CN108566831A - Fruit picking apparatus and seed harvester - Google Patents
Fruit picking apparatus and seed harvester Download PDFInfo
- Publication number
- CN108566831A CN108566831A CN201810672879.2A CN201810672879A CN108566831A CN 108566831 A CN108566831 A CN 108566831A CN 201810672879 A CN201810672879 A CN 201810672879A CN 108566831 A CN108566831 A CN 108566831A
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- China
- Prior art keywords
- support bar
- sliding block
- drive rod
- rotational axis
- fruit picking
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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
- A01D46/253—Portable motorised fruit pickers
-
- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The present invention provides a kind of fruit picking apparatus and seed harvesters, belong to fruit picking technical field.The fruit picking apparatus includes object wearing device, positioning device and picker, object wearing device with the waist of human body and shoulder for being adapted to, positioning device includes first support bar, second support bar, lead screw, the first driving motor, the first sliding block, the second sliding block, the first drive rod and the second drive rod, and picker includes frame body, rotating member, the second driving motor, third sliding block, connecting rod, cutting motor and at least two flap parts.The fruit picking apparatus dimension adjustable, greatly facilitates user, easy to operate, while improving picking efficiency, this is reasonable in design, highly practical.Seed harvester includes fruit picking apparatus, the repertoire with the fruit picking apparatus.
Description
Technical field
The present invention relates to fruit picking technical fields, in particular to a kind of fruit picking apparatus and seed harvester.
Background technology
It is 1.14 hundred million t that China, which is used as a Production of fruit big country, the annual fruits output in China, accounts for whole world fruits output
19.42%, wherein with apple, pears, orange etc. picking operation based on fruits output accounted for the world first three.But with being limited to China
Shape and present productivity development level, orchard worker still manually pick mostly, and the labour of input is needed to account for about entirely during fruit harvest
The 35%-45% of production process.
In fruit harvest operation process, artificial harvest is frequently necessary to bend over or ascend a height by ladder, therefore fruit harvest
Operation is not only that a labor intensity is big, and elapsed time is long, and is the labor operation with certain risk.Therefore water is realized
The mechanization of fruit harvest becomes more and more urgent, studies agriculture fruit picking mechanical device and has great importance.
Inventor has found under study for action, existing at least to have the following disadvantages in the related technology：
Picking mechanical size is big, and it is inconvenient to advance；
Complicated for operation, efficiency is low.
Invention content
The present invention provides a kind of fruit picking apparatus, improve the deficiencies in the prior art, and dimension adjustable greatly facilitates
User, it is easy to operate, while picking efficiency is improved, this is reasonable in design, highly practical.
The present invention also provides a kind of seed harvesters comprising there is fruit picking apparatus mentioned above the fruit to adopt
Pluck the repertoire of device.
What the embodiment of the present invention was realized in：
The embodiment provides a kind of fruit picking apparatus comprising：
Object wearing device, the object wearing device with the waist of human body and shoulder for being adapted to；
Positioning device, the positioning device include first support bar, second support bar, lead screw, the first driving motor, first
One end of sliding block, the second sliding block, the first drive rod and the second drive rod, the first support bar is provided with the first rotation section, institute
The one end for stating second support bar is provided with the second rotation section, and first rotation section is rotatablely connected with second rotation
Portion, the one end of the first support bar far from first rotation section are connect with the object wearing device, and the lead screw is rotatable
It is connected to the first support bar and the length direction of the lead screw is consistent with the length direction of the first support bar, described
One driving motor connect with the first support bar and for driving the lead screw, first sliding block to be provided with and the lead screw
The internal thread of cooperation, when the lead screw rotates, first sliding block is moved along the length direction of the lead screw, and described second slides
Block is slidably connected to the first support bar along the length direction of the first support bar, and second sliding block is relative to institute
The first sliding block is stated close to first rotation section, one end of first drive rod is rotatablely connected with first sliding block,
The one end of first drive rod far from first sliding block is rotatablely connected with one end of second drive rod, and described
The one end of two drive rods far from first drive rod is rotatablely connected with the second support bar, second drive rod
Middle part is rotatablely connected with second sliding block；
Picker, the picker include frame body, rotating member, the second driving motor, third sliding block, connecting rod, cutting
Motor and at least two flap parts, the frame body are connect with the one end of the second support bar far from second rotation section, institute
Stating frame body has for making the space that wears that fruit passes through, and the rotating member is rotatablely connected with the frame body, and described second
Driving motor connect with the frame body and for driving the rotating member, the flap part to be provided with first rotating shaft and sliding slot, institute
It states first rotating shaft and is rotatablely connected with the frame body, the third sliding block is slidably arranged in the sliding slot, the company
One end of bar is rotatablely connected with the third sliding block, and the other end of the connecting rod is rotatablely connected with the rotating member,
The cutting motor is connect with flap part described in one of them and the output shaft of the cutting motor is connected with for cutting fruit
The blade of carpopodium, the picker have at least two flaps part close to each other and described wear the first of space-closed
State and at least two flaps part are located remotely from each other and second state for wearing space opening.
