CN108541455A - Adaptive bending becomes born of the same parents' fruit picker - Google Patents
Adaptive bending becomes born of the same parents' fruit picker Download PDFInfo
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- CN108541455A CN108541455A CN201810333827.2A CN201810333827A CN108541455A CN 108541455 A CN108541455 A CN 108541455A CN 201810333827 A CN201810333827 A CN 201810333827A CN 108541455 A CN108541455 A CN 108541455A
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- fruit
- rocking bar
- transmission mechanism
- arc
- bowl seat
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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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Food-Manufacturing Devices (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
Purpose of design of the present invention is to overcome the defect for relying on pulling force or shearing fruit-picking in the prior art, it proposes that a kind of adaptive bending becomes born of the same parents' fruit picker, including clamping is provided and curves the cam mechanism of movement, drive parallelogram transmission mechanism, supporting mechanism and the traction drive mechanism of cam mechanism translation.The present invention follows the principle of manually fruit-picking, dexterously one group of parallelogram mechanism and cam mechanism are devised using change born of the same parents' principle, only can adaptively it be switched according to picking technical process Shi Liangzu mechanisms by single driving, realize adaptive adjustment and the locking fruit to fruit size and shape, and required pulling force and bending power are provided in picking process, and human hand fruit-picking principle is complied fully with, it is easy to operate, reliable operation, good economy performance.
Description
Technical field
The present invention relates to fruit picker technical fields more particularly to a kind of adaptive bending to become born of the same parents' fruit picking dress
It sets.
Background technology
Fruit picking is most laborious, most time-consuming one of link in Production of fruit.Fruit picking work limitation is strong, labour
Power input is intensive, and of high cost, efficiency is low.Fruit picking quality directly affects quality, storage and the sale of fruit, finally influences city
Field price and economic benefit.Fruit picking operating environment is complicated, the problem of being primarily present three aspects：The first, picker's safety
Arm is easily scratched or is abraded by branch etc. when problem, i.e. picked by hand, may tumble injury etc. when high-rise working；The second, fruit tree damages
Hinder problem, i.e., to destruction of branch etc. in picking process；Third, fruit picking quality problems, i.e. picking method must not be held at that time
Easily occur taking off the base of a fruit, take out phenomena such as heart, also is easy directly to fall on the ground to cause inside and outside wound, influences the appearance of fruit, be unfavorable for fresh-keeping storage
It hides, influences economic benefit.
The degree of automation of fruit picking is also relatively low at present, the picking operation of domestic fruit mainly have picked by hand and
Auxiliary device picks two kinds of means.Picked by hand person summarizes complete set by picking labour for many years, practical fruit is adopted
Pluck principle：Fruit is gently held with hand when picking, index finger is pinned carpopodium, lifted then up, makes carpopodium and fruit branch from absciss layer position
It disconnects, gently removes fruit.When carpopodium is continuous, it is unable to hard draw, in order to avoid fruit branch or fruit platform sublateral shoot are adopted down with fruit, it be as possible
Leaf is touched down less, damages fruit tree.Picking main points is：Fruit to be held to seem that egg, index finger pressure handle is taken up to lift, right hand fruit picking left hand connects,
Gently it is put into fruit picking basket.Picked by hand can effectively solve fruit picking quality problems, but can not avoid picker's safety problem, effect
Rate is low.
Some designers start Design assistant device and picker are assisted to carry out fruit picking operation, existing auxiliary picking dress
It sets and high-altitude fruit picking work can be completed in ground use by picker station mostly, although solving picker's safety problem,
But since existing auxiliary picker mostly only detaches carpopodium and branch with pulling force, there is only more serious picking quality and damages
The problems such as branch, and it is laborious, efficiency is low.For example, the auxiliary picker for being cut carpopodium using cutter compares the damage of branch
Seriously；The auxiliary picker of carpopodium is twisted into two parts using rotation fruit can lead to fruit core pulling, influence fruit quality；It is grabbed using claw
It takes auxiliary picker to pull apart the articulamentum of carpopodium and fruit branch by pulling force, all there is certain damage to fruit and fruit branch, very
It falls naturally to other fruits are caused.Therefore the auxiliary picker for only complying fully with human hand fruit picking principle could thoroughly
Solve the problems, such as that fruit picking remains.
Invention content
It is necessary to propose that a kind of adaptive bending for imitating artificial picked by hand fruit becomes born of the same parents' fruit picker.
