CN108513807A - A kind of semi-automatic cherry picking machine of ring-type Double-blade - Google Patents

A kind of semi-automatic cherry picking machine of ring-type Double-blade Download PDF

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Publication number
CN108513807A
CN108513807A CN201810644701.7A CN201810644701A CN108513807A CN 108513807 A CN108513807 A CN 108513807A CN 201810644701 A CN201810644701 A CN 201810644701A CN 108513807 A CN108513807 A CN 108513807A
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China
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blade
pulley
connect
cyclic annular
semi
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CN201810644701.7A
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CN108513807B (en
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闫观海
杨洋
徐超
罗富文
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Xian University of Architecture and Technology
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Xian University of Architecture and Technology
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/24Devices for picking apples or like fruit
    • A01D46/253Portable motorised fruit pickers
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/12Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a kind of semi-automatic cherry picking machines of cyclic annular Double-blade, supporting mechanism is lifted to be arranged on moveable platform trolley, semi-automatic fine-adjustment positioning mechanism includes parallelogram mechanism and vertically arranged gear mechanism, one end of parallelogram mechanism is connect with lifting supporting mechanism, the other end is connect by gear mechanism with round frame pedestal, cyclic annular Double-blade mechanism is arranged on round frame pedestal, it is connect with slider-crank mechanism, cyclic annular Double-blade mechanism includes two cutting blades and two fixed blades of mirror symmetry setting, by driving cutting blade to be picked around its axis rotation by slider-crank mechanism after the positioning adjustment of semi-automatic fine-adjustment positioning mechanism, cyclic annular Double-blade mechanism lower part is provided with collection hose, the other end of collection hose is connect with collection device to be collected.The configuration of the present invention is simple picks accurate positioning, and high degree of automation effectively reduces labor intensity, improves labor efficiency, and is suitable for promoting.

Description

A kind of semi-automatic cherry picking machine of ring-type Double-blade
Technical field
The invention belongs to technical field of mechanical design, and in particular to a kind of semi-automatic cherry picking machine of ring-type Double-blade.
Background technology
It is universal with the mechanization of reading intelligent agriculture, at present after the fruits maturation such as cherry, indirect labor's picking can be carried out, with Improve the targets such as picking efficiency, labor intensity, fruit final product quality;For the target, propose that a kind of cyclic annular Double-blade is semi-automatic Cherry picking machine.Flexible double clamping devices and cyclic annular Double-blade are coupled by the cherry picking machine, utilize main lifting gear and half Automatic fine tuning detent mechanism realize Double-blade adaptive location, under the premise of ensureing cherry picking quality, can to different height, The cherry of different directions carries out continuous, science picking, meets the actual demand of orchard worker at this stage.
Current existing indirect labor needs picking person to go to pick by the tools climbing fruit tree such as ladder, to make picking person Labor intensity is high, and efficiency is low, and there are security risks for picking process;It is mainly adopted second is that existing indirect labor picks machine It plucks comb, vibration percussion formula, aspirated-air type, clipping such method and is difficult to realize efficient, science picking.
Existing device for picking structure is single, the degree of automation is low, more demanding to the labor intensity of orchard worker.Secondly, existing Device for picking is contact picking, and cutter inevitably rubs and scrapes fruit in picking process, in addition, work is clamped in branch currently on the market The main rigid clamp structure to be grabbed similar to three of tool, feature not only in carrying out position fixing process to branch, can to fruit tree into Row scratches, moreover, because its rigid structure, drastically declines different shape, the branch adaptability of different directions.In order to effectively, Science carries out soft fixation to branch, designs the double clamping devices of the flexibility thus.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of cyclic annular double-pole Has semi-automatic cherry picking machine, existing labor intensity during current cherry picking is high, efficiency is low, fruit quality to solve The problems such as low.
The present invention uses following technical scheme:
The semi-automatic cherry picking machine of a kind of ring-type Double-blade, which is characterized in that including lifting supporting mechanism, semi-automatic fine tuning Detent mechanism, flexible double clamping devices, cyclic annular Double-blade mechanism and collection device, the setting of lifting supporting mechanism is removable flat On platform trolley, semi-automatic fine-adjustment positioning mechanism includes parallelogram mechanism, vertically arranged gear mechanism and handwheel, hand Wheel mechanism is connect with parallelogram mechanism and gear mechanism respectively by steel wire rope, and flexible double clamping devices include round frame bottom Seat and slider-crank mechanism, one end of parallelogram mechanism are connect with lifting supporting mechanism, the other end by gear mechanism and Round frame pedestal connects, and cyclic annular Double-blade mechanism is arranged on round frame pedestal, is connect with slider-crank mechanism, cyclic annular Double-blade Mechanism includes two cutting blades and two fixed blades of mirror symmetry setting, after the positioning adjustment of semi-automatic fine-adjustment positioning mechanism It is picked around its axis rotation by slider-crank mechanism driving cutting blade, the lower part of cyclic annular Double-blade mechanism is provided with horn-like The collection hose of opening, the other end for collecting hose connect with collection device and are collected.
Specific, lifting supporting mechanism includes the second motor, steel wire rope, first pulley, the flexible arm cylinder and second of first segment The flexible arm cylinder of section, moveable platform trolley include anti-pulley, support platform and telescopic cylinder, and the flexible arm cylinder setting of first segment is being propped up It supports on platform, tensioning apparatus is provided in the lower inner wall of the flexible arm cylinder of first segment, the second section telescopic arm jacket casing is mounted in first segment In flexible arm cylinder, multiple first pulleys, which are arranged in series in the flexible arm cylinder of first segment, constitutes pulley blocks, one end setting of steel wire rope In the inner wall radial line that the second section stretches arm cylinder, setting exists the other end after pulley blocks, the second motor and pulley blocks successively In the inner wall radial line of the flexible arm cylinder of first segment, the two-way exhibition for the arm cylinder and the flexible arm cylinder of the second section of stretching for realizing first segment It opens, anti-pulley is arranged in the lower part side of support platform, and telescopic cylinder is correspondingly arranged at the other side.