Specifically, the fruit picking apparatus dimension adjustable, greatly facilitates user, and it is easy to operate, it improves simultaneously
Picking efficiency, this is reasonable in design, highly practical.
Optionally, first drive rod is the first center of rotation relative to the rotational axis line that first sliding block rotates
Line, the rotational axis line that second drive rod is rotated relative to first drive rod are the second rotational axis line, described the
Two drive rods are third rotational axis line relative to the rotational axis line that second sliding block rotates, and second drive rod is opposite
It is the 4th rotational axis line in the rotational axis line of second support bar rotation, the first support bar is relative to described second
The rotational axis line of supporting rod rotation is the 5th rotational axis line；
First rotational axis line, second rotational axis line, the third rotational axis line, the 4th rotation
Axial line and the 5th rotational axis line are arranged in parallel.
Optionally, the first support bar is provided with slide bar portion, and second sliding block is provided with for wearing the slide bar
The perforating in portion, length direction of second sliding block along the slide bar portion are slidably arranged the slide bar portion.
Optionally, the positioning device further includes cut-sytle pollination handle, and the cut-sytle pollination handle is supported with described first
Bar connects and is located at the one end of the first support bar far from first rotation section, and tune is provided on the cut-sytle pollination handle
Save button, the regulation button be electrically connected with first driving motor and be used to control first driving motor rotating speed and
It turns to.
Optionally, the cut-sytle pollination handle is additionally provided with cutting button, and the cutting button is for controlling the cutting
Motor and second driving motor.
Optionally, the cut-sytle pollination handle includes that forearm placement section, vertical handle and annular handle, the forearm are placed
Portion connect with the first support bar and is located at the one end of the first support bar far from first rotation section, described vertically to hold
Being connect with the first support bar and positioned at the forearm placement section close to one end of first rotation section, the annular is held
Side being connect with the first support bar and positioned at the vertical handle close to first rotation section.
Optionally, the lead screw and the forearm placement section are located at the both sides of the first support bar, first driving
Motor is located at the one end of the first support bar far from first rotation section.
Optionally, the position of second drive rod and the second support bar rotation connection to second rotation section it
Between distance be L1, the position of second drive rod and the second support bar rotation connection to second drive rod and institute
The distance between the position for stating the rotation connection of the second sliding block is L2, the rotation connection of second drive rod and second sliding block
The distance between the position of position to second drive rod and first drive rod rotation connection is L3, first driving
The position to the position of first drive rod and first sliding block rotation connection of bar and second drive rod rotation connection
For L4；
L1：L2：L3：L4=1：(2.5-3.5)：(1.5-2.5)：(2.5-3.5).
Optionally, L1：L2：L3：L4=1:3:2:3.
Optionally, the first support bar and/or the second support bar are telescopic structure.
Optionally, the rotating member is circular ring structure, the medium position of the rotating member formed it is described wear space, it is described
Rotating member is connected with first gear, and the rotating member is set in the inside of the frame body and is rotatablely connected with the frame body, described
The output shaft of second driving motor is connected with second gear, and the first gear is engaged with the second gear.
Optionally, the quantity of the flap part is three, and three flap parts uniformly divide along the circumferential of the rotating member
Cloth.
Optionally, the picker further includes the first pivoted housing and the second pivoted housing, and first pivoted housing includes being connected with each other
The first mounting portion and the first sleeved part, first mounting portion connect with the frame body, the first rotating shaft is rotatably set
It is placed in first sleeved part；
Second pivoted housing include be connected with each other the second mounting portion and the second sleeved part, second mounting portion with it is described
Rotating member connects, and the one end of the connecting rod far from the third sliding block is connected with the second shaft, and second shaft is rotatable
It is set in second sleeved part.
Optionally, each first pivoted housing is fixedly connected with the frame body, first turn of at least two flaps part
The rotational axis line of axis intersects at the center location of the circular ring structure.
Optionally, the picker further includes holder and the push rod that is connect with the third sliding block, and the push rod can be slided
Dynamic is disposed therein in the sliding slot of a flap part, and the holder is fixedly connected with the push rod, second driving
Motor is connect with the holder.
Optionally, the end of each flap part is both provided with notch, under the first state, at least two leaf
The notch of valve part forms the mounting hole for fixing carpopodium, and the cutting motor is close to the mounting hole.
Optionally, the notch on each flap part is on the extending direction of the sliding slot.
Optionally, the frame body is provided with cutting button, and the cutting button is for controlling the cutting motor and described
Second driving motor.
Optionally, the object wearing device includes waistband, shoulder belt and knapsack, and the waistband is connect with the first support bar,
The shoulder belt is connect with the waistband, and the knapsack is connect with the shoulder belt.
The embodiments of the present invention also provide a kind of seed harvesters comprising fruit picking apparatus mentioned above has
The repertoire of the fruit picking apparatus.
Compared with prior art, the advantageous effect of the embodiment of the present invention includes, such as：
The fruit picking apparatus dimension adjustable, greatly facilitates user, easy to operate, while improving picking effect
Rate, this is reasonable in design, highly practical.