A kind of adaptive bending change born of the same parents' fruit picker, including clamp cam mechanism, parallelogram transmission mechanism, branch
Support mechanism, traction drive mechanism, clamp cam mechanism are connect with parallelogram transmission mechanism, parallelogram transmission mechanism with
Supporting mechanism connects, and the upper end of traction drive mechanism is connect with parallelogram transmission mechanism, and lower end applies pulling force for external,
Clamp cam mechanism includes structure identical left side flexible clamping mechanism, right side flexible clamping mechanism, left side flexible clamping mechanism,
Right side flexible clamping mechanism is symmetrically disposed on the both ends of parallelogram transmission mechanism, to pass through parallelogram transmission mechanism band
Both dynamic close or separation that is mutually translatable, left side flexible clamping mechanism includes leather cup, bowl seat, and bowl seat is set to the bottom of leather cup,
And the centre of gyration of bowl seat and the geometric center of leather cup are misaligned, and arc-shaped cam slot, arc-shaped cam are opened up on the end face of bowl seat
Slot is with the axis for axis symmetry of bowl seat, and the connecting rod of parallelogram transmission mechanism is the driven member of cam mechanism, and left end end is set
Place body or ladder circle cylinder, sphere be embedded in bowl seat arc-shaped cam slot form cam mechanism, with by sphere along leather cup
The relative motion that axis and arc-shaped cam slot trackslip drives the rotation of leather cup.
The present invention follows the principle of manually fruit-picking, dexterously devises one group of parallel four side using change born of the same parents' principle
Shape mechanism and cam mechanism propose that a kind of adaptive bending becomes born of the same parents' fruit picker, including provide clamping and curve movement
Cam mechanism, parallelogram transmission mechanism, supporting mechanism and the traction drive mechanism for driving cam mechanism translation.The present invention abides by
The principle of manually fruit-picking is followed, dexterously devises one group of parallelogram mechanism and cam machine using change born of the same parents' principle
Structure only can adaptively be switched according to picking technical process Shi Liangzu mechanisms by single driving, be realized to fruit size and shape
The adaptive adjustment of shape and locking fruit, and required pulling force and bending power are provided in picking process, it complies fully with human hand and adopts
Pick fruit principle, easy to operate, reliable operation, good economy performance.
Description of the drawings
Fig. 1 is the structural schematic diagram that adaptive bending becomes born of the same parents' fruit picker.
Fig. 2 is the sectional view that adaptive bending becomes born of the same parents' fruit picker.
Fig. 3 is another state sectional view that adaptive bending becomes born of the same parents' fruit picker.
Fig. 4 is the structural schematic diagram of flat motion bar.
Fig. 5 is the structural schematic diagram of clamp cam mechanism.
Fig. 6 is the left view of clamp cam mechanism.In figure L be spaced between the axis of bowl seat and the axis of leather cup away from
From.
Fig. 7 is the another embodiment schematic diagram of clamp cam mechanism.
Fig. 8 is the schematic diagram of ladder circle cylinder and the cooperation of arc-shaped cam slot.
In figure：Leather cup 11, bowl seat 12, arc-shaped cam slot 121, balance weight mechanism 122, L-type rocking bar 21, follower lever 22, rocking bar
23, flat motion bar 24, starting stave 241, the second riser 242, horizontal quarter butt 243, sphere 244, spring 25, ladder circle cylinder 26,
Hollow pipe 31, tablet 32, guide rod 41.
Specific implementation mode
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, common for this field
For technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
Referring to Fig. 1 to Fig. 6, an embodiment of the present invention provides a kind of adaptive bendings to become born of the same parents' fruit picker, including folder
Hold cam mechanism, parallelogram transmission mechanism, supporting mechanism, traction drive mechanism, clamp cam mechanism and parallelogram
Transmission mechanism connects, and parallelogram transmission mechanism is connect with supporting mechanism, the upper end of traction drive mechanism and parallelogram
Transmission mechanism connects, and lower end applies pulling force for external, clamp cam mechanism include structure identical left side flexible clamping mechanism,
Right side flexible clamping mechanism, left side flexible clamping mechanism, right side flexible clamping mechanism are symmetrically disposed on parallelogram driver
The both ends of structure, to drive the two close to each other by parallelogram transmission mechanism or detach, left side flexible clamping mechanism includes
Leather cup 11, bowl seat 12, bowl seat 12 are round platform, and bowl seat 12 is set to the bottom of leather cup 11, and the centre of gyration or axis of bowl seat 12
The geometric center or axes O 1 of O2 and leather cup 11 are misaligned, and arc-shaped cam slot 121, arc-shaped cam are opened up on the end face of bowl seat 12
Slot 121 is embedded in the axis for axis symmetry of bowl seat 12, the left end end set sphere 244 of parallelogram transmission mechanism, sphere 244
The arc-shaped cam slot 121 of bowl seat 12, skin is driven in a manner of trackslipping along the axis and arc-shaped cam slot of leather cup by sphere 244
The rotation of bowl.