Specific, gear mechanism includes first gear, second gear, first pulley and upper inclined base, parallel four side Shape mechanism includes upper spider, lower bearing bracket, four first connecting rods, rope hook, two second pulleys and a third pulley, four first Connecting rod forms parallelogram sturcutre, and one end is connect by lower bearing bracket with lifting supporting mechanism respectively, and the other end is respectively by upper Rack is connect with gear mechanism, and two second pulleys are symmetricly set on lower bearing bracket, is connect respectively with a first connecting rod, first Gear is arranged on upper spider, and with first pulley by key connection, second gear is arcuate structure, is arranged in the upper of first gear Connection is engaged in portion with first gear, and upper inclined base is arranged on the top of second gear, the round frame with flexible double clamping devices Pedestal connects, and third pulley and rope hook are correspondingly arranged on upper spider, are connect respectively with a first connecting rod, handwheel setting On lifting supporting mechanism, it is connect respectively with first pulley, third pulley, two second pulleys and rope hook.
Further, handwheel includes the 4th pulley, the 5th pulley and hand crank, and the 4th pulley and the 5th pulley are vertical First segment telescopic arm upper mounting plate in lifting supporting mechanism is set, and the first segment by fixed mechanism and lifting supporting mechanism is flexible Arm connects, and the 4th pulley connect by steel wire rope with first pulley, for controlling gear mechanism, the 5th pulley by steel wire rope and Two second pulleys, third pulley are connected with rope hook, and for controlling parallelogram sturcutre movement, hand crank is slided with the 4th respectively Wheel is connected with the 5th moveable roller.
It is specific, semicircle type frame group and third motor, semicircle type frame group and round frame pedestal are provided on round frame pedestal Hinged, semicircle type frame group includes by bolt group hinged the first round frame and the second round frame, and the top of the first round frame is set It is equipped with Holding seat, Holding seat lower part is provided with the first adaptive spring, and the first adaptive spring is formed with semicircle type frame group Self-adaptive regulating, third motor are connect by slider-crank mechanism with cutting blade.
Further, slider-crank mechanism include drive connecting rod, first straight line bearing slider, second straight line bearing slider and One end of retractable supports axis, drive connecting rod is connect with third motor, and the other end is straight by first straight line bearing slider and second Line bearing slider connects, and retractable supports axis is horizontally disposed through second straight line bearing slider, and one end is hinged with Holding seat, separately One end is hinged with semicircle type frame group.
Further, the band logical hole post being provided in clamping for wearing aid bracing wire is moved, quiet clamping, which is equipped with, is used for through-hole The sliding slot of column sliding, quiet clamping are connected with the lower end of dynamic clamping by rubber band, and one end of bracing wire is clamped and moves what clamping was connected Quarter butt connects, and quarter butt slides in the sliding slot of quiet clamping, and the other end that bracing wire is clamped is connect through second pulley with first pulley, uses In the automatic closure for realizing dynamic clamping.
Further, lower ball twisted seat and upper ball twisted seat are provided on second straight line bearing slider, lower ball twisted seat and upper ball twist The second adaptive spring is equipped between seat and with column steel ball.
Specific, cyclic annular Double-blade mechanism includes left cutting blade, left fixed blade, right cutting blade, right fixed blade, the first electricity Machine, third gear, the 4th gear, second connecting rod, third connecting rod and tool rest bracket, left fixed blade and right fixed blade are arranged in knife rest The inner surface of the both sides of pedestal, left cutting blade and right cutting blade is bonded the outer surface of left fixed blade and right fixed blade respectively, and a left side is dynamic Blade and right cutting blade pass through second connecting rod and third connecting rod and two the 4th teeth being arranged on tool rest bracket front end face respectively Wheel connection, two the 4th gears engage connection with third gear, and first motor is connect with third gear.
Further, left fixed blade, right fixed blade upper end be connected separately with positioning pin, positioning pin and left fixed blade and the right side The compression spring for flexible connection is both provided in the vertical bar of fixed blade.
Compared with prior art, the present invention at least has the advantages that:
A kind of semi-automatic cherry picking machine of cyclic annular Double-blade of the present invention, passes through fitting using adjustable for height double clamping devices Dendritic shape determines the movement locus of ring-type Double-blade mechanism, by being coupled with cyclic annular Double-blade mechanism, is supported using lifting Mechanism and semi-automatic fine-adjustment positioning mechanism realize the adaptive location of Double-blade, right under the premise of ensureing cherry picking quality Different height, different directions cherry carry out continuous, science picking, the small torque of high speed that vertical gear mechanism exports motor Low-speed big is converted to, has transmission efficiency, compact-sized, reliable operation, long lifespan, transmission ratio accurate based on gear drive The advantages that true, carries out oscillation adjustment to stablize, accurately by flexible double clamping devices with cyclic annular Double-blade mechanism.
Further, the one end for driving steel wire rope by motor with pulley combination makes the flexible arm cylinder of first segment and the second section Flexible arm cylinder realizes two dimensional development, with meet it is certain it is flexible set load substantially, fast lifting machine, tensioning apparatus makes steel Slipping phenomenon does not occur in transmission process for cord, and anti-pulley and support cylinder can make picking machine mobile or static, can make whole Machine is convenient in orchard, steadily drags.
