CN107041207A - A kind of roller human assistance non-contact type mechanical hand cherry picking device - Google Patents
A kind of roller human assistance non-contact type mechanical hand cherry picking device Download PDFInfo
- Publication number
- CN107041207A CN107041207A CN201710215644.6A CN201710215644A CN107041207A CN 107041207 A CN107041207 A CN 107041207A CN 201710215644 A CN201710215644 A CN 201710215644A CN 107041207 A CN107041207 A CN 107041207A
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- China
- Prior art keywords
- cherry
- roller
- handle
- branch
- spring
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Classifications
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- 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
- A01D46/247—Manually operated fruit-picking tools
Abstract
The present invention provides a kind of roller human assistance non-contact type mechanical hand cherry picking device, 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, 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 other end of connecting rod is coupled by bolt with rotary cutter, the trapezoidal shape of blade of rotary cutter, the surface of cherry 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 cherry branch, rotary cutter cuts off the carpopodium of cherry, cherry is fallen into collecting bag.
Description
Technical field
The present invention relates to a kind of roller human assistance non-contact type mechanical hand cherry picking device, belong to agricultural mechanical technology neck
Domain.
Background technology
Cherry sugar content is high, aqueous many, belongs to berry, and pericarp is thin, and the cherry picking of China is by six kinds of modes, the first side
Formula is directly to be plucked with hand from cherry branch, and picking efficiency is low, and labor intensity is big, and the second way is to use picking comb, by
It is aqueous many, rich in sugar in cherry, cherry is located between two broach of picking comb during harvesting, power drives broach to rotate, and passes through
Pulling separates cherry with carpopodium, and the tensile strength of cherry carpopodium is much larger than the anti-stretch breaking strength of cherry, and even larger than pericarp is resistance to
Ability is racked, when carpopodium is separated with cherry, the partial pericarp or pulp of cherry come off, and the place that comes off causes cherry nutrient loss,
Extruding of the broach to cherry fruit surface causes epidermis to be damaged, surface oxidation, influences the quality of cherry, and being that one kind is destructive adopts
Pluck, the third mode is aspirated-air type, though air-flow can not enter cluster round between the fruit grown thickly, throughput is increased, aspirated-air type root
Originally harvesting can not be realized, aspirated-air type decides that the harvesting of air-flowing type can not be realized, the 4th kind of mode is clipping, and surface produces phase
To motion, it is badly damaged and hinders the surface of cherry, fifth procedure is shaken in percussive, cherry dropping process, is made by gravity
With damage outer surface, the 6th kind of mode is eccentric block vibrations harvesting, is a kind of deformation for shaking percussive.
The content of the invention
A kind of roller human assistance non-contact type mechanical hand cherry picking device, 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 cherry branch, cuts off the carpopodium and branch of cherry
Upper acupuncture, during the branch diameter change of cherry, by roller compression spring, and then drives straight line of the cutting knife along cherry branch surface
Parallel direction is moved, but the cutting angle of rotary cutter is constant, is cut off the carpopodium of cherry by the blade of rotary cutter, to cherry
The surface of peach fruit is without squeezing action power.
Its technical scheme is：A kind of roller human assistance non-contact type mechanical hand cherry picking device, 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
Bar one end 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 passes through
It 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 cherry branch is pressed close on the long base of trapezoidal shape, and the structure of trapezoidal shape is easy to carpopodium and fruit pin after cutting to be thrown along curved surface
Spill, do not accumulated when rotary cutter is rotated because cutting object is adhered to, influence picking efficiency and then damage cherry fruit, unclamp bolt regulation rotation
Turn the relative position of cutting knife and cherry branch, be provided with the groove of U-shaped on the periphery of roller, cherry branch is placed in U-shaped
In groove, during farm work, a hand holds the cherry branch to be plucked, and another hand applies pressure to the handle of device for picking,
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 into cherry
On the branch of peach, in the groove of the insertion roller of cherry branch, roller is rolled on cherry branch, when the branch diameter of cherry becomes
During change, pair roller applies active force, and roller has the spring set on floating copying function, compression expansion link, and then drives rotation
Turn cutting knife motion, rotary cutter presses close to the apparent motion of cherry branch all the time, and cherry noncontact, the only carpopodium with cherry and cherry
Peach branch surface is contacted, and releases the application pressure to handle, and roller is fixed on cherry branch by the active force of spring, opens electricity
Source switch, minisize dc buncher drives rotary cutter rotation, and human assistance handle, roller is rotated on cherry branch, is revolved
Turn cutting knife to cut off the carpopodium of cherry, cherry is fallen into collecting bag.