Further, parallelogram transmission mechanism includes that symmetrically arranged left side parallelogram transmission mechanism and right side are flat
Row quadrangle transmission mechanism, left side parallelogram transmission mechanism are connect with left side flexible clamping mechanism, back
Transmission mechanism is connect with right side flexible clamping mechanism, left side parallelogram transmission mechanism include L-type rocking bar 21, follower lever 22,
Rocking bar 23, flat motion bar 24, spring 25, follower lever 22, rocking bar 23 are set to the both sides of L-type rocking bar 21, the bending of L-type rocking bar 21
Place and the upper end of traction drive mechanism are articulated and connected, and the lower end of follower lever 22 is articulated and connected with the upper end of traction drive mechanism, from
The upper end of lever 22 is articulated and connected with one end of L-type rocking bar 21, and the other end of L-type rocking bar 21 is hinged with the lower end of flat motion bar 24
Connection, the lower end of rocking bar 23 are articulated and connected with the upper end of traction drive mechanism, and the upper end of rocking bar 23 is cut with scissors with the lower end of flat motion bar 24
It connects in succession, the sphere 244 is arranged in the end sidewalls of flat motion bar 24, and the both ends of spring 25 are connected to L-type rocking bar 21 and rocking bar 23
Between.
Referring to Fig. 7, further, the arc-shaped cam slot 121 on bowl seat end face is located at the top of the centre of gyration of bowl seat, leather cup
Geometric center be located at bowl seat the centre of gyration side, bowl seat the centre of gyration the other side be arranged balance weight mechanism 122, match
The cooperation of the centre of gyration three of heavy-duty machine structure 122, leather cup 11 and bowl seat 12 so that the arc-shaped cam slot 121 on 12 end face of bowl seat
It is always positioned at top, realizes the adaptive of cam mechanism.
When being located at the centre of gyration of bowl seat due to the geometric center of arc-shaped cam slot, turned to there are bowl seat so that arc is convex
Race is located at lower section, or when positioned at in the same vertical direction of the geometric center of leather cup so that after pulling force applies, torsional moment is not
In the presence of, twisting resistance can not be formed, so design above structure.
Further, the flat motion bar 24 includes starting stave 241, the second riser 242, horizontal quarter butt 243, starting stave
241 are vertically arranged, and the second riser 242 is vertical with 241 antarafacial of starting stave, are arranged on the side wall of the second riser 242 and are shaken with L-type
The hinged pin of the other end of bar 21 and the upper end of rocking bar 23, the other end of L-type rocking bar 21 and the upper end of rocking bar 23 are respectively set
In the both ends of the second riser 242, horizontal quarter butt 243 is set on the upper end side wall of starting stave 241, and the sphere 244 is fixed
It is set to the end of horizontal quarter butt 243.
Referring to Fig. 8, further, another distressed structure as horizontal quarter butt and sphere is：In arc-shaped cam slot 121
Embedded structure is ladder circle cylinder 26, and one end of ladder circle cylinder 26 is connect with the upper end side wall of the second riser, and the other end is
The structure being adapted with arc-shaped cam slot 121 so that ladder circle cylinder 26 is embedded in arc-shaped cam slot 121 and forms cam mechanism.
Further, supporting mechanism includes hollow pipe 31, is set to the tablet 32 at 31 top of hollow pipe, the interposition of tablet 32
Set the hole opened up with 31 internal run-through of hollow pipe, the upper end of traction drive mechanism passes through hollow pipe 31, with under follower lever 22
End connection.
Further, the bending space extended downwardly is opened up on the tablet 32 below L-type rocking bar 21, for L-type rocking bar 21
Swinging rotary.
The detailed process of the present invention is described as follows：
Picker station on ground using apparatus of the present invention can be completed fruit picking work.31 lower end extension of hollow pipe point is held
In the hand of picker, it is used to support and is adjusted the position of apparatus of the present invention, fruit is lockked convenient for leather cup 11.41 lower end of guide rod passes through
Adjustable rope is connect with handle, and entire invention device is driven to complete fruit picking.When handle is in neutral position, guide rod 41
It is also at neutral position, apparatus of the present invention are in open configuration under the pulling force effect of spring 25.