Description of the drawings
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 understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram at the first visual angle of fruit picking apparatus provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram at the second visual angle of fruit picking apparatus provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram at the first visual angle of positioning device provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram at the second visual angle of positioning device provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram at positioning device third provided in an embodiment of the present invention visual angle；
Fig. 6 is the structural schematic diagram at the 4th visual angle of positioning device provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram at the first visual angle of picker provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram at the second visual angle of picker provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram at picker third provided in an embodiment of the present invention visual angle；
Figure 10 is the structural schematic diagram at the 4th visual angle of picker provided in an embodiment of the present invention.
Icon：100- fruit picking apparatus；10- object wearing devices；11- waistbands；12- shoulder belts；13- knapsacks；30- positioning devices；
31- first support bars；The first rotation sections 311-；312- slide bars portion；32- second support bars；The second rotation sections 321-；33- lead screws；
The first driving motors of 34-；The first sliding blocks of 35-；The second sliding blocks of 36-；The first drive rods of 37-；The second drive rods of 38-；First turn of 41-
Dynamic axial line；The second rotational axis lines of 42-；43- third rotational axis lines；The 4th rotational axis lines of 44-；The 5th rotation axis of 45-
Heart line；46- cut-sytle pollination handles；461- forearm placement sections；The vertical handles of 462-；463- annular handles；50- pickers；51-
Frame body；511- wears space；52- rotating members；521- first gears；The second driving motors of 53-；531- second gears；54- thirds
Sliding block；55- connecting rods；56- cutting motors；57- the first flap parts；58- the second flap parts；59- third flap parts；First turn of 601-
Axis；602- sliding slots；603- notches；The first pivoted housings of 61-；The second pivoted housings of 62-；63- holders；64- push rods.
Specific implementation mode
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 usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that if occur term "center", "upper", "lower", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
Either the invention product using when the orientation or positional relationship usually put, be merely for convenience of the description present invention and simplification retouched
It states, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
If being only used for distinguishing description in addition, there is term " first ", " second ", " third " etc., and should not be understood as indicating
Or imply relative importance.
If being not offered as requiring component abswolute level or outstanding in addition, there are the terms such as term "horizontal", "vertical", " pendency "
It hangs down, but can be slightly tilted.It is not to indicate to be somebody's turn to do if "horizontal" refers to only that its direction is more horizontal with respect to for "vertical"
Structure is had to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, if there is term
" setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, and can also be detachably to connect for example, it may be being fixedly connected
It connects, or is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
Embodiment 1
It please refers to Fig.1 and Fig. 2, present embodiments provides a kind of fruit picking apparatus 100 comprising：
Object wearing device 10, object wearing device 10 with the waist of human body and shoulder for being adapted to；
Picker 50, picker 50 are used for fruit-picking；
One end of positioning device 30, positioning device 30 is connect with object wearing device 10, and the other end is connect with picker 50.
Positioning device 30 is foldable, so that the size adjustable of entire fruit picking apparatus 100.
The structure of positioning device 30 can be with reference chart 3- Fig. 6, and the structure of picker 50 can be with reference chart 7- Figure 10.Hereafter
Further detailed description will be done to positioning device 30 and picker 50.
In conjunction with Fig. 1, in the present embodiment, object wearing device 10 includes waistband 11, shoulder belt 12 and knapsack 13, waistband 11 and first
Strut 31 connects, and shoulder belt 12 is connect with waistband 11, and knapsack 13 is connect with shoulder belt 12.
By the object wearing device 10, the shoulder of user and waist can be made to be provided which that fulcrum is supported stress.It adopts
With wearable operation, shoulder supports jointly with waist, alleviates hand fatigue, and flexibility is high, is suitable for various picking situations.
It is generally placed with power supply in the knapsack 13, which is used for needing electricity consumption in positioning device 30 and picker 50
Component be powered, while the knapsack 13 is also placed with controller to realize the control to these components.Meanwhile generally can also
Adjustable lowering and stabilizing blood pressure supply unit is set, is electrically connected to a power source.
100 dimension adjustable of fruit picking apparatus, greatly facilitates user, easy to operate, while improving picking
Efficiency, this is reasonable in design, highly practical.
In conjunction with Fig. 3-Fig. 6, specifically, the positioning device 30 provided in the present embodiment includes first support bar 31, second
Strut 32, lead screw 33, the first driving motor 34, the first sliding block 35, the second sliding block 36, the first drive rod 37 and the second drive rod
38, one end of first support bar 31 is provided with the first rotation section 311, and one end of second support bar 32 is provided with the second rotation section
321, the first rotation section 311 is rotatablely connected with the second rotation section 321, and first support bar 31 is far from the first rotation section 311
One end is connect with object wearing device 10, and lead screw 33 is rotatablely connected with the length direction and first of first support bar 31 and lead screw 33
The length direction of supporting rod 31 is consistent, and the first driving motor 34 connect with first support bar 31 and for driving lead screw 33, and first
Sliding block 35 is provided with the internal thread coordinated with lead screw 33, when lead screw 33 rotates, length direction of first sliding block 35 along lead screw 33
Mobile, the second sliding block 36 is slidably connected to first support bar 31, the second sliding block 36 along the length direction of first support bar 31
Relative to the first sliding block 35 close to the first rotation section 311, one end of the first drive rod 37 is rotatablely connected with the first sliding block 35,
The one end of first drive rod 37 far from the first sliding block 35 is rotatablely connected with one end of the second drive rod 38, the second drive rod 38
One end far from the first drive rod 37 is rotatablely connected with second support bar 32, and the middle part of the second drive rod 38 rotatably connects
It is connected to the second sliding block 36.
