CN108541455B - Self-adaptive twisted and metamorphic fruit picking device - Google Patents
Self-adaptive twisted and metamorphic fruit picking device Download PDFInfo
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- CN108541455B CN108541455B CN201810333827.2A CN201810333827A CN108541455B CN 108541455 B CN108541455 B CN 108541455B CN 201810333827 A CN201810333827 A CN 201810333827A CN 108541455 B CN108541455 B CN 108541455B
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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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- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention aims to overcome the defect that fruits are picked by means of tension or shearing force in the prior art, and provides a self-adaptive twisted-metamorphic fruit picking device which comprises a cam mechanism for providing clamping and bending motion, a parallelogram transmission mechanism for driving the cam mechanism to translate, a supporting mechanism and a traction driving mechanism. The invention follows the principle of picking fruits manually, designs a group of parallelogram mechanisms and cam mechanisms by skillfully utilizing the metamorphic principle, can realize the self-adaptive switching of the two groups of mechanisms according to the picking process by only single driving, realizes the self-adaptive adjustment and locking of the sizes and the shapes of the fruits, provides required tension and bending torque force in the picking process, completely accords with the principle of picking the fruits manually, and has simple operation, reliable work and good economical efficiency.
Description
Technical Field
The invention relates to the technical field of fruit picking devices, in particular to a self-adaptive twisting metamorphic fruit picking device.
Background
Fruit picking is one of the most laborious and time-consuming links in fruit production. The fruit picking work is strong in timeliness, intensive in labor input, high in cost and low in efficiency. Fruit picking quality directly affects the quality, storage and sale of fruits, ultimately affecting market price and economic benefits. The fruit picking operation environment is complex, and three problems mainly exist: firstly, the safety problem of a picker is that the arm is easily scratched or scratched by branches and the like during manual picking, and the arm may be damaged during high-altitude operation; secondly, the fruit tree damage problem is that the branches are damaged in the picking process; thirdly, the fruit picking quality problem, namely when the picking method is not proper, the phenomena of stem removal, core pulling and the like are easy to occur, and the phenomenon that the fruit falls on the ground directly to cause internal injury and external injury easily affects the appearance of the fruit, is not beneficial to fresh-keeping and storage and affects the economic benefit.
At present, the automation degree of fruit picking is relatively low, and the picking operation of domestic fruits mainly comprises two means of manual picking and auxiliary device picking. The manual picker summarizes a set of complete and practical fruit picking principles through years of picking labor: during picking, the fruit is lightly held by hands, the index finger presses the fruit handle, then the fruit handle is lifted upwards to disconnect the fruit handle and the fruit branch from the delamination part, and the fruit is lightly taken down. When the fruit handle is not continuous, the fruit handle can not be pulled firmly so as to avoid that the fruit branch or the auxiliary tip of the fruit table is picked down along with the fruit, the leaves are knocked down as little as possible, and the fruit tree is damaged. The picking key field is as follows: holding the fruit as if holding egg, pressing the handle with forefinger to lift up, picking the fruit with right hand and left hand, and gently placing into fruit picking basket. The problem of fruit picking quality can be effectively solved by manual picking, but the safety problem of a picker cannot be avoided, and the efficiency is low.
Some designers begin to design auxiliary device and assist the picker to carry out the fruit picking operation, and current supplementary picking device is stood on ground by the picker mostly and can be accomplished high altitude fruit picking work, though solved picker safety problem, nevertheless because current supplementary picking device is mostly only with pulling force separation carpopodium and branch, not only has more serious picking quality and damage branch scheduling problem, and hard, inefficiency. For example, the auxiliary picking device for cutting the fruit stem by the cutter has serious damage to the branches; the auxiliary picking device for twisting off the fruit handle by rotating the fruit can cause core pulling of the fruit, and the quality of the fruit is affected; the claw type grabbing auxiliary picking device is adopted to tear off the connecting layer of the fruit handle and the fruit branches through pulling force, so that certain damage is caused to the fruits and the fruit branches, and even other fruits fall down naturally. Therefore, only the auxiliary picking device which completely accords with the hand fruit picking principle can thoroughly solve the problem of fruit picking.
Disclosure of Invention
There is a need for an adaptive twist-twist metamorphic fruit picking apparatus that mimics manual picking of fruit.