Apparatus of the present invention are adjusted to the rational position for being intended to fruit-picking, driving handle by picker, and guide rod 41 is drawn in rope
It is acted under the action of power so that follower lever 22 drives rotation axis rotation of the L-type rocking bar 21 at small pin, rocking bar 23 and translation
Bar 24 acts therewith, is drawn close to centre, and leather cup 11 slowly close to fruit, is contacted with fruit；
L-type rocking bar 21, rocking bar 23 and flat motion bar 24 continue to swing, and leather cup 11 utilizes its spherical pair certainly according to fruit shape and position
Adjustment orientation is adapted to until two leather cups 11 lock fruit, spring 25 is pulled to longest.At this time by hollow pipe 31, L-type rocking bar 21,
The parallelogram mechanism degree of freedom that rocking bar 23 and flat motion bar 24 are constituted becomes 0, the spherical pair that flat motion bar 24 and leather cup 11 form
Degree of freedom becomes 1 from 3, and slot pin pair degree of freedom is 1.
It is light downwards to draw hollow pipe 31, hollow pipe 31 that active force is transferred to bowl seat 12, the revolution of bowl seat 12 after locking fruit
Center be L with the distance between the geometric center of leather cup 11, generate torque, leather cup is rotated around spherical pair；At the same time skin
Bowl 11 is slided along slot pin pair, i.e. cam mechanism setting in motion, and carpopodium is made to generate bending effect with fruit branch connecting portion fruit, complete
It is consistent that the effect that carpopodium lifts upwards again is pinned with index finger when human hand fruit-picking entirely, to keep carpopodium natural with fruit branch connecting portion
It disconnects, easily takes fruit.Then apparatus of the present invention are extended into fruit basket, release handle, 25 pulling force of spring makes leather cup 11 open
It opens, fruit gently enters fruit basket.
Module or unit in device of the embodiment of the present invention can be combined, divided and deleted according to actual needs.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and is wanted according to right of the present invention
Equivalent variations made by asking, still belong to the scope covered by the invention.
Claims (6)
1. a kind of adaptive bending becomes born of the same parents' fruit picker, it is characterised in that：It is passed including clamp cam mechanism, parallelogram
Motivation structure, supporting mechanism, traction drive mechanism, clamp cam mechanism are connect with parallelogram transmission mechanism, parallelogram
Transmission mechanism is connect with supporting mechanism, and the upper end of traction drive mechanism is connect with parallelogram transmission mechanism, and lower end is for outer
Portion applies pulling force, and clamp cam mechanism includes structure identical left side flexible clamping mechanism, right side flexible clamping mechanism, and left side is soft
Property clamping device, right side flexible clamping mechanism are symmetrically disposed on the both ends of parallelogram transmission mechanism, to pass through parallel four side
Shape transmission mechanism drives the two to be mutually translatable close or detach, and left side flexible clamping mechanism includes leather cup, bowl seat, and bowl seat is set to
The bottom of leather cup, and the centre of gyration of bowl seat and the geometric center of leather cup are misaligned, and arc-shaped cam is opened up on the end face of bowl seat
Slot, for arc-shaped cam slot with the axis for axis symmetry of bowl seat, the connecting rod of parallelogram transmission mechanism is the driven member of cam mechanism,
Left end end set sphere or ladder circle cylinder, the arc-shaped cam slot that sphere is embedded in bowl seat forms cam mechanism, to pass through sphere
The rotation of leather cup is driven along the relative motion that the axis and arc-shaped cam slot of leather cup trackslip.
2. adaptive bending as described in claim 1 becomes born of the same parents' fruit picker, it is characterised in that：Parallelogram driver
Structure includes symmetrically arranged left side transmission mechanism and right side transmission mechanism, and left side transmission mechanism connects with left side flexible clamping mechanism
It connects, right side transmission mechanism is connect with right side flexible clamping mechanism, and left side transmission mechanism includes L-type rocking bar, follower lever, rocking bar, puts down
Lever, spring, follower lever, rocking bar are set to the both sides of L-type rocking bar, and the bending place of L-type rocking bar and the upper end of haulage gear are cut with scissors
It connects in succession, the lower end of follower lever and the upper end of haulage gear are articulated and connected, and the upper end of follower lever is hinged with one end of L-type rocking bar
Connection, the other end of L-type rocking bar and the lower end of flat motion bar are articulated and connected, and the lower end of rocking bar and the upper end of haulage gear hingedly connect
It connects, the upper end of rocking bar and the lower end of flat motion bar are articulated and connected, and the sphere is arranged in the end sidewalls of flat motion bar, and the both ends of spring connect
It is connected between L-type rocking bar and rocking bar.
