolled on hawthorn branch 2, when the branch diameter change of hawthorn When, pair roller 6 applies active force, and roller 6 has the spring 5 set on floating copying function, compression expansion link 4, and then drives Rotary cutter 7 is moved, the apparent motion for pressing close to hawthorn branch 2 all the time of rotary cutter 7, releases the application pressure to handle 1, bullet Roller 6 is fixed on hawthorn branch 2 by the active force of spring 5, is turned on the power switch, and rotary cutter 7 rotates, human assistance handle 1, Roller 6 is rotated on hawthorn branch 2, and rotary cutter 7 cuts off the carpopodium of hawthorn, and hawthorn is fallen into collecting bag, a hawthorn branch After the completion of bar harvesting, apply pressure to handle 1, handle 1 overcomes pin joint of the pressure of spring 5 on support bar 3 to rotate, driven Roller 6 and rotary cutter 7 open, and the branch that hawthorn device for picking is completed from harvesting is taken away, repeat the above-mentioned course of work, right successively The harvesting of other hawthorn branches.

Claims (2)

1. a kind of roller human assistance non-contact type mechanical hand 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 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）And rotary 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 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 expansion link （4）On, connecting rod（8）The other end pass through bolt（9）With rotary cutter（7）Connection, rotary cutter（7）The trapezoidal shape of blade, Hawthorn branch is pressed close on the long base of trapezoidal shape（2）Surface, unclamp bolt（9）Adjust rotary cutter（7）With hawthorn branch（2）'s Relative position, in roller（6）Periphery be provided with U-shaped groove, hawthorn branch（2）Be placed in the groove of U-shaped, field make During industry, a hand holds the hawthorn 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 rotary cutter（7）Open, will roll Wheel（6）It is placed on the branch of hawthorn, hawthorn branch（2）Insertion roller（6）Groove in, roller（6）In hawthorn branch（2）On Roll, when the branch diameter change of hawthorn, pair roller（6）Apply active force, roller（6）With floating copying function, compression Expansion link（4）The spring of upper setting（5）, and then drive rotary cutter（7）Motion, rotary cutter（7）All the time hawthorn 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 hawthorn branch （2）On, turn on the power switch, rotary cutter（7）Rotation, human assistance handle（1）, roller（6）In hawthorn branch（2）It is upper to turn It is dynamic, rotary cutter（7）The carpopodium of hawthorn is cut off, hawthorn is fallen into collecting bag.

2. a kind of roller human assistance non-contact type mechanical hand hawthorn device for picking as described in claim 1, it is characterised in that： Roller（6）And rotary cutter（7）It is arranged in pairs.