A self-adaptive bending and twisting metamorphic fruit picking device comprises a clamping cam mechanism, a parallelogram transmission mechanism, a supporting mechanism and a traction driving mechanism, wherein the clamping cam mechanism is connected with the parallelogram transmission mechanism, the parallelogram transmission mechanism is connected with the supporting mechanism, the upper end of the traction driving mechanism is connected with the parallelogram transmission mechanism, the lower end of the traction driving mechanism is used for applying external tension, the clamping cam mechanism comprises a left flexible clamping mechanism and a right flexible clamping mechanism which are identical in structure, the left flexible clamping mechanism and the right flexible clamping mechanism are symmetrically arranged at two ends of the parallelogram transmission mechanism so as to drive the two to mutually translate to be close to or separate through the parallelogram transmission mechanism, the left flexible clamping mechanism comprises a leather bowl and a bowl seat, the bowl seat is arranged at the bottom of the leather bowl, the rotation center of the bowl seat is not coincident with the geometric center of the leather bowl, and an arc cam groove is formed in the end surface of, the axis axial symmetry of arc cam groove with the bowl seat, parallelogram drive mechanism's connecting rod is cam mechanism's follower, and its left end tip sets up spheroid or ladder cylinder, and the arc cam groove of spheroid embedding bowl seat constitutes cam mechanism to the relative motion that slides and change along the axis of leather cup and arc cam groove through the spheroid drives the rotation of leather cup.
The invention follows the principle of picking fruits manually, designs a group of parallelogram mechanisms and cam mechanisms by skillfully utilizing the metamorphic principle, and provides a self-adaptive twist metamorphic fruit picking device which comprises a cam mechanism for providing clamping and bending movement, a parallelogram transmission mechanism for driving the cam mechanism to translate, a supporting mechanism and a traction driving mechanism. The invention follows the principle of picking fruits manually, designs a group of parallelogram mechanisms and cam mechanisms by skillfully utilizing the metamorphic principle, can realize the self-adaptive switching of the two groups of mechanisms according to the picking process by only single driving, realizes the self-adaptive adjustment and locking of the sizes and the shapes of the fruits, provides required tension and bending torque force in the picking process, completely accords with the principle of picking the fruits manually, and has simple operation, reliable work and good economical efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a fruit picking device with self-adaptive twist-twist metamorphic.
Fig. 2 is a sectional view of the fruit picking device with the self-adaptive twisted cells.
Fig. 3 is another state section view of the fruit picking device with the self-adaptive twisted cells.
Fig. 4 is a schematic structural diagram of the translation rod.
Fig. 5 is a schematic structural view of the clamping cam mechanism.
Fig. 6 is a left side view of the clamp cam mechanism. In the figure, L is the distance between the axis of the bowl seat and the axis of the leather bowl.
FIG. 7 is a schematic view of another embodiment of a clamping cam mechanism.
Fig. 8 is a schematic view of the engagement of the stepped cylinder with the arcuate cam slot.
In the figure: the cup leather 11, the bowl seat 12, the arc cam groove 121, the counterweight mechanism 122, the L-shaped rocker 21, the driven rod 22, the rocker 23, the translation rod 24, the first vertical plate 241, the second vertical plate 242, the horizontal short rod 243, the ball 244, the spring 25, the stepped cylinder 26, the hollow pipe 31, the flat plate 32 and the guide rod 41.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Referring to fig. 1 to 6, an embodiment of the invention provides a self-adaptive twist-twist metamorphic fruit picking device, which comprises a clamping cam mechanism, a parallelogram transmission mechanism, a support mechanism and a traction drive mechanism, wherein the clamping cam mechanism is connected with the parallelogram transmission mechanism, the parallelogram transmission mechanism is connected with the support mechanism, the upper end of the traction drive mechanism is connected with the parallelogram transmission mechanism, the lower end of the traction drive mechanism is used for applying external tension, the clamping cam mechanism comprises a left flexible clamping mechanism and a right flexible clamping mechanism which are identical in structure, the left flexible clamping mechanism and the right flexible clamping mechanism are symmetrically arranged at two ends of the parallelogram transmission mechanism so as to be driven to approach or separate from each other through the parallelogram transmission mechanism, the left flexible clamping mechanism comprises a leather cup 11 and a bowl seat 12, the bowl seat 12 is a circular truncated cone, and the bowl seat 12 is arranged at the bottom of the leather cup 11, and the centre of gyration or axis O2 of bowl seat 12 and the geometric centre or the axis O1 of leather cup 11 do not coincide, offer arc cam groove 121 on the terminal surface of bowl seat 12, arc cam groove 121 is with the axis axial symmetry of bowl seat 12, parallelogram drive mechanism's left end tip sets up spheroid 244, spheroid 244 imbeds the arc cam groove 121 of bowl seat 12 to the rotation of the leather cup is driven along the axis of leather cup and the mode of arc cam groove slip through spheroid 244.