3. adaptive bending as described in claim 1 becomes born of the same parents' fruit picker, it is characterised in that：Arc on bowl seat end face
Cam path is located at the top of the centre of gyration of bowl seat, and the geometric center of leather cup is located at the side of the centre of gyration of bowl seat, in bowl seat
The centre of gyration the other side be arranged balance weight mechanism, the cooperation of the centre of gyration three of balance weight mechanism, leather cup and bowl seat so that bowl
Arc-shaped cam slot on seat end face is always positioned at top, realizes the adaptive of cam mechanism.
4. adaptive bending as claimed in claim 3 becomes born of the same parents' fruit picker, it is characterised in that：The flat motion bar includes the
One riser, the second riser, horizontal quarter butt, starting stave are vertically arranged, and the second riser is vertical with starting stave antarafacial, perpendicular second
The setting pin hinged with the upper end of the other end of L-type rocking bar and rocking bar on the side wall of plate, the other end of L-type rocking bar and rocking bar
Upper end is respectively arranged at the both ends of the second riser, and horizontal quarter butt is set on the upper end side wall of starting stave, and the sphere is fixed
It is set to the end of horizontal quarter butt.
5. adaptive bending as claimed in claim 3 becomes born of the same parents' fruit picker, it is characterised in that：It is embedded in arc-shaped cam slot
The structure entered is ladder circle cylinder, and one end of ladder circle cylinder connect with the upper end side wall of the second riser, and the other end is and arc
The adaptable structure of cam path so that ladder circle cylinder is embedded in arc-shaped cam slot and forms cam mechanism.
6. adaptive bending as claimed in claim 3 becomes born of the same parents' fruit picker, it is characterised in that：Supporting mechanism includes hollow
The tablet managed, be set at the top of hollow pipe, the centre position of tablet open up the hole with hollow pipe internal run-through, traction drive mechanism
Upper end pass through hollow pipe, to be connect with the lower end of follower lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810333827.2A CN108541455B (en) | 2018-04-13 | 2018-04-13 | Self-adaptive twisted and metamorphic fruit picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810333827.2A CN108541455B (en) | 2018-04-13 | 2018-04-13 | Self-adaptive twisted and metamorphic fruit picking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108541455A true CN108541455A (en) | 2018-09-18 |
| CN108541455B CN108541455B (en) | 2021-02-05 |
Family
ID=63514795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810333827.2A Active CN108541455B (en) | 2018-04-13 | 2018-04-13 | Self-adaptive twisted and metamorphic fruit picking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108541455B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109548488A (en) * | 2019-01-17 | 2019-04-02 | 中南林业科技大学 | Torsional mode nuts picking machinery hand and nuts picking method |
| CN110562530A (en) * | 2019-09-30 | 2019-12-13 | 烟台大学 | Apple posture fine-tuning device and posture adjusting equipment |
| CN111226601A (en) * | 2020-03-26 | 2020-06-05 | 姜发威 | Automatic watermelon picking device capable of judging sequential arrangement during transfer |
| CN114451144A (en) * | 2022-03-17 | 2022-05-10 | 河北省科学院应用数学研究所 | End effector for picking fruits |
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| CN107864746A (en) * | 2018-01-02 | 2018-04-03 | 西南林业大学 | A kind of single-hand held formula fruit picking apparatus |
| CN107873247A (en) * | 2017-11-16 | 2018-04-06 | 安徽理工大学 | A kind of scalable fruit picking apparatus |
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| US4034542A (en) * | 1976-04-19 | 1977-07-12 | Loehr Leslie K | Fruit picking implements |
| FR2611423A1 (en) * | 1987-02-25 | 1988-09-09 | Andre Jean | Gripping device for seizing, one by one, objects on the ground or in trees |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109548488A (en) * | 2019-01-17 | 2019-04-02 | 中南林业科技大学 | Torsional mode nuts picking machinery hand and nuts picking method |
| CN110562530A (en) * | 2019-09-30 | 2019-12-13 | 烟台大学 | Apple posture fine-tuning device and posture adjusting equipment |
| CN110562530B (en) * | 2019-09-30 | 2024-04-16 | 烟台大学 | Apple gesture fine adjustment device and gesture adjustment equipment |
| CN111226601A (en) * | 2020-03-26 | 2020-06-05 | 姜发威 | Automatic watermelon picking device capable of judging sequential arrangement during transfer |
| CN111226601B (en) * | 2020-03-26 | 2021-03-02 | 广州飞利信息科技有限公司 | Automatic watermelon picking device capable of judging sequential arrangement during transfer |
| CN114451144A (en) * | 2022-03-17 | 2022-05-10 | 河北省科学院应用数学研究所 | End effector for picking fruits |
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| Publication number | Publication date |
|---|---|
| CN108541455B (en) | 2021-02-05 |
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