In general, user holds the terminal position of first support bar 31, and the terminal position of second support bar 32 connects
There is picker 50.By adjusting the angle between first support bar 31 and second support bar 32, so as to adjust picking dress
Set the distance between 50 and hand griping position.
It should be understood that first sliding block 35 can only be moved along the length direction of lead screw 33, the first driving motor 34
When output shaft rotates and reverse, the moving direction of the first sliding block 35 on the contrary, so as to adjust the position of the first drive rod 37, when
After the position of first drive rod 37 changes, the position of the second drive rod 38 is driven to change, due to the second drive rod 38
With the second sliding block 36 be rotatablely connected, and the second sliding block 36 only along the length direction of first support bar 31 slide, then at this time this second
The position of the one end of drive rod 38 far from the first drive rod 37 changes, since second drive rod 38 is far from the first drive rod
37 one end is rotatablely connected with second support bar 32, then realizes that driving second support bar 32 is rotated relative to first support bar 31.
It is corresponding when the first sliding block 35 is in different positions, between first support bar 31 and second support bar 32
Angle is different, when the angle formed between the two is acute angle (in conjunction with Fig. 3 and Fig. 4), first support bar 31 and second support bar
The distance between 32 is shorter, and entire positioning device 30 is in folded state at this time.When first support bar 31 and second support bar 32
Between the angle that is formed when being obtuse angle (in conjunction with Fig. 5 and Fig. 6), the distance between first support bar 31 and second support bar 32 compared with
Far, entire positioning device 30 is in expanding unit at this time.
Under folded state, it is typically adapted to store.When unfolded state, it is typically adapted to fruit-picking, for the water of different height
It, can be by controlling the first driving motor 34, to change first support bar 31 and the when the position difference of fruit tree or fruit
Angle between two supporting rods 32, so as to user in use, the picker 50 can just will be under corresponding fruit picking.
First driving motor 34 drives 33 rotations of lead screw → 35 movements of the first sliding block of drive → the first drive rod of drive 37
It sets and changes → 38 position of the second drive rod is driven to change → and drive the second 36 movements of sliding block → the second drive rod of drive
The position of 38 ends changes → drives second support bar 32 relative to the rotation of first support bar 31.
By aforesaid operations, can effective regulating positioning device 30 real work length, operated convenient for user.
It should be understood that leading screw and the first driving motor 34 can be integrated into electric cylinders, or substituted with existing electric cylinders.
In conjunction with Fig. 4, in the present embodiment, the first drive rod 37 is first relative to the rotational axis line that the first sliding block 35 rotates
Rotational axis line 41, the second drive rod 38 are the second rotational axis line relative to the rotational axis line that the first drive rod 37 rotates
42, the second drive rod 38 is third rotational axis line 43, the second drive rod relative to the rotational axis line that the second sliding block 36 rotates
38 rotational axis lines rotated relative to second support bar 32 are the 4th rotational axis line 44, and first support bar 31 is relative to second
The rotational axis line that supporting rod 32 rotates is the 5th rotational axis line 45；
First rotational axis line 41, the second rotational axis line 42, third rotational axis line 43,44 and of the 4th rotational axis line
5th rotational axis line 45 is arranged in parallel.
By this arrangement, the operation stability of whole device is can effectively improve, linkage effect is preferable.
In the present embodiment, first support bar 31 is provided with slide bar portion 312, and the second sliding block 36 is provided with for wearing slide bar portion
312 perforating, length direction of second sliding block 36 along slide bar portion 312 are slidably arranged slide bar portion 312.
By the way that slide bar portion 312 is arranged, slides, of course in first support bar 31 convenient for the second sliding block 36, other are implemented
Can also be the setting structures such as raised line or dovetail groove in first support bar 31 in example, on the second sliding block 36 setting for dovetail
Slot or raised line are slidably connected by the cooperation of dovetail groove and raised line to realize.
In the present embodiment, positioning device 30 further includes cut-sytle pollination handle 46, cut-sytle pollination handle 46 and first support bar
31 connections and be located at the one end of first support bar 31 far from the first rotation section 311, be provided on cut-sytle pollination handle 46 adjusting by
Button, regulation button is electrically connected with the first driving motor 34 and rotating speed and steering for controlling the first driving motor 34.
The regulation button can directly control rotating speed and the steering of the first driving motor 34, can also be the regulation button with
Mentioned above controller electrical connection, the controller control first driving motor 34 etc..
The regulation button is generally located on the user position that finger is placed when in use, is convenient for real-time control.
Meanwhile the quantity of regulation button can be one, while rotating speed and the steering of the first driving motor 34 are controlled, also may be used
To be two, a control rotating speed, control steering etc..