Further, hand crank drives forearm top knot by controlling the rope hook of the 5th pulley drive parallelogram mechanism The height fine-adjustment of structure, parallelogram mechanism, since superstructure is slightly eccentric, exist thus while small range is translatable Parallelogram both sides are equipped with tension spring, to ensure stationarity and the safety of top structure movement, to realize that efficient, safety is adopted It plucks.
Further, it is equipped with tension spring in parallelogram both sides, to ensure stationarity and the safety of top structure movement. To realize that efficient, safety picking, three adaptive springs of uniformly distributed third make flexible double clamping devices and annular cutter mechanism Whole revolution while, and branch can be improved with clamping to neutrality, to ensure that branch is wrapped up by each quiet cutter completely.
Further, the semicircle type frame group of flexible double clamping devices is set to the first round frame of mirror symmetry, second Round frame and carry out organic assembling with the assembly parts of other realization adaptation functions, this is compact-sized, it is beautiful and compared to Other likes have more practicability, and flexible double fastener is made to hold positioning accuracy height, ensure flexible double clamping devices and cyclic annular double-pole Tool mechanism can adapt to different branch environment.
Further, efficient, the relative altitude at both ends of straight-line feed motion transmission is carried out using slider-crank mechanism Adjustable, on the one hand retractable supports axis combines the relative position progress for completing to hold to double fastener with self-adaptive regulating adaptive Answer, give tool feeding act offer condition, with double fastener hold control holding it is synchronous, on the other hand may be buffered in first pulley and acted To the rigidity of clamping bracing wire in journey, to improve the reliability of machine.
Further, aid bracing wire provides guiding to cyclic annular Double-blade feed motion, to improve picking efficiency, rubber band Double fastener is set to hold the state of maintaining a normally open, first pulley rotation clamping bracing wire is to pull clamping bracing wire that clamping is made to be closed, to real Automatically controlling for branch is now clamped, mitigates the labor intensity of orchard worker.
Further, the second adaptive spring is used for the position of minor adjustments annular cutter, makes cyclic annular Double-blade can be in knife Tool axle center carries out small adaptation in the case of being misaligned with branch axle center.
Further, cyclic annular Double-blade uses contactless picking, passes through right cutting blade, right fixed blade and left moving knife Piece, left fixed blade intercouple with the teamwork of flexible double clamping devices, semi-automatic fine-adjustment positioning mechanism come realize efficiently, Continuous picking.
In conclusion the configuration of the present invention is simple, picks accurate positioning, high degree of automation effectively reduces labor intensity, carries High efficiency is suitable for promoting.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Description of the drawings
Fig. 1 is schematic structural view of the invention;
Fig. 2 is cutter front view of the present invention;
Fig. 3 is cutter left view of the present invention;
Fig. 4 is clamping device schematic diagram of the present invention;
Fig. 5 is four-bar mechanism schematic diagram of the present invention.
Wherein:1. first motor;2, left cutting blade;3, linear bearing sliding block;4, quiet clamping;5, clamping is moved;6, first certainly Adapt to spring;7, right round frame;8, round frame pedestal;9, gear mechanism;10, first pulley;11, first connecting rod;12, it second slides Wheel;13, steel wire rope;14, anti-pulley;15, the second motor;16, Telescopic cylinder;17, first pulley;18, first segment telescopic arm; 19, the second section telescopic arm;20, first gear;21, second gear;22, third motor;23, second pulley;24, retractable supports Axis;25, collection device;26, Holding seat;27, rubber band;28, left fixed blade;29, positioning pin;30, third gear;31, Two connecting rods;32, third connecting rod;33, the 4th gear;34, right cutting blade;35, right fixed blade;36, upper ball twisted seat;37, second certainly Adapt to spring;38, lower ball twisted seat;39, self-adaptive regulating;40, left round frame;41, the adaptive spring of third;42, second Linear bearing;43, bracing wire is accommodated;44, rope hook;46, hand crank;47, third pulley;48, the 4th pulley;49, the 5th pulley; 50, fixed mechanism.
Specific implementation mode
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "upper", "lower", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside", " side ", " one end ", " one side " is base It in orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than indicates or imply Signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as to this The limitation of invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively heavy The property wanted or the quantity for implicitly indicating indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed Or implicitly include one or more this feature.In the description of the present invention, unless otherwise indicated, the meaning of " multiple " It is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can Can also be electrical connection to be mechanical connection;It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition Concrete meaning in invention.
The present invention provides a kind of semi-automatic cherry picking machines of cyclic annular Double-blade, first with adjustable for height double clamping machines Structure is determined the movement locus of cutter, by being coupled with cyclic annular Double-blade mechanism, is supported using lifting by being fitted dendritic shape Mechanism and semi-automatic fine-adjustment positioning mechanism realize the adaptive location of Double-blade, right under the premise of ensureing cherry picking quality Different height, different directions cherry carry out continuous, science picking.
