CN107041208A - A kind of roller manual power assisting non-contact type mechanical hand cherry picking device - Google Patents

Abstract

The present invention provides a kind of roller manual power assisting 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 cutting knife 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, cutting knife is coupled by bolt with expansion link, the point of a knife of cutting knife takes the shape of the letter U shape, unclamp bolt, rotate cutting knife, the outer surface for making cutting knife and cherry branch is in 0~30 ° of angle, the groove of U-shaped is provided with the periphery of roller, apply the power of direction of advance to handle, roller is rotated on cherry branch, drive cutting knife motion, cutting knife cuts off the carpopodium of cherry, cherry falls into collecting bag and reclaimed.

Description

A kind of roller manual power assisting non-contact type mechanical hand cherry picking device

Technical field

The present invention relates to a kind of roller manual power assisting 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 manual power assisting 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, cutting knife point End is in the curved knife of indent, and cutting knife is moved in the outer surface of cherry branch, cuts off acupuncture on the carpopodium and branch of cherry, cutting knife Cutting angle is adjusted by bolt, during the branch diameter change of cherry, by roller compression spring, and then drives cutting knife along cherry The straight line parallel direction motion on branch surface, but the cutting angle of cutting knife is constant, can only be by the blade of cutting knife by the fruit of cherry Handle is cut off, to the surface of cherry fruit without squeezing action power.

Its technical scheme is：A kind of roller manual power assisting 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, cutting knife and collecting bag, and spring is stage clip, expansion link One end couples with roller, and the through hole that the other end is set on spring and handle simultaneously couples with handle, and cutting knife is by bolt with stretching Contracting bar couples, and the point of a knife of triangular shape cutting knife takes the shape of the letter U shape, unclamps bolt, rotates cutting knife, the outer surface for making cutting knife and cherry branch is in 0~30 ° of angle, is provided with the groove of U-shaped on the periphery of roller, and collecting bag one end is fixed on support bar, and the other end is solid The shape end that takes the shape of the letter U of triangular shape cutting knife is scheduled on, collecting bag inwall is provided with flexible material, and during farm work, a hand is held and adopted The cherry branch plucked, another hand applies pressure to the handle of device for picking, and handle overcomes hinge of the pressure of spring on support bar Contact is rotated, drive roller and cutting knife to open, roller is placed on the branch of cherry, and cherry branch is partially submerged into the recessed of roller In groove, roller is rolled on cherry branch, when the branch diameter change of cherry, and branch pair roller applies active force, spring hair Raw flexible, and then drive cutting knife motion, the harvesting angle of cutting knife is constant, and cherry noncontact, only the carpopodium and cherry with cherry Branch surface is contacted, and releases the application pressure to handle, and roller is fixed on cherry branch, handle is applied by the active force of spring Plus the power of direction of advance, roller rotates on cherry branch, drives cutting knife motion, and cutting knife cuts off the carpopodium of cherry, and cherry falls Enter in collecting bag and reclaim, cleaned by wind-force and remove impurity.

A kind of described roller manual power assisting 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 manual power assisting 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, cutting knife tip Take the shape of the letter U shape, and roller has floating copying function, realizes that reducing is moved, cutting knife is obliquely installed, and cutting knife cuts off the carpopodium of cherry, right Cherry fruit does not produce squeezing action.

Brief description of the drawings

Fig. 1 is the structural representation of the device for picking of the embodiment of the present invention.

1, handle 2, cherry branch 3, support bar 4, expansion link 5, spring 6, roller 7, cutting knife 8, spiral shell wherein in figure Bolt.

Embodiment

Embodiment 1.

A kind of roller manual power assisting 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 5, 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 and cutting knife 7 and collecting bag, and spring 5 is stage clip, expansion link 4 one End 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, and cutting knife 7 passes through bolt 8 Couple with expansion link 4, the point of a knife of cutting knife 7 takes the shape of the letter U shape, unclamps bolt 8, rotates cutting knife 7, make the appearance of cutting knife 7 and cherry branch 2 Face is in 5 ° of angle, and the groove of U-shaped is provided with the periphery of roller 6, and collecting bag is elongated, and collecting bag one end is fixed on branch On strut, the other end is fixed on the shape end that takes the shape of the letter U of triangular shape cutting knife, and collecting bag inwall is provided with flexible material, during farm work, One 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 spring 5 Pin joint of the pressure 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 cherry, cherry Branch 2 is partially submerged into the groove of roller 6, and roller 6 is rolled on cherry branch 2, right when the branch diameter change of cherry Roller 6 applies active force, and roller 6 has floating copying function, compression spring 5, and then drives cutting knife 7 to move, the harvesting of cutting knife 7 Angle is constant, and roller 6 and cutting knife 7 are arranged in pairs, and releases the application pressure to handle 1, and the active force of spring 5 fixes roller 6 On cherry branch 2, apply the power of direction of advance to handle 1, roller 6 is rotated on cherry branch 2, drive cutting knife 7 to move, cut Knife 7 cuts off the carpopodium of cherry, meanwhile, cutting knife 7 falls into the cut-out on cherry branch, cherry in collecting bag, a falsesour cherry branchlet 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 cutting knife 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 other The harvesting of cherry branch 2.

Claims (2)

1. a kind of roller manual power assisting 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）, 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 hand Handle（1）The through hole of upper setting and and handle（1）Connection, cutting knife（7）Pass through bolt（8）With expansion link（4）Connection, cutting knife（7）'s Point of a knife takes the shape of the letter U shape, unclamps bolt（8）, rotate cutting knife（7）, make cutting knife（7）With cherry branch（2）Outer surface in 0~30 ° Angle, in roller（6）Periphery be provided with U-shaped groove, during farm work, a hand holds the cherry 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 is rotated, and drives roller（6）And cutting knife（7）Open, by roller（6）It is placed on the branch of cherry, cherry branch（2）Portion Divide embedded roller（6）Groove in, roller（6）In cherry branch（2）It is upper to roll, when the branch diameter change of cherry, to rolling Wheel（6）Apply active force, roller（6）With floating copying function, compression spring（5）, and then drive cutting knife（7）Motion, cutting knife （7）Harvesting angle it is constant, release to handle（1）Application pressure, spring（5）Active force by roller（6）It is fixed on cherry Branch（2）On, to handle（1）Apply the power of direction of advance, roller（6）In cherry branch（2）It is upper to rotate, drive cutting knife（7）Fortune It is dynamic, cutting knife（7）The carpopodium of cherry is cut off, cherry is fallen into collecting bag.

2. a kind of roller manual power assisting non-contact type mechanical hand cherry picking device as described in claim 1, it is characterised in that： Roller（6）And cutting knife（7）It is arranged in pairs.