In conjunction with Fig. 3, in the present embodiment, cut-sytle pollination handle 46 includes forearm placement section 461, vertical handle 462 and annular
Handle 463, forearm placement section 461 are connect with first support bar 31 and positioned at first support bar 31 far from the first rotation section 311
One end, vertical handle 462 are connect with first support bar 31 and positioned at forearm placement section 461 close to one end of the first rotation section 311,
Annular handle 463 is connect with first support bar 31 and the side positioned at vertical handle 462 close to the first rotation section 311.
Forearm of the forearm placement section 461 for user reclines, which holds at work for user
Firmly, which lifts after the storage of entire fruit picking apparatus 100 convenient for user.
The arrangement meets the use habit of body mechanics and most of user, highly practical.
In the present embodiment, lead screw 33 and forearm placement section 461 are located at the both sides of first support bar 31, the first driving motor 34
Positioned at the one end of first support bar 31 far from the first rotation section 311.
First driving motor 34 is placed on the end of first support bar 31, such user in use, stress balance compared with
It is good.
In conjunction with Fig. 6, in the present embodiment, position that the second drive rod 38 is rotatablely connected with second support bar 32 to the second rotation
The distance between portion 321 is L1, position that the second drive rod 38 is rotatablely connected with second support bar 32 to the second drive rod 38 with
The distance between the position of second sliding block 36 rotation connection is L2, the position of the second drive rod 38 and the rotation connection of the second sliding block 36
The distance between the position being rotatablely connected to the second drive rod 38 and the first drive rod 37 is L3, the drive of the first drive rod 37 and second
The position that the position that lever 38 is rotatablely connected is rotatablely connected to the first drive rod 37 and the first sliding block 35 is L4；
L1：L2：L3：L4=1：(2.5-3.5)：(1.5-2.5)：(2.5-3.5).
In general, the stroke of the first sliding block 35 and the second sliding block 36 should be less than the length of forearm, and mechanism overall dimensions
Design it is smaller, performance it is more light.By the research to these sizes, it is elected to after above-mentioned ratio, initial stage is designed, according to big
Then partial forearm lengths manufacture the positioning device 30 of generation to determine the stroke of the first sliding block 35, can be more light
Just, while it disclosure satisfy that the use demand of most of occasion.
In the present embodiment, L1：L2：L3：L4=1:3:2:3.
It of courses, L1：L2：L3：L4=1:2.5:1.5:2.5；L1：L2：L3：L4=1:3.5:2.5:3.5；L1：L2：L3：L4
=1:2:1.5:3；It can be selected Deng other ratios.
After selecting the positioning device 30 in the present embodiment, the adjustable angle between first support bar 31 and second support bar 32
Ranging from 10 ° -170 °, it can be achieved that at 2m-5m height fruit picking, in use, time saving and energy saving, picking efficiency greatly improves,
And conducive to operation.The folding angles minimum between two rod pieces is up to 10 ° (can be understood as essentially coinciding) simultaneously, convenient for receiving
It receives.
In the present embodiment, first support bar 31 and/or second support bar 32 are telescopic structure.
(it is similar to fishing rod construction) after first support bar 31 and/or second support bar 32 select telescopic structure,
Under different occasions, it can be adjusted according to actual needs.
It should be understood that selecting such positioning device 30 in the present embodiment, it is convenient for real-time control and adjusting, and the effect that links
Fruit is preferable.In other embodiment, a straight-bar either a telescopic rod piece or other similar knots can also be selected
Structure.
In conjunction with Fig. 7-10, picker 50 provided in this embodiment includes frame body 51, rotating member 52, the second driving motor
53, third sliding block 54, connecting rod 55, cutting motor 56 and at least two flap parts, frame body 51 is with second support bar 32 far from second
One end of rotation section 321 connects, and frame body 51 has for making what fruit passed through to wear space 511, and rotating member 52 rotatably connects
It is connected to frame body 51, the second driving motor 53 connect with frame body 51 and for driving rotating member 52, flap part to be provided with first rotating shaft
601 and sliding slot 602, first rotating shaft 601 be rotatablely connected with frame body 51, third sliding block 54 is slidably arranged on sliding slot 602
Interior, one end of connecting rod 55 is rotatablely connected with third sliding block 54, and the other end of connecting rod 55 is rotatablely connected with rotating member 52,
Cutting motor 56 is connect with one of flap part and the output shaft of cutting motor 56 is connected with the knife for cutting fruit carpopodium
Piece, picker 50 have at least two flap parts close to each other and wear 511 closed first state of space, and at least two
A flap part is located remotely from each other and wears the second state of the opening of space 511.
Picker 50 in Fig. 7, Fig. 8 and Fig. 9 is under the second state.
Picker 50 in Figure 10 is under first state.
It should be understood that each flap part is rotatably connected on frame body 51, and it is connected to by the effect of connecting rod 55
On rotating member 52, when the second driving motor 53 driving rotating member 52 rotates, the position of connecting rod 55 is driven to change, to even
Bar 55 hauls the movement of flap part, keeps multiple flap parts close to each other or separate, after multiple flap parts are close, realizes that cladding is made
With, after multiple flap parts are located remotely from each other, wear space 511 opening, fruit along wear space 511 enter picker 50
It is interior.