Referring to Fig. 1, a kind of semi-automatic cherry picking machine of cyclic annular Double-blade of the present invention, including lifting supporting mechanism, half are certainly Dynamic fine-adjustment positioning mechanism, flexible double clamping devices, cyclic annular Double-blade mechanism and collection device, the bottom for lifting supporting mechanism are set It sets on moveable platform trolley, semi-automatic fine-adjustment positioning mechanism includes parallelogram mechanism and vertically arranged gear mechanism 9, flexible double clamping devices include round frame pedestal 8 and crank linear bearing slide block mechanism, one end of parallelogram mechanism with Supporting mechanism connection is lifted, the other end is connect by gear mechanism 9 with round frame pedestal 8, and cyclic annular Double-blade mechanism is arranged in circle It on shape frame pedestal 8, is connect with crank linear bearing slide block mechanism, cyclic annular Double-blade mechanism includes two cutting blades and two quiet knives Piece drives cutting blade to be picked around its axis rotation, in cyclic annular Double-blade mechanism by crank linear bearing slide block mechanism Lower part is provided with the collection hose of flare openings, and the other end for collecting hose connect with collection device and is collected.
It includes moveable platform trolley and elevating mechanism to lift supporting mechanism.
Moveable platform trolley is mainly made of parts such as anti-pulley 14, support platform, telescopic cylinders 16;Elevating mechanism by Arm cylinder 18, second of second motor 15, steel wire rope 13,17 concatenated pulley blocks of same size first pulley, first segment stretching, which saves, stretches Contracting arm cylinders 19 etc. form.
One end of steel wire rope 13 be fixed on the second section stretch arm cylinder 19 inner wall radial line on, the other end passes through two successively It connect with the second motor 15 after concatenated first pulley 17, is connected after the second motor 15 and four and concatenated first pulley 17 In in the inner wall radial line that first segment stretches arm cylinder 18, steel wire rope 13 is made to be closed in elevating mechanism, first segment stretches arm cylinder 18 The radial each arrangement of upper inner there are one first pulley 17, the stretch lower face normal direction of arm cylinder 19 of the second section is provided with two rows two Row first pulley 17, four first pulleys 17 that the second section stretches in arm cylinder 19 make opposite transport relative to first segment arm cylinder 18 of stretching It is dynamic.Bidirectional-movement herein refers to the first pulley 17 being connected in the driving of the second motor in support platform, keeps steel wire rope opposite Each first pulley 17 moves, and then makes the first pulley of the first pulley 17 and second row of the second section 19 first row of flexible arm cylinder 17 move round about, and then the flexible arm cylinder 18 and second of first segment is made to save how arm cylinder 19 of stretching realizes two dimensional development.
It is mainly realized and is lifted by the screw pair of the transmission mechanisms such as ball-screw in existing elevating mechanism, the present invention is to change Into pulley combination by motor drive steel wire rope one end, make first segment stretch arm cylinder 18, second section stretch arm cylinder 19 realize Two dimensional development, with meet it is certain it is flexible set load substantially, fast lifting machine.
Secondly, anti-pulley 14 is arranged in the lower part side of support platform, and telescopic cylinder 16 is correspondingly arranged at the other side, lifting The anti-pulley 14 and support cylinder 16 of supporting mechanism can make picking machine mobile or static, and complete machine can be made convenient, flat in orchard Steady dragging.In order to make steel wire rope 13 that slipping phenomenon not occur in transmission process, the present invention stretches in first segment under arm cylinder 18 Portion's inner wall is equipped with tensioning apparatus.
It is stretcher herein, wherein stretcher includes tensioning wheel and adjustable axle stand, and the support shaft of axle stand is adjusted There are nut, other end welding orthogonal with the axis of tensioning wheel in upper one end.Adjustable axle stand passes through the through-hole of the flexible arm cylinder of first segment With nut coupled thereto knot tensioning wheel can be made to stretch to first segment the outer normal orientation tense wire rope of arm cylinder, made by adjusting nut Steel wire rope has certain pretightning force.
Semi-automatic fine-adjustment positioning mechanism is hinged by three groups of bolt groups with lifting supporting mechanism top, and composition includes parallel Quadrangular mechanism and gear mechanism.
Gear mechanism 9 includes first gear 20, second gear 21, first pulley 10, end face bearing and upper inclined base Deng.Parallelogram mechanism includes upper spider, lower bearing bracket, four first connecting rods 11,44, two second pulleys 12 of rope hook and one Third pulley 47, four first connecting rods 11 form parallelogram sturcutre, and one end passes through lower bearing bracket and lifting supporting mechanism respectively The second section arm cylinder 19 of stretching connect, the other end connect by upper spider with gear mechanism 9 respectively, and two second pulleys 12 are symmetrically It is arranged on lower bearing bracket, is connect respectively with first connecting rod 11, first gear 20 is arranged on upper spider, connects with 10 key of first pulley It connects, second gear 21 is arcuate structure, is arranged on the top of first gear 20, connection, upper inclination base are engaged with first gear 20 Seat is arranged on the top of second gear 21, is connect with the round frame pedestal 8 of flexible double clamping devices, third pulley 47 and rope hook 44 It is correspondingly arranged on upper spider, is connect respectively with a first connecting rod 11, lift and be provided with handwheel, handwheel on supporting mechanism Mechanism is connect with first pulley 10,47, two second pulleys 12 of third pulley and rope hook 44 respectively by steel wire rope.
Handwheel includes the 4th pulley 48, the 5th pulley 49 and hand crank 46, and the 4th pulley 48 and the 5th pulley 49 are perpendicular Straight 18 upper mounting plate of first segment telescopic arm being arranged in lifting supporting mechanism, passes through fixed mechanism 50 and the first of lifting supporting mechanism It saves telescopic arm 18 to connect, the 4th pulley 48 is connect by steel wire rope with first pulley 10, and for controlling gear mechanism 9, the 5th slides Wheel 49 is connect by steel wire rope with two second pulleys 12, third pulley 47 and rope hook 44, for controlling parallelogram sturcutre Movement, hand crank 46 are flexibly connected with the 4th pulley 48 and the 5th pulley 49 respectively.