Further, the parallelogram transmission mechanism comprises a left side parallelogram transmission mechanism and a right side parallelogram transmission mechanism which are symmetrically arranged, the left side parallelogram transmission mechanism is connected with the left side flexible clamping mechanism, the right side parallelogram transmission mechanism is connected with the right side flexible clamping mechanism, the left side parallelogram transmission mechanism comprises an L-shaped rocker 21, a driven rod 22, a rocker 23, a translation rod 24 and a spring 25, the driven rod 22 and the rocker 23 are arranged at two sides of the L-shaped rocker 21, the bending part of the L-shaped rocker 21 is hinged with the upper end of the traction driving mechanism, the lower end of the driven rod 22 is hinged with the upper end of the traction driving mechanism, the upper end of the driven rod 22 is hinged with one end of the L-shaped rocker 21, the other end of the L-shaped rocker 21 is hinged with the lower end of the translation rod 24, the lower end of the rocker 23 is hinged with the upper end of the traction driving, the upper end of the rocker 23 is hinged with the lower end of the translation rod 24, the side wall of the end part of the translation rod 24 is provided with the ball 244, and the two ends of the spring 25 are connected between the L-shaped rocker 21 and the rocker 23.
Referring to fig. 7, further, the arc cam slot 121 on the end surface of the bowl seat is located above the rotation center of the bowl seat, the geometric center of the leather cup is located on one side of the rotation center of the bowl seat, the counterweight mechanism 122 is arranged on the other side of the rotation center of the bowl seat, and the counterweight mechanism 122, the leather cup 11 and the rotation center of the bowl seat 12 are matched with each other, so that the arc cam slot 121 on the end surface of the bowl seat 12 is always located above, and the self-adaption of the cam mechanism is realized.
Because the geometric centre of arc cam groove is when being located the centre of rotation of bowl seat, has the bowl seat to rotate to making the arc cam groove be located the below, or when being located the same vertical direction with the geometric centre of leather cup in for the pulling force is applyed the back, and torsional moment does not exist, can't form the torsional force, so design above-mentioned structure.
Further, the tie rod 24 includes first riser 241, second riser 242, horizontal quarter 243, the vertical setting of first riser 241, second riser 242 is different perpendicular with first riser 241, set up on the lateral wall of second riser 242 with the other end of L type rocker 21 and the articulated pin in upper end of rocker 23, the other end of L type rocker 21 and the upper end of rocker 23 set up respectively in the both ends of second riser 242, horizontal quarter 243 sets up on the upper end lateral wall of first riser 241, spheroid 244 is fixed to be set up in the tip of horizontal quarter 243.
Referring to fig. 8, further, another modified structure as a horizontal short rod and a sphere is: the structure of embedding in arc cam groove 121 is step cylinder 26, and the one end and the upper end lateral wall of second riser of step cylinder 26 are connected, and the other end is the structure that suits with arc cam groove 121 for step cylinder 26 imbeds arc cam groove 121 and forms cam mechanism.
Further, the supporting mechanism comprises a hollow pipe 31 and a flat plate 32 arranged at the top of the hollow pipe 31, a hole communicated with the interior of the hollow pipe 31 is formed in the middle of the flat plate 32, and the upper end of the traction driving mechanism penetrates through the hollow pipe 31 to be connected with the lower end of the driven rod 22.
Furthermore, a bending space extending downwards is formed on the flat plate 32 below the L-shaped rocker 21 for the L-shaped rocker 21 to swing and rotate.