In general, after having fruit in picker 50, the second driving motor 53 can be controlled, so that rotating member 52 is rotated, band
It is close to each other to move multiple flap parts, envelopes fruit while wearing space 511 to closing, cutting motor can be controlled at this time
56 work, the carpopodium of fruit or carpopodium are cut away, in general, can also be connected with plastic barrel or cloth cylinder etc., water on the frame body 51
Fruit directly enters fruit storage area after falling along plastic barrel or cloth cylinder.
In general, can carpopodium be cut off the hardness depending on carpopodium, blade sharper degree, cutting torque.The present embodiment
In, cutting blade selects the discoid carbide chip of diameter 28mm, and notch is sharp, wear-resisting, light weight.Motor is selected
JA12-N20 minitype speed reducing motors, motor product is small, light-weight, torque is big.
In the present embodiment, frame body 51 is connect with the end of second support bar 32, in general, with the second driving motor 53 and cutting
Cut the electric wire of the connection of motor 56 along second support bar 32 and first support bar 31 extend to the end of first support bar 31 with it is right
The controller and power electric connection answered.
Alternatively, in other embodiment, do not select above-mentioned positioning device 30, then can by the extension of the frame body 51,
The frame body 51 is set to form supporting rod, then user can directly hold supporting rod and carry out fruit picking by the picker 50.
In the present embodiment, rotating member 52 is circular ring structure, and the medium position formation of rotating member 52 wears space 511, rotates
Part 52 is connected with first gear 521, and rotating member 52 is set in the inside of frame body 51 and is rotatablely connected with frame body 51, the second driving electricity
The output shaft of machine 53 is connected with second gear 531, and first gear 521 is engaged with second gear 531.
Driving is realized by the engagement of two gears, and action stability is higher, of courses, and can also select two idler wheels
Frictional fit come realize driving.
In the present embodiment, the quantity of flap part is three, and three flap parts are uniformly distributed along the circumferential direction of rotating member 52.
Three flap parts are respectively the first flap part 57, the second flap part 58 and third flap part 59, and cutting motor 56 connects
It is connected on the first flap part 57.
The linkage effect of three flap parts is preferable, of courses, and in other embodiment, can also select two, four or more
It is multiple.
In conjunction with Fig. 7, in the present embodiment, picker 50 further includes the first pivoted housing 61 and the second pivoted housing 62, the first pivoted housing 61
The first mounting portion including interconnection and the first sleeved part, the first mounting portion are connect with frame body 51, and first rotating shaft 601 is rotatable
Be set in the first sleeved part；
Second pivoted housing 62 includes the second mounting portion being connected with each other and the second sleeved part, and the second mounting portion connects with rotating member 52
It connects, the one end of connecting rod 55 far from third sliding block 54 is connected with the second shaft, and the second shaft is rotatably set to the second sleeved part
It is interior.
The arrangement of first pivoted housing 61 and the second pivoted housing 62 is convenient for the installation of first rotating shaft 601 and the second shaft.
In the present embodiment, each first pivoted housing 61 is fixedly connected with frame body 51, the first rotating shaft 601 of at least two flap parts
Rotational axis line intersect at the center location of circular ring structure.
By this arrangement, the stability of mechanism operation can be improved.
In the present embodiment, picker 50 further includes holder 63 and the push rod being connect with third sliding block 54 64, and push rod 64 can
Sliding is disposed therein in the sliding slot 602 of a flap part, and holder 63 is fixedly connected with push rod 64, the second driving motor 53 and
Holder 63 connects.
Cutting motor 56 is connected on the first flap part 57, more specifically, the first flap is connected to by holder 63
In push rod 64 on part 57, which connect with third sliding block 54, so that cutting motor 56 can be relative to the first leaf
Valve part 57 slides.
By the arrangement, when rotating member 52 is rotated relative to frame body 51, connecting rod 55 is connected to one end on rotating member 52
Position changes, to change the position of one end that connecting rod 55 is connected on third sliding block 54, so that the position of push rod 64
It sets and changes.
When picker 50 is under the second state, cutting motor 56 is located relatively at the middle position of the first flap part 57
It sets, when picker 50 is under first state, under the action of push rod 64, cutting motor 56 is close to the top of three flap parts
The blade contact of cutting motor 56 may be implemented to the carpopodium of fruit in portion position at this time.
This setup, when not in use, the blade of the cutting motor 56 are located on the first flap part 57, not
The first flap part 57 is stretched out, to which fruit will not be hurt easily.
In the present embodiment, the end of each flap part is both provided with notch 603, under first state, at least two flap parts
Notch 603 form mounting hole for fixing carpopodium, and cutting motor 56 is close to mounting hole.
It should be understood that jagged 603 on the first flap part 57, the second flap part 58 and third flap part 59,
Under one state, three notches 603 form mounting hole, and such carpopodium is located in mounting hole, and fruit is suspended under three flap parts
Side, after cutting motor 56 cuts off carpopodium, fruit is fallen, while plastic barrel or cloth cylinder mentioned above is located at this and wears space
511 lower section, fruit are directly entered after falling in the cylinder.