Gear mechanism 9 can carry out self-locking using first pulley 10 to first gear 20, and can increase and be held to flexible double fastener Mechanism and cyclic annular Double-blade mechanism tilts efficiency.In parallelogram mechanism, second pulley 12 is by driving first connecting rod 11 Drive the height fine-adjustment of forearm superstructure, parallelogram mechanism is while small range is translatable, since top is tied Structure is slightly eccentric, is equipped with tension spring in parallelogram both sides thus, to ensure stationarity and the safety of top structure movement.From And realize efficient, safety picking.
In 8 rotating device of round frame pedestal, to make integrally turning round for flexible double clamping devices and annular cutter mechanism Meanwhile and branch can be improved with clamping to neutrality, to ensure that branch is wrapped up by each quiet cutter completely, thus cleverly equipped with three The adaptive spring of a uniformly distributed third 41.
It is rapid, efficient to keep transmission accurate in the tilting procedure of flexible double clamping devices, vertical tooth is selected thus Mechanism is taken turns, the small torque of high speed that motor exports is converted to low-speed big by driving first pulley 10 by gear reduced drive, Have many advantages, such as that transmission efficiency, compact-sized, reliable operation, long lifespan, transmission ratio are accurate based on gear drive, to steady Determine, accurately by flexible double clamping devices and cyclic annular Double-blade mechanism progress oscillation adjustment.
The main rigid clamp structure to be grabbed similar to three of branch clamping device currently on the market, feature is not only right Branch carries out in position fixing process, can be scratched to fruit tree, moreover, because its rigid structure, to different shape, different directions Branch adaptability drastically declines.Soft fixation is carried out to branch in order to effective, science, thus the flexible double clamping devices of design.
Referring to Fig. 4, by semicircle type frame group, double fastener to hold group, self-adaptive regulating 39, crank straight for flexible double clamping devices Spool holds slide block mechanism composition.
Semicircle type frame group includes the first round frame 7, the second round frame 40, and the first round frame 7 passes through with the second round frame 40 Bolt group is hinged, and the blind hole for installing the first adaptive spring 6, self-adaptive regulating 39 are provided on the first round frame 7 It is made of the first adaptive spring 6 and the first round frame 7 and the second round frame 40, Holding seat 26 is fixed on the first round frame 7 upper surface.
Slider-crank mechanism is by drive connecting rod, first straight line bearing slider 3, second straight line bearing slider 42 and scalable branch It supports axis 24 to form, one end of drive connecting rod is connect with third motor 22, and the other end is straight by first straight line bearing slider 3 and second Line bearing slider 42 connects, and retractable supports axis 24 is horizontally disposed through second straight line bearing slider 42, retractable supports axis 24 Both ends it is hinged with semicircle type frame group respectively.
The top side of semicircle type frame group is hinged retractable supports axis 24, and the bottom side of semicircle type frame group is articulated with circle On the V-arrangement connecting rod of frame pedestal 8, the other side is articulated on the platform of slider-crank mechanism third motor 22, the first round frame 7 and It is coupled by bolt group between two round frames 40, for 24 other side of retractable supports axis and the clamping bottom of the feeding of annular cutter mechanism Seat 26 is hinged, and left and right clamping is fixed on 7 right upper portion of Holding seat 26 and the first round frame, left and right clamping with bolt group respectively It is quiet clamping 4, dynamic clamping 5 hingedly composition, wherein the band logical hole post for wearing aid bracing wire 43 is provided in dynamic clamping 5, it is quiet It is clamped between sliding slot and sound clamping of 4 arms equipped with the sliding of through-hole column and is equipped with the rubber band 27 resetted for reset.
In the round frame group design of flexible double clamping devices, to make flexible double fastener hold positioning accuracy height, and ensure soft Property double clamping device can adapt to different branch environment with cyclic annular Double-blade mechanism, to by the semicircle of flexible pair of clamping devices Type frame group is set as the first round frame 7, the second round frame 40 and the assembly with other realization adaptation functions of mirror symmetry Part carries out organic assembling.This is compact-sized, beautiful and have more practicability compared to other likes.
In the clamping group design of flexible double clamping devices, in order to stablize branch, it is equipped with novel double clamp structures thus, to Cyclic annular Double-blade feed motion provides guiding, to improve picking efficiency.To make double fastener hold the state of maintaining a normally open, it is equipped with rubber thus Rubber band 27 connects the lower end of both sides quiet clamping 4 and dynamic clamping 5, moves connection clamping bracing wire 43 on the connected quarter butt of clamping 5, quarter butt exists It is slided in the slot of quiet clamping 4, underlying wound is moved in clamping bracing wire 43 to, and (sandwich respectively accounts for a slot, folder in second pulley 23 It is opposite to hold 43 winding direction of bracing wire), then use first pulley 22 (to share) rotation clamping bracing wire 43 with crank block, to draw It is dynamic that bracing wire 43 is clamped to control, so that clamping 5 is closed, to realize automatically controlling for clamping branch, the labour for mitigating orchard worker is strong Degree.
In the self-reacting device design of flexible double clamping devices, the first adaptive spring 6 can be in special circumstances to two The relative position of clamping is adjusted, to ensure that cyclic annular Double-blade picks the entirely on the center of branch with target.
It is existing at present to complete straight-line feed movement in the crank linear bearing slider designs of flexible double clamping devices Transmission has synchronous belt, leading screw etc., but since the efficiency of synchronous belt, leading screw wants low compared to crank linear bearing sliding block, and The relative altitude at its both ends cannot be adjusted.In addition, the derivative mechanism of shaping machine is improved herein, to realize and there is height The self-reacting device 39 and double fastener of adaptability hold the ingenious combination of aid group of relative position adjusting.
