CN108650998A - Multi-axis linkage apple harvesting integrated device - Google Patents

Abstract

The invention discloses an integrated multi-axis linkage apple harvesting device, which is composed of a control mechanism (1), a transmission mechanism (2), a picking system (3), and a collection mechanism (4); the control mechanism (1) It is composed of a handle handle (101), a movable brake lever (102), a flexible pull cord (103), and a buckle (104). The flexible pull cord (103) can transmit a certain force when the handle is tightened; The transmission mechanism (2) is composed of main and auxiliary movable rods (201, 202), slider (203), multi-axis linkage transmission rod (205), slider limit sleeve (204), double rod connecting hinge (206) Composition, the described slider limit sleeve (204) is used to limit the back and forth displacement of the slider (203); the described mold removal system (3) is composed of picking shears and return springs (302); the described collecting The mechanism (4) is composed of a limit net (401) and a net bag (402); the invention can assist manual picking of apples at a higher position, and realizes the integration of picking and collection, improving the efficiency of apple picking .

Description

Multi-axis linkage apple harvesting integrated device

technical field

The invention relates to the technical field of apple picking devices, in particular to a multi-axis linkage integrated apple picking device.

Background technique

Diversification is widely used in agricultural production, and the mass production and marketing of economic crops, especially fruits, has enriched the people's dietary varieties and improved the people's quality of life. China is the world's largest apple producer and consumer, with apple planting area and output accounting for more than 40% of the world's total, occupying an important position in the world's apple industry. The apple consumption market is mainly fresh fruit and processed products, with the proportion of fresh fruit as high as 90%, and processed products only account for about 10%. In order to ensure the quality of apples, timely picking is the top priority of my country's apple industry. The heavy picking workload and the lack of labor make timely picking more and more difficult. Picking operations are highly seasonal, labor-intensive, and expensive. Fruit picking operations are the most time-consuming and labor-intensive link in the fruit production chain. Therefore, it is an important way to increase agricultural income to ensure that the fruit is harvested in good time and to reduce the cost of harvesting operations. The picking operation is very complicated. At present, domestic fruit picking operations are basically carried out manually, and its cost accounts for about 50% to 70% of the cost, and the time is relatively concentrated. In order to make fruits easy to pick, several research institutions at home and abroad have developed several types of fruit picking tools. At present, some mechanized apple picking in Germany uses the principle of shaking and vibration to shake the apples down, and then collects the apples with an open umbrella mechanism. Although the efficiency is extremely high, it does great damage to the trees, and the apples are easy to fall during the process. Scratch, can not be selectively picked, and the cost of the machine is relatively expensive. Another type of large-scale mechanical-assisted picking machine, the principle is to send multiple people to different heights for manual picking by multiple free-moving elevators. The layout of the terrain is reasonable, and the labor cost must be considered comprehensively under the premise of ensuring the stability of picking. There are no small restrictions on the adaptability in all aspects.

Although the existing Chinese invention patent publication number is the small-sized apple picking device of CN107455089A, the structure is simple, but the control module controls the closing of the scissors by the rollers, and the control is not convenient enough and laborious. Another existing Chinese utility model patent publication number is the apple picking device of CN206948933U. Although the mechanism design is ingenious, the picking has limitations. It can only be picked right below the apples, and the multi-axis linkage can overcome this shortcoming.

Contents of the invention

In order to solve the problem that the existing apple picking device cannot accurately locate the position of the apple stem and repeat the process of picking and collecting

In order to solve the time-consuming and labor-intensive problems in the process, a multi-axis linkage apple harvesting integrated device is proposed. The multi-axis linkage apple harvesting integrated device can accurately locate the picking position through the multi-axis transmission rod, and the power transmitted by the flexible pull rope enables the scissors to cut the stem of the apple, and the limit net is used to limit the harvesting position. The displacement direction of the apple when it falls makes the apple fall to the collection place according to the specified route.

In order to achieve the above object, the present invention adopts the following technical solutions: a multi-axis linkage apple harvesting integrated device, which is composed of a control module, a transmission module, a picking module, and a collection module; the control module is composed of a handle handle and a movable brake lever , a flexible pull cord and a buckle; the movable brake lever is installed on the main movable lever through a buckle; transmit a certain pulling force; the transmission module is composed of a main movable rod, an auxiliary movable rod, a slider, a slider limit sleeve, a multi-axis linkage transmission rod, and a double-rod connecting hinge; the slider and the slider limit The sleeves are all nested on the main movable rod, and the slider limit sleeve is used to limit the displacement of the slider; the double-bar connection hinge is used to connect the main movable rod and the auxiliary movable rod; the multi-axis linkage transmission rod is connected to On the slider and the auxiliary movable rod, a crank slider mechanism is formed. When the slider moves, the multi-axis linkage transmission rod will drive the main movable rod and the auxiliary movable rod to form a certain angle, which is convenient for picking; the picking module is fixed. Ring sleeve, return spring, L-shaped force transmission plate, and movable scissors body; the fixed ring sleeve is set on the auxiliary movable rod for fixing the picking part of the scissors body; the L-shaped force transmission plate is hinged on the fixed ring sleeve On, the scissor body cuts off the branches of the apple tree through the power transmitted by the flexible pull rope connected with it; the collection module is composed of a limit net and a net bag; the net bag is fixed on the limit net; The net bag described above is used to collect picked apples; the limiting net circle is used to limit the displacement direction of the apples when they fall, so that the apples fall to the collection place according to the designated route.