In the present embodiment, the notch 603 on each flap part is on the extending direction of sliding slot 602.
Specifically, the sliding slot 602 is arc-shaped, and in this way after three flap parts contact, even if rotating member 52 is rotated further, by
In the presence of arc, connecting rod 55 continues to move to and the position of third sliding block 54 does not have to change.
In the present embodiment, frame body 51 is provided with cutting button, and cutting button is for controlling the driving of cutting motor 56 and second
Motor 53.
Specifically, the cutting button is located on cut-sytle pollination handle 46, and it is close with the position of regulation button, it is convenient for
Control.
The cutting button can directly control cutting motor 56 and the second driving motor 53, can also be with control mentioned above
Device processed electrical connection, the controller realize control function.
The quantity of the cutting button can be two, a control cutting motor 56, second driving motor 53 of control
Steering and rotating speed.
Or its quantity is three, a control cutting motor 56, the steering of second driving motor 53 of control, one
Control the rotating speed of the second driving motor 53.
A kind of fruit picking apparatus 100 provided according to embodiments of the present invention, has at least the following advantages：
The picking of extrusion cladding formula is realized using picker 50, fruit can be fixed, fruit, which shakes, when solving cutting carpopodium asks
Topic, while blade being isolated with fruit, avoid fruit mechanical damage in picking process.
55 mechanism of double-slider connecting rod is driven using motor and lead screw 33, rod piece stretching angle can be precisely adjusted, quickly position
The fruit of 2-5 meters of height solves the problems, such as that fruit is unevenly distributed.
The fruit picking apparatus 100 can be used for China's small peasant economy cropping pattern, not limited by landform, and agricultural production machine is improved
Toolization is horizontal, liberates labour productive forces.
In general, in use, the device is dressed to shoulder by waistband 11 and shoulder belt 12, by adhesive lining by arm with
Forearm placement section 461 is fixed, while the right hand holds vertical handle 462, completes wearing.
It should be understood that when specifically used, the positioning device 30 in the present embodiment can be only selected, and picker 50 selects
With the cutting structure of cutting fruit carpopodium in the prior art, or the picker 50 in the present embodiment is only selected, and positions dress
30 selection straight-bars or telescopic rod are set to realize, while object wearing device 10 is not essential structure yet, if user is not easy to wear
It wears or is unaccustomed to dress, the object wearing device 10 in the present embodiment can also be removed.
Embodiment 2
Present embodiments provide a kind of seed harvester comprising fruit picking apparatus 100 mentioned above has the fruit
The repertoire of device for picking 100.
The structure of fruit picking apparatus 100 can be with reference implementation example 1.
The seed harvester further includes the structures such as power supply and controller mentioned above, and general power supply is selected portable, big
The 12V lithium battery groups of power.
In conclusion the present invention provides a kind of fruit picking apparatus 100,100 dimension adjustable of fruit picking apparatus, significantly
The person of being convenient to use, it is easy to operate, while picking efficiency is improved, this is reasonable in design, highly practical.
It should be noted that in the absence of conflict, the feature in the embodiment of the present invention can be combined with each other.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of fruit picking apparatus, which is characterized in that including：
Object wearing device, the object wearing device with the waist of human body and shoulder for being adapted to；
Positioning device, the positioning device include first support bar, second support bar, lead screw, the first driving motor, the first cunning
One end of block, the second sliding block, the first drive rod and the second drive rod, the first support bar is provided with the first rotation section, described
One end of second support bar is provided with the second rotation section, and first rotation section is rotatablely connected with second rotation section,
The one end of the first support bar far from first rotation section is connect with the object wearing device, and the lead screw rotatably connects
Consistent with the length direction of first support bar in the length direction of the first support bar and the lead screw, described first drives
Dynamic motor connect with the first support bar and for driving the lead screw, and first sliding block is provided with to be coordinated with the lead screw
Internal thread, when the lead screw rotates, first sliding block is moved along the length direction of the lead screw, second sliding block edge
The length direction of the first support bar is slidably connected to the first support bar, and second sliding block is relative to described
For one sliding block close to first rotation section, one end of first drive rod is rotatablely connected with first sliding block, described
The one end of first drive rod far from first sliding block is rotatablely connected with one end of second drive rod, and described second drives
The one end of lever far from first drive rod is rotatablely connected with the second support bar, the middle part of second drive rod
It is rotatablely connected with second sliding block；
Picker, the picker include frame body, rotating member, the second driving motor, third sliding block, connecting rod, cutting motor
With at least two flap parts, the frame body is connect with the one end of the second support bar far from second rotation section, the frame
Body has for making the space that wears that fruit passes through, the rotating member be rotatablely connected with the frame body, second driving
Motor connect with the frame body and for driving the rotating member, and the flap part is provided with first rotating shaft and sliding slot, and described the
One shaft is rotatablely connected with the frame body, and the third sliding block is slidably arranged in the sliding slot, the connecting rod
One end is rotatablely connected with the third sliding block, and the other end of the connecting rod is rotatablely connected with the rotating member, described
Cutting motor is connect with flap part described in one of them and the output shaft of the cutting motor is connected with for cutting fruit carpopodium
Blade, the picker has at least two flaps part close to each other and first shape for wearing space-closed
State and at least two flaps part are located remotely from each other and second state for wearing space opening.