In order to make double fastener hold fitting branch approximate with cyclic annular Double-blade, it is equipped with retractable supports axis 24 herein, to a side Face is combined with self-adaptive regulating 39 completes to the relative position that double fastener is held adaptively, give tool feeding to act and provide item Part, with double fastener hold control holdings it is synchronous, on the other hand may be buffered in 10 action process of first pulley to be clamped bracing wire 43 it is rigid Degree, to improve the reliability of machine.
In addition, for the position of minor adjustments annular cutter, ball twisted seat 36 is provided on second straight line bearing slider 42 With lower ball twisted seat 38, equipped with the second adaptive spring 37 and with column steel ball in upper ball twisted seat 36 and lower ball twisted seat 38, so that cyclic annular Double-blade can misalign in cutter axle center and branch axle center and carry out small adaptation.
It collects hose to be fixed on ball twisted seat 36, be acted with flexible double clamping devices.
Fig. 2 and Fig. 3 are please referred to, annular cutter mechanism includes the left cutting blade 2, left fixed blade 28, right moving knife of mirror symmetry Piece 34, right fixed blade 35, first motor 1, third gear 30, the 4th gear 33, second connecting rod 31, third connecting rod 32, knife rest bottom Seat.
Left fixed blade 28, the right fixed blade 35 of annular cutter connect firmly on the both sides with tool rest bracket, and third gear 30 is coupled In on motor shaft, the shaft of the 4th gear 33 is linked on the front end face of tool rest bracket, and left cutting blade 2, right cutting blade 34 are distinguished Be fixed on the side of second connecting rod 31, third connecting rod 32, left cutting blade 2, right cutting blade 34 inner surface fit in respectively it is left quiet Blade 28, right fixed blade 35 outer surface on, left fixed blade 28, right fixed blade 35 upper end be linked with positioning pin 29, positioning pin 29 thereafter with left fixed blade 28, right fixed blade 35 vertical bar on be connected to compression spring, to ensure that the flexible of each dynamic and static blade joins Knot.Second connecting rod 31, third connecting rod 32 the other end be hingedly connected on the front end face of the 4th gear of both sides, to pass through drive Dynamic first motor is engaged with the 4th gear 33 by third gear 30 with driving third gear 30 to rotate by motion transmission to the On two connecting rods 31, third connecting rod 32, further, left cutting blade 2 is transmitted motion to, on right cutting blade 34, it is each to realize Relatively each fixed blade of cutting blade moves reciprocatingly.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.The present invention being described and shown in usually here in attached drawing is real Applying the component of example can be arranged and be designed by a variety of different configurations.Therefore, the present invention to providing in the accompanying drawings below The detailed description of embodiment be not intended to limit the range of claimed invention, but be merely representative of the selected of the present invention Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts The every other embodiment obtained, shall fall within the protection scope of the present invention.
First, by give the second motor 14 be powered, make its rotate forward with drive first pulley 17 turn round, by steel wire rope 13 with The relative motion of first pulley 17 is carrying out height to target picking branch to realize the height coarse adjustment of complete machine using elevating mechanism After spending coarse adjustment, axle center height approximation and the target branch phase of the left cutting blade 2, right fixed blade 34 of annular Double-blade mechanism at this time Deng;
Then control third pulley 47 is rotated by hand crank 46 and first pulley 10 adjusts gear mechanism 9 by cyclic annular double-pole Tool and flexible double clamping devices are into line tilt, to keep the axle center of left cutting blade 2, right fixed blade 34 close with the axle center of target branch Like centering, then by driving the rope hook 44 of semi-automatic fine-adjustment positioning mechanism parallelogram mechanism so that cyclic annular Double-blade and soft Property double clamping device height carry out secondary accurate adjustment, so that it is guaranteed that the axle center " three-core of cyclic annular Double-blade and flexible double clamping devices Unification ", and then provide position basis for the continuous picking of cyclic annular Double-blade
Followed by driving first motor 1, third motor 22 successively, under the action of flexible double clamping devices, third Motor 22 drives first straight line bearing slider 3 and second straight line bearing slider 42 successively, then will under cyclic annular Double-blade mechanism Just hinged ball twists phase trigger action, so as to which in flexible double clamping devices, along branch direction, feeding is completed at the same time cyclic annular Double-blade " contactless " the shearing cherry of mechanism;The cherry that will be cut by the coupling of cyclic annular each fixed blade of Double-blade mechanism and each cutting blade Peach can be collected cherry by collection device 25.
In order to continuously pick the cherry of same branch different location, 48 He of the 4th pulley can be controlled by opening handwheel 5th pulley 49 and then control parallelogram sturcutre and gear mechanism 9, act parallel four side of semi-automatic fine-adjustment positioning mechanism Shape mechanism and gear mechanism repeat the location action in previous step, make flexible double clamping devices and cyclic annular Double-blade mechanism Dynamic clamping 5, the quiet upper end that the fully wrapped around firmly target branch of 4, each cutting blade, each fixed blade is clamped.
Further, third motor 22, first motor 1 are opened successively, slider-crank mechanism is by the cyclic annular Double-blade of movement It is fed forward, cyclic annular Double-blade is made to cut off the carpopodium between fruit and branch during feeding, fruit passes through cutter Collection hose below device is transmitted in collection device 25.To successively the cherry of same branch efficiently, continuously adopt It plucks.