A kind of described roller human assistance non-contact type mechanical hand cherry picking device, roller and cutting knife are arranged in pairs, rolling
Wheel can be shifted to install, and be arranged not on same plumb line.
Patent 2014202986769,2015206720504,2011205523464 and 201410485185X, using broach
Formula Softening, cherry is located between two broach of picking comb during harvesting, the broach of picking comb and cherry plane-plane contact, broach with
Cherry surface produces mutual extruding force, and cherry, in broach apparent motion, damage cherry surface, the cherry surface oxidation of damage becomes
It is black, the marketing quality of influence harvesting quality and cherry, secondly, the stretching resistance of cherry carpopodium is far longer than the stretching resistance of cherry, cherry
During peach carpopodium comes off from cherry, tensile force can be produced to berry cherry, cause the fruit of cherry and cherry carpopodium junction
Meat is come off, and because cherry is that slurries are lost in berry, cherry fruit, and a kind of roller human assistance non-contact type mechanical hand cherry is adopted
Device is plucked, can realize that reducing is plucked, cutting knife is moved in the outer surface of cherry branch, the carpopodium of cherry, the carpopodium overwhelming majority is cut off
Stay on fruit, cherry fruit is not contacted with cutting knife, between the two without relative motion, cherry surface nondestructive is hindered, and carpopodium portion
Fractionation is on cherry, and existing picked technology can not be realized, the cutting angle of cutting knife is adjusted by bolt, the branch diameter of cherry
During change, by roller compression spring, and then straight line parallel direction of the cutting knife along cherry branch surface is driven to move, but cutting knife
Cutting angle is constant, can only cut off the carpopodium of cherry by the sophisticated blade of cutting knife, the surface of cherry fruit is made without extruding
Firmly, it is that one kind on cherry branch rolls contactless harvesting, structure is different, difference in principle, and roller and cutting knife also may be used
Set using single, can also two be used in combination, flexibly and easily, in addition, to be accurately positioned difficulty larger for mechanical picking,
Artificial picking efficiency is low, and the application picking knife cuts off carpopodium along the parallel motion of branch surface, and roller is moved on branch, real
Existing reducing harvesting, the combs of other forms is plucked, flexible harvesting, clamping harvesting, extruding force is applied to the surface of cherry, produced relative
Motion, can only in one plane be plucked, and aspirated-air type is plucked, though air-flow can not enter cluster round between the fruit grown thickly, gas
Increased flow capacity, aspirated-air type can not realize harvesting at all, and air-flow is difficult to depart from cherry from tough and tensile carpopodium, and air-flowing type decides
The harvesting of cherry 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 high
Picking lever produces shake, and deviation occurs in sight, and positioning is inaccurate, and picking efficiency is low, and cherry is different in shoot growth angle,
By rotating clamping, dynamic rotation refers to de-clamping static state and the different cherry of angle, it is difficult to which smoothly clamping, hand lifts formula driven shearing
Knife is located between two scissors there is also cherry carpopodium, and cherry fruit grows thickly, and the angle of each growth is different, can only shear every time
One, there is precise positioning technical problem, labor intensity is big, shakes percussive, be a kind of destructive harvesting, cherry tree is damaged
Wound is serious, the growth of the wooden next year of influence number and yield, eccentric block vibrations harvesting, is a kind of deformation for shaking percussive, and this
Application is while travelling forward, and roller can also be realized simultaneously to be rotated on branch, realizes the rotation harvesting of 360 degree of cutting knifes, by
Inconsistent in the growth angle of branch in cherry, 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 cherry is not
Together, the tensile strength of its carpopodium is differed, and picking robot can not distinguish that cherry tree grows age, the growth position of cherry, machine
Device hand is contacted with cherry 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 cherry with scissors, not contacted with the surface of cherry fruit directly, picking efficiency is low, single
Individual harvesting, robot is not accomplished at present, and the application exactly utilizes this point, is rolled by roller in branch, directly cuts fruit
Handle, non-contact mechanical hand once realizes multiple harvestings, and cutting knife and cherry fruit surface are contactless, and roller has floating copying work(
Can, reducing harvesting overcomes the extruding phenomenon to cherry, robot is not accomplished at present, existing technical scheme and the application
It is different in technical scheme 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 cherry branch, cuts off the carpopodium of cherry, and roller has
Floating copying function, realizes that reducing is moved, cutting knife is obliquely installed, and squeezing action is not produced to cherry fruit.
Brief description of the drawings
Fig. 1 is the structural representation of the non-contact type mechanical hand cherry picking device of the embodiment of the present invention.