2. fruit picking apparatus according to claim 1, which is characterized in that first drive rod is slided relative to described first
The rotational axis line of block rotation is the first rotational axis line, and second drive rod turns relative to what first drive rod rotated
Dynamic axial line is the second rotational axis line, and second drive rod is the relative to the rotational axis line that second sliding block rotate
Three rotational axis lines, second drive rod are the 4th center of rotation relative to the rotational axis line that the second support bar rotates
Line, the first support bar are the 5th rotational axis line relative to the rotational axis line that the second support bar rotates；
First rotational axis line, second rotational axis line, the third rotational axis line, the 4th center of rotation
Line and the 5th rotational axis line are arranged in parallel.
3. fruit picking apparatus according to claim 1, which is characterized in that the positioning device further includes cut-sytle pollination hand
Handle, the cut-sytle pollination handle are connect with the first support bar and positioned at the first support bar far from first rotation section
One end, be provided with regulation button on the cut-sytle pollination handle, the regulation button is electrically connected with first driving motor
And rotating speed and steering for controlling first driving motor.
4. fruit picking apparatus according to claim 3, which is characterized in that the cut-sytle pollination handle includes that forearm is placed
Portion, vertical handle and annular handle, the forearm placement section connect with the first support bar and are located at the first support bar
One end far from first rotation section, the vertical handle connect with the first support bar and are located at the forearm placement section
One end close to first rotation section, the annular handle connect with the first support bar and are leaned on positioned at the vertical handle
The side of nearly first rotation section.
5. fruit picking apparatus according to claim 1, which is characterized in that second drive rod and the second support bar
The position of rotation connection to the distance between second rotation section be L1, second drive rod and the second support bar turn
The distance between the position of the position of dynamic connection to second drive rod and second sliding block rotation connection is L2, described
Two drive rods and the position of second sliding block rotation connection are rotatablely connected to second drive rod and first drive rod
The distance between position be L3, first drive rod and the position of second drive rod rotation connection are driven to described first
The position of lever and first sliding block rotation connection is L4；
L1：L2：L3：L4=1：(2.5-3.5)：(1.5-2.5)：(2.5-3.5).
6. according to claim 1-5 any one of them fruit picking apparatus, which is characterized in that the rotating member is circular ring structure,
The medium position of the rotating member wears space described in being formed, and the rotating member is connected with first gear, and the rotating member is arranged
It being rotatablely connected in the inside of the frame body and with the frame body, the output shaft of second driving motor is connected with second gear,
The first gear is engaged with the second gear.
7. fruit picking apparatus according to claim 6, which is characterized in that the picker further includes the first pivoted housing and
Two pivoted housings, first pivoted housing include be connected with each other the first mounting portion and the first sleeved part, first mounting portion with it is described
Frame body connects, and the first rotating shaft is rotatably set in first sleeved part；
Second pivoted housing includes the second mounting portion and the second sleeved part of interconnection, second mounting portion and the rotation
Part connects, and the one end of the connecting rod far from the third sliding block is connected with the second shaft, and second shaft is rotatably arranged
In in second sleeved part.
8. fruit picking apparatus according to claim 7, which is characterized in that each first pivoted housing is fixed with the frame body
Connection, the rotational axis line of the first rotating shaft of at least two flaps part intersect at the center location of the circular ring structure.
9. according to claim 1-5 any one of them fruit picking apparatus, which is characterized in that the picker further includes holder
The push rod being connect with the third sliding block, the push rod are slidably arranged in the sliding slot of one of them flap part,
The holder is fixedly connected with the push rod, and second driving motor is connect with the holder.
10. a kind of seed harvester, which is characterized in that including claim 1-9 any one of them fruit picking apparatus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810672879.2A CN108566831B (en) | 2018-06-26 | 2018-06-26 | Fruit picker and picking equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810672879.2A CN108566831B (en) | 2018-06-26 | 2018-06-26 | Fruit picker and picking equipment |
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| CN108566831A true CN108566831A (en) | 2018-09-25 |
| CN108566831B CN108566831B (en) | 2023-06-06 |
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| CN201810672879.2A Active CN108566831B (en) | 2018-06-26 | 2018-06-26 | Fruit picker and picking equipment |
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| CN109429709A (en) * | 2018-12-29 | 2019-03-08 | 苏州大学 | A kind of fruit picking |
| CN110771350A (en) * | 2019-10-22 | 2020-02-11 | 武汉理工大学 | Wearable fruit picking mechanical arm |
| CN112352543A (en) * | 2020-11-25 | 2021-02-12 | 浙江春暖花开生态农业有限公司 | Fruit picking device |
| CN112470702A (en) * | 2020-11-30 | 2021-03-12 | 张翠 | Ware is picked to multi-functional hand-held type mango |
| NL2026810A (en) * | 2019-11-06 | 2021-07-20 | Denso Corp | Crop harvesting system |
| NL2026342B1 (en) * | 2019-09-06 | 2022-04-29 | Denso Corp | End-effector for crop harvest ingand crop harvesting system |
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