Branch is closed on last picking in order to pick, can control 48 He of the 4th pulley respectively by opening handwheel 5th pulley 49 and then control parallelogram sturcutre and gear mechanism 9, act parallel four side of semi-automatic fine-adjustment positioning mechanism Shape mechanism and gear mechanism 9, repeat the location action in previous step, make flexible double clamping devices and cyclic annular Double-blade mechanism Dynamic clamping 5, the quiet upper end that the fully wrapped around firmly target branch of 4, each cutting blade, each fixed blade is clamped.
Further, third motor 22, first motor 1 are opened successively, slider-crank mechanism is by the cyclic annular Double-blade of movement It is fed forward, cyclic annular Double-blade is made to cut off the carpopodium between fruit and branch during feeding, fruit passes through cutter Collection hose below device is transmitted in collection device 25.To successively the cherry of same branch efficiently, continuously adopt It plucks.
The present invention devises novel shear, and annular blade surrounds trunk, then when each cutting blade of crank handle turns Around its axis rotation, cutting blade blade is made to do relative motion with fixed blade blade, it is made to be fallen by the carpopodium cut-out of shearing force, Complete cutting action.Continuous action and the feeding of crank linear bearing sliding block based on cutting blade act on, and keep device continuous Shearing carpopodium, improve picking efficiency.The Design of length of fixed blade blade is deliberately much larger than to cutting blade, and front is gradual It comes to a point.The carpopodium of cherry can be made to be easier, between the gap of blade, to complete the task of cutting carpopodium, but also can in this way Fruit or branch are switched to avoid blade.
The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention Protection domain within.

Claims (10)

1. a kind of semi-automatic cherry picking machine of ring-type Double-blade, which is characterized in that fixed including lifting supporting mechanism, semi-automatic fine tuning Position mechanism, flexible double clamping devices, cyclic annular Double-blade mechanism and collection device, lifting supporting mechanism are arranged in moveable platform On trolley, semi-automatic fine-adjustment positioning mechanism includes parallelogram mechanism, vertically arranged gear mechanism (9) and handwheel, Handwheel is connect with parallelogram mechanism and gear mechanism (9) respectively by steel wire rope, and flexible double clamping devices include circle One end of shape frame pedestal (8) and slider-crank mechanism, parallelogram mechanism is connect with lifting supporting mechanism, and the other end passes through tooth Wheel mechanism (9) is connect with round frame pedestal (8), and cyclic annular Double-blade mechanism is arranged on round frame pedestal (8), with crank block machine Structure connects, and cyclic annular Double-blade mechanism includes two cutting blades and two fixed blades of mirror symmetry setting, passes through semi-automatic fine tuning It is picked around its axis rotation by slider-crank mechanism driving cutting blade after detent mechanism positioning adjustment, cyclic annular Double-blade mechanism Lower part be provided with the collection hoses of flare openings, the other end for collecting hose connect with collection device and is collected.
2. a kind of semi-automatic cherry picking machine of cyclic annular Double-blade according to claim 1, which is characterized in that lifting support machine Structure includes the second motor (15), steel wire rope (13), first pulley (17), the flexible arm cylinder (18) of first segment and the flexible arm cylinder of the second section (19), moveable platform trolley includes anti-pulley (14), support platform and telescopic cylinder (16), and first segment arm cylinder (18) of stretching is set Set in support platform, first segment stretch arm cylinder (18) lower inner wall on be provided with tensioning apparatus, the second section stretches arm cylinder (19) it is sleeved on first segment to stretch in arm cylinder (18), multiple first pulleys (17) are arranged in series in first segment and stretch in arm cylinder (18) Pulley blocks are constituted, one end setting of steel wire rope (13) is in the inner wall radial line that the second section stretches arm cylinder (19), and the other end is successively It is arranged in the inner wall radial line that first segment stretches arm cylinder (18) after pulley blocks, the second motor (15) and pulley blocks, is used for Realize that the two dimensional development of the flexible arm cylinder (18) of first segment and the flexible arm cylinder (19) of the second section, anti-pulley (14) are arranged in support platform Lower part side, telescopic cylinder (16) is correspondingly arranged at the other side.
3. a kind of semi-automatic cherry picking machine of cyclic annular Double-blade according to claim 1, which is characterized in that gear mechanism (9) include first gear (20), second gear (21), first pulley (10) and upper inclined base, parallelogram mechanism packet Upper spider, lower bearing bracket, four first connecting rods (11), rope hook (44), two second pulleys (12) and a third pulley (47) are included, Four first connecting rods (11) form parallelogram sturcutre, and one end is connect by lower bearing bracket with lifting supporting mechanism respectively, another End is connect by upper spider with gear mechanism (9) respectively, and two second pulleys (12) are symmetricly set on lower bearing bracket, respectively with one A first connecting rod (11) connection, first gear (20) are arranged on upper spider, pass through key connection, the second tooth with first pulley (10) It is arcuate structure to take turns (21), is arranged on the top of first gear (20), engages connection with first gear (20), upper inclined base is set The top in second gear (21) is set, is connect with the round frame pedestal (8) of flexible double clamping devices, third pulley (47) and rope hook (44) it is correspondingly arranged on upper spider, is connect respectively with a first connecting rod (11), handwheel setting is in lifting supporting mechanism On, it is connect respectively with first pulley (10), third pulley (47), two second pulleys (12) and rope hook (44).