1, handle 2, cherry 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 cherry picking device, 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 cherry 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 cherry branch
2 relative position, is provided with the groove of U-shaped on the periphery of roller 6, and cherry branch 2 is placed in the groove of U-shaped, and field is made
During industry, a hand holds the cherry 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 cherry
On bar, in the groove of the insertion roller 6 of cherry branch 2, roller 6 is rolled on cherry branch 2, when the branch diameter change of cherry
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, and rotary cutter 7 presses close to the apparent motion of cherry branch 2 all the time, releases the application pressure to handle 1, spring
Roller 6 is fixed on cherry branch 2 by 5 active force, is turned on the power switch, and rotary cutter 7 rotates, human assistance handle 1, rolling
Wheel 6 is rotated on cherry branch 2, and rotary cutter 7 cuts off the carpopodium of cherry, and cherry is fallen into collecting bag, a cherry branch
After the completion of harvesting, apply pressure to handle 1, handle 1 overcomes pin joint of the pressure of spring 5 on support bar 3 to rotate, drives rolling
Wheel 6 and rotary cutter 7 open, and the branch that cherry picking device is completed from harvesting is taken away, the above-mentioned course of work is repeated, successively to it
The harvesting of its cherry branch.
Claims (2)
1. a kind of roller human assistance non-contact type mechanical hand cherry picking device, 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, it is trapezoidal
Cherry branch is pressed close on the long base of shape（2）Surface, unclamp bolt（9）Adjust rotary cutter（7）With cherry branch（2）It is relative
Position, in roller（6）Periphery be provided with U-shaped groove, cherry branch（2）Be placed in the groove of U-shaped, farm work
When, a hand holds the cherry branch to be plucked（2）, handle of the another hand to device for picking（1）Apply pressure, handle（1）Gram
Take spring（5）Pressure around support bar（3）On pin joint rotate, drive roller（6）And rotary cutter（7）Open, by roller
（6）It is placed on the branch of cherry, cherry branch（2）Insertion roller（6）Groove in, roller（6）In cherry branch（2）Upper rolling
It is dynamic, when the branch diameter change of cherry, pair roller（6）Apply active force, roller（6）With floating copying function, compression is stretched
Contracting bar（4）The spring of upper setting（5）, and then drive rotary cutter（7）Motion, rotary cutter（7）All the time cherry 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 cherry branch（2）
On, turn on the power switch, rotary cutter（7）Rotation, human assistance handle（1）, roller（6）In cherry branch（2）It is upper to rotate, rotation
Turn cutting knife（7）The carpopodium of cherry is cut off, cherry is fallen into collecting bag.
2. a kind of roller human assistance non-contact type mechanical hand cherry picking device as described in claim 1, it is characterised in that：
Roller（6）And rotary cutter（7）It is arranged in pairs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710215644.6A CN107041207A (en) | 2017-04-04 | 2017-04-04 | A kind of roller human assistance non-contact type mechanical hand cherry picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710215644.6A CN107041207A (en) | 2017-04-04 | 2017-04-04 | A kind of roller human assistance non-contact type mechanical hand cherry picking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107041207A true CN107041207A (en) | 2017-08-15 |
Family
ID=59545685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710215644.6A Pending CN107041207A (en) | 2017-04-04 | 2017-04-04 | A kind of roller human assistance non-contact type mechanical hand cherry picking device |
Country Status (1)
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| CN (1) | CN107041207A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005036947A1 (en) * | 2003-10-15 | 2005-04-28 | Valentino Meini | Fruit harvesting device |
| CN102823380A (en) * | 2012-08-15 | 2012-12-19 | 山西农业大学 | Cerasus humilis fruit-stripping machine |
| CN103703933A (en) * | 2012-09-30 | 2014-04-09 | 牛连壁 | Red date picker |
| KR200472987Y1 (en) * | 2012-11-19 | 2014-06-13 | 대한민국 | A fruit-thinning shear including fruit insertion part |
| CN105850368A (en) * | 2016-06-01 | 2016-08-17 | 王保锋 | Agricultural multifunctional fruit picker |
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
-
2017
- 2017-04-04 CN CN201710215644.6A patent/CN107041207A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005036947A1 (en) * | 2003-10-15 | 2005-04-28 | Valentino Meini | Fruit harvesting device |
| CN102823380A (en) * | 2012-08-15 | 2012-12-19 | 山西农业大学 | Cerasus humilis fruit-stripping machine |
| CN103703933A (en) * | 2012-09-30 | 2014-04-09 | 牛连壁 | Red date picker |
| KR200472987Y1 (en) * | 2012-11-19 | 2014-06-13 | 대한민국 | A fruit-thinning shear including fruit insertion part |
| CN105850368A (en) * | 2016-06-01 | 2016-08-17 | 王保锋 | Agricultural multifunctional fruit picker |
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170815 |
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| WD01 | Invention patent application deemed withdrawn after publication |