The specific process of the invention is illustrated as follows:
the picker can complete fruit picking work by standing on the ground and using the device. The lower extension of the hollow tube 31 is held in the picker's hand for supporting and adjusting the position of the device of the invention to facilitate the locking of the fruit by the cup 11. The lower end of the guide rod 41 is connected with the handle through an adjustable rope to drive the whole fruit picking device. When the handle is in the neutral position, the guide rod 41 is also in the neutral position, and the device of the present invention is in the open state under the tension of the spring 25.
The picker adjusts the device to a reasonable position where fruits are to be picked, drives the handle, the guide rod 41 moves under the action of the rope pulling force, so that the driven rod 22 drives the L-shaped rocker 21 to rotate around the rotating shaft at the small pin, the rocker 23 and the translation rod 24 move along with the L-shaped rocker to move close to the middle, and the leather cup 11 slowly approaches to the fruits and is in contact with the fruits;
the L-shaped rocker 21, the rocker 23 and the translation rod 24 continue to swing, the leather cups 11 self-adaptively adjust the direction by utilizing the spherical pair thereof according to the shape and the position of the fruit until the two leather cups 11 lock the fruit, and the spring 25 is pulled to the longest. At this time, the degree of freedom of the parallelogram mechanism formed by the hollow tube 31, the L-shaped rocker 21, the rocker 23 and the translation rod 24 is changed into 0, the degree of freedom of the spherical pair formed by the translation rod 24 and the leather cup 11 is changed from 3 into 1, and the degree of freedom of the slotted pin pair is 1.
After the fruit is locked, the hollow pipe 31 is slightly pulled downwards, the hollow pipe 31 transmits acting force to the bowl seat 12, the distance between the rotation center of the bowl seat 12 and the geometric center of the leather cup 11 is L, torque is generated, and the leather cup rotates around the spherical pair; meanwhile, the leather cup 11 slides along the groove pin pair, namely the cam mechanism starts to move, so that the fruit at the connecting part of the fruit stem and the fruit branch generates a bending effect which is completely consistent with the effect that the index finger presses the fruit stem and then lifts upwards when a person picks the fruit by hands, and the connecting part of the fruit stem and the fruit branch is naturally disconnected, and the fruit is easily picked. Then the device is extended to the fruit basket, the handle is released, the leather cup 11 is opened by the tension of the spring 25, and the fruit slightly enters the fruit basket.
The modules or units in the device of the embodiment of the invention can be combined, divided and deleted according to actual needs.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides a device is picked to self-adaptation kinking metamorphic fruit which characterized in that: the clamping cam mechanism is connected with the parallelogram transmission mechanism, the parallelogram transmission mechanism is connected with the supporting mechanism, the upper end of the traction driving mechanism is connected with the parallelogram transmission mechanism, the lower end of the traction driving mechanism is used for applying external tension, the clamping cam mechanism comprises a left flexible clamping mechanism and a right flexible clamping mechanism which are identical in structure, the left flexible clamping mechanism and the right flexible clamping mechanism are symmetrically arranged at two ends of the parallelogram transmission mechanism and are driven to mutually translate to be close to or separated from each other through the parallelogram transmission mechanism, the left flexible clamping mechanism comprises a leather cup and a bowl seat, the bowl seat is arranged at the bottom of the leather cup, the rotation center of the bowl seat and the geometric center of the leather cup do not coincide, an arc cam groove is formed in the end face of the bowl seat, and the arc cam groove is axially symmetrical by the axis of the bowl seat, the connecting rod of the parallelogram transmission mechanism is a driven part of the cam mechanism, the end part of the left end of the connecting rod of the parallelogram transmission mechanism is provided with a ball or a step cylinder, and the ball is embedded into the arc cam groove of the bowl seat to form the cam mechanism so as to drive the rotation of the leather bowl through the relative sliding movement of the ball along the axis of the leather bowl and the arc cam groove; arc cam slot on the bowl seat terminal surface is located the centre of rotation's of bowl seat top, and the geometric centre of leather cup is located one side of the centre of rotation of bowl seat, sets up counter weight mechanism at the opposite side of the centre of rotation of bowl seat, and counter weight mechanism, leather cup and the centre of rotation's of bowl seat three's cooperation for arc cam slot on the bowl seat terminal surface is located the top all the time, realizes cam mechanism's self-adaptation.