4. a kind of semi-automatic cherry picking machine of cyclic annular Double-blade according to claim 3, which is characterized in that handwheel packet The 4th pulley (48), the 5th pulley (49) and hand crank (46) are included, the 4th pulley (48) and the 5th pulley (49) are vertically arranged in First segment telescopic arm (18) upper mounting plate for lifting supporting mechanism is stretched by fixed mechanism (50) and the first segment of lifting supporting mechanism Contracting arm (18) connects, and the 4th pulley (48) is connect by steel wire rope with first pulley (10), for controlling gear mechanism (9), the Five pulleys (49) are connect by steel wire rope with two second pulleys (12), third pulley (47) and rope hook (44), flat for controlling Row quadrilateral structure moves, and hand crank (46) is flexibly connected with the 4th pulley (48) and the 5th pulley (49) respectively.
5. a kind of semi-automatic cherry picking machine of cyclic annular Double-blade according to claim 1, which is characterized in that round frame pedestal (8) semicircle type frame group and third motor (22) are provided on, semicircle type frame group is hinged with round frame pedestal (8), semicircle type frame group Include that folder is provided with by hinged the first round frame (7) of bolt group and the second round frame (40), the top of the first round frame (7) Hold pedestal (26), Holding seat (26) lower part is provided with the first adaptive spring (6), the first adaptive spring (6) with it is semi-circular Frame group forms self-adaptive regulating (39), and third motor (22) is connect by slider-crank mechanism with cutting blade.
6. a kind of semi-automatic cherry picking machine of cyclic annular Double-blade according to claim 5, which is characterized in that crank block machine Structure includes drive connecting rod, first straight line bearing slider (3), second straight line bearing slider (42) and retractable supports axis (24), master One end of dynamic connecting rod is connect with third motor (22), and the other end is slided by first straight line bearing slider (3) and second straight line bearing Block (42) connects, and retractable supports axis (24) is horizontally disposed through second straight line bearing slider (42), one end and Holding seat (26) hinged, the other end is hinged with semicircle type frame group.
7. a kind of semi-automatic cherry picking machine of cyclic annular Double-blade according to claim 5, which is characterized in that dynamic clamping (5) On be provided with for wear aid bracing wire (43) band logical hole post, it is quiet clamping (4) be equipped with for through-hole column sliding sliding slot, quiet folder The lower end for holding (4) and dynamic clamping (5) is connected by rubber band (27), and one end of clamping bracing wire (43) is connected with dynamic clamping (5) Quarter butt connects, and quarter butt slides in the sliding slot of quiet clamping (4), and the other end of clamping bracing wire (43) is through second pulley (23) and first Pulley (22) connects, for realizing the automatic closure of dynamic clamping (5).
8. a kind of semi-automatic cherry picking machine of cyclic annular Double-blade according to claim 5, which is characterized in that second straight line axis It holds and is provided with lower ball twisted seat (38) and upper ball twisted seat (36) on sliding block (42), set between lower ball twisted seat (38) and upper ball twisted seat (36) There is the second adaptive spring (37) and with column steel ball.
9. a kind of semi-automatic cherry picking machine of cyclic annular Double-blade according to claim 1, which is characterized in that cyclic annular Double-blade Mechanism includes left cutting blade (2), left fixed blade (28), right cutting blade (34), right fixed blade (35), first motor (1), third tooth Take turns (30), the 4th gear (33), second connecting rod (31), third connecting rod (32) and tool rest bracket, left fixed blade (28) and right quiet knife Piece (35) is arranged in the both sides of tool rest bracket, and the inner surface of left cutting blade (2) and right cutting blade (34) is bonded left fixed blade respectively (28) and the outer surface of right fixed blade (35), left cutting blade (2) and right cutting blade (34) pass through second connecting rod (31) and respectively Three-link (32) is connect with two the 4th gears (33) being arranged on tool rest bracket front end face, two the 4th gears (33) and the Three gears (30) engagement connection, first motor (1) are connect with third gear (30).
10. a kind of semi-automatic cherry picking machine of cyclic annular Double-blade according to claim 9, which is characterized in that left fixed blade (28), the upper end of right fixed blade (35) is connected separately with positioning pin (29), positioning pin (29) and left fixed blade (28) and right quiet knife The compression spring for flexible connection is both provided in the vertical bar of piece (35).
CN201810644701.7A 2018-06-21 2018-06-21 Annular double-cutter semi-automatic cherry picking machine Active CN108513807B (en)

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CN109479510A (en) * 2018-12-27 2019-03-19 湖南农业大学 Jujube device is adopted based on parallelogram carry arm telescoping mechanism
CN109618668A (en) * 2018-12-27 2019-04-16 湖南农业大学 A kind of telescopic control method for adopting jujube device of carry arm
CN110432000A (en) * 2019-08-23 2019-11-12 佛山科学技术学院 Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one
CN112005754A (en) * 2020-09-18 2020-12-01 邵阳博亿技术服务有限公司 Pruning device for fruit tree planting
CN115024086A (en) * 2022-06-27 2022-09-09 浙江工贸职业技术学院 Pineapple picking manipulator
CN116420559A (en) * 2023-05-10 2023-07-14 农业农村部南京农业机械化研究所 Double-clamping bottle-cultivated flammulina velutipes mechanized picking equipment and method

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CN109352673A (en) * 2018-12-05 2019-02-19 华东交通大学 A kind of fruit picking end effector
CN109479510A (en) * 2018-12-27 2019-03-19 湖南农业大学 Jujube device is adopted based on parallelogram carry arm telescoping mechanism
CN109618668A (en) * 2018-12-27 2019-04-16 湖南农业大学 A kind of telescopic control method for adopting jujube device of carry arm
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CN116420559B (en) * 2023-05-10 2023-11-21 农业农村部南京农业机械化研究所 Double-clamping bottle-cultivated flammulina velutipes mechanized picking equipment and method

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