2. The adaptive twisted cell fruit picking device of claim 1, wherein: the parallelogram transmission mechanism comprises a left side transmission mechanism and a right side transmission mechanism which are symmetrically arranged, the left side transmission mechanism is connected with the left side flexible clamping mechanism, the right side transmission mechanism is connected with the right side flexible clamping mechanism, the left side transmission mechanism comprises an L-shaped rocker, a driven rod and a rocker, the horizontal moving rod and the spring are arranged on two sides of the L-shaped rocker, the bending part of the L-shaped rocker is hinged to the upper end of the traction mechanism, the lower end of the driven rod is hinged to the upper end of the traction mechanism, the upper end of the driven rod is hinged to one end of the L-shaped rocker, the other end of the L-shaped rocker is hinged to the lower end of the horizontal moving rod, the lower end of the rocker is hinged to the upper end of the traction driving mechanism, the upper end of the rocker is hinged to the lower end of the horizontal moving rod, the side wall of the end portion of the horizontal moving rod is provided with the ball body, and two ends of the spring are connected between the L-shaped.
3. The adaptive twisted cell fruit picking device of claim 2, wherein: the tie moves the pole and includes first riser, second riser, horizontal quarter butt, the vertical setting of first riser, the second riser is different face perpendicular with first riser, set up on the lateral wall of second riser with the other end of L type rocker and the articulated pin in upper end of rocker, the other end of L type rocker and the upper end of rocker set up respectively in the both ends of second riser, the horizontal quarter butt sets up on the upper end lateral wall of first riser, the spheroid is fixed to be set up in the tip of horizontal quarter butt.
4. The adaptive twisted cell fruit picking device of claim 3, wherein: the structure of embedding in the arc cam groove is the ladder cylinder, and the one end of ladder cylinder is connected with the upper end lateral wall of second riser, and the other end is the structure that suits with arc cam groove for the ladder cylinder imbeds arc cam groove and forms cam mechanism.
5. The adaptive twisted cell fruit picking device of claim 2, wherein: the supporting mechanism comprises a hollow pipe and a flat plate arranged at the top of the hollow pipe, a hole communicated with the interior of the hollow pipe is formed in the middle of the flat plate, and the upper end of the traction driving mechanism penetrates through the hollow pipe to be connected with the lower end of the driven rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810333827.2A CN108541455B (en) | 2018-04-13 | 2018-04-13 | Self-adaptive twisted and metamorphic fruit picking device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810333827.2A CN108541455B (en) | 2018-04-13 | 2018-04-13 | Self-adaptive twisted and metamorphic fruit picking device |
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| CN108541455A CN108541455A (en) | 2018-09-18 |
| CN108541455B true CN108541455B (en) | 2021-02-05 |
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| CN201810333827.2A Active CN108541455B (en) | 2018-04-13 | 2018-04-13 | Self-adaptive twisted and metamorphic fruit picking device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109548488B (en) * | 2019-01-17 | 2022-02-08 | 中南林业科技大学 | Torsional nut picking manipulator and nut picking method |
| CN110562530B (en) * | 2019-09-30 | 2024-04-16 | 烟台大学 | Apple gesture fine adjustment device and gesture adjustment equipment |
| 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 |
| CN114451144B (en) * | 2022-03-17 | 2023-07-25 | 河北省科学院应用数学研究所 | Fruit picking end effector |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4034542A (en) * | 1976-04-19 | 1977-07-12 | Loehr Leslie K | Fruit picking implements |
| FR2611423B1 (en) * | 1987-02-25 | 1991-05-03 | Andre Jean | GRIPPING DEVICE FOR ATTACHING OBJECTS ON THE GROUND OR IN TREES |
| CN2408661Y (en) * | 1999-12-23 | 2000-12-06 | 河南师范大学 | Fruit picking device |
| CN201256548Y (en) * | 2008-04-30 | 2009-06-17 | 陈平元 | Fruit picking device |
| CN202276653U (en) * | 2011-07-26 | 2012-06-20 | 中国农业大学 | Fruit picking and grading device |
| WO2014185760A1 (en) * | 2013-05-16 | 2014-11-20 | Université Mohammed V Souissi | Mechanical device for harvesting cactus products by twisting |
| CN107873247A (en) * | 2017-11-16 | 2018-04-06 | 安徽理工大学 | A kind of scalable fruit picking apparatus |
| CN107864746A (en) * | 2018-01-02 | 2018-04-03 | 西南林业大学 | A kind of single-hand held formula fruit picking apparatus |
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