Wherein, when the picker holds the movable brake lever tightly by hand, a certain pulling force can be transmitted through the flexible stay cord to close the movable scissor body so as to achieve the purpose of cutting off the apple stem.

Wherein, after the pruning is finished, when the movable brake lever is released, the back-moving spring will pop up to make the movable scissors body open and recover to the original state.

Wherein, the multi-axis linkage transmission rod is connected to the slider and the auxiliary movable rod to form a slider crank mechanism, and when the slider moves, the multi-axis linkage transmission rod will drive the main movable rod and the auxiliary movable rod Form a certain angle, and at this time, the picker does not need to stand directly under the apple to complete the picking of the apple.

Wherein, after the movable scissors cut off the fruit branches, the net bag is used to collect the picked apples, and the limiting net circle is used to limit the displacement direction of the apples when they fall, so that the apples fall to the collection place according to the designated route.

Wherein, the main movable rod and the auxiliary movable rod are made of lightweight high-strength aluminum alloy.

Wherein, the net bag is made of nylon material.

The principle of the present invention is: in the multi-axis linkage integrated apple harvesting device described in the present invention, one hand holds the movable brake lever 102 and the other hand operates the slider 203 to make it slide back and forth on the main movable lever 201 to adjust the picking angle. Hold the movable brake lever 102 to close the scissors body, and pick the apples. After picking, the apples fall freely into the limiting net 401, so that the apples fall to the collection place according to the designated route, and the apples fall into the collection end at a lower speed during the sliding process of the net pocket 402, so as to avoid damage to the apples and ensure the quality of the apples. After unclamping movable brake lever 102, enter next picking process. Simple operation and strong practicability.

The advantages of the present invention are:

In the multi-axis linkage apple harvesting integrated device of the present invention, the multi-axis linkage transmission rod 205 is connected to the slider 203 and the auxiliary movable rod 202 to form a crank slider mechanism. When the slider moves, the multi-axis linkage The linkage transmission rod 205 drives the auxiliary movable rod 202, so that the auxiliary movable rod 202 forms a certain angle with the horizontal plane, so as to ensure that the freely falling apples fall into the collection net circle. picking and collecting.

In the multi-axis linkage integrated apple harvesting device of the present invention, the net bag 402 buffers the apples during the falling process of the apples to reduce the falling speed, avoiding damage to the apples due to a large impact during the fall and affecting the quality of apple picking.

The multi-axis linkage apple harvesting integrated device of the present invention can solve the problems that the existing picking equipment on the market is not convenient for picking and positioning, and the collection steps are repeatedly inefficient.

The multi-axis linkage apple harvesting integrated device of the present invention has low cost and simple operation, and can meet the equipment requirements required by existing small orchards or individual fruit growers for picking apples.

Description of drawings

Fig. 1 is the structural representation of a kind of multi-axis linkage apple harvesting integrated device of the present invention;

Fig. 2 is a schematic diagram of a control mechanism of a multi-axis linkage apple harvesting integrated device of the present invention;

Fig. 3 is a schematic diagram of a transmission mechanism of a multi-axis linkage apple harvesting integrated device of the present invention;

Fig. 4 is a schematic diagram of a picking mechanism of a multi-axis linkage apple harvesting integrated device of the present invention.

The meanings of the reference signs in the figure are: 1 is the control mechanism, 2 is the transmission mechanism, 3 is the picking system, 4 is the collection mechanism, 101 is the handle handle, 102 is the movable brake lever, 103 is the flexible pull cord, 104 is the buckle , 201 is the main movable rod, 202 is the auxiliary movable rod, 203 is the slider, 204 is the slider limit sleeve, 205 is the multi-axis linkage transmission rod, 206 is the double rod connection hinge, 301 is the fixed ring sleeve, 302 is the reset Spring, 303 is the L-type power transmission plate, and 304 is the movable scissors body, and 401 is the limit net circle, and 402 is the net bag.

Detailed ways

The device of the present invention will be further described below in conjunction with the accompanying drawings.

Referring to Fig. 1, a kind of multi-axis linkage apple harvesting integrated device of the present invention, described multi-axis linkage apple harvesting integrated device is made up of control mechanism 1, transmission mechanism 2, picking system 3, collection mechanism 4; The control mechanism 1 is composed of a handle handle 101, a movable brake lever 102, a flexible pull cord 103, and a buckle 104; the movable brake lever 102 is installed on the main movable lever through the buckle 104; the flexible pull rope 103 links to each other with movable brake lever 102, holds movable brake lever 102 and can transmit certain pulling force through flexible stay cord 103; A position sleeve 204, a multi-axis linkage transmission rod 205, and a double-bar connection hinge 206 are formed; the slider 203 and the slider limit sleeve 204 are all nested on the main movable rod 201, and the slider limit sleeve 204 is used to limit The displacement of slide block 203; Described double-bar connection hinge 206 is used to connect main movable rod 201 and auxiliary movable rod 202; Described multi-axis linkage transmission rod 205 is connected on slide block 203 and auxiliary movable rod 202, forms crank The slider mechanism, when the slider moves, the multi-axis linkage transmission rod 205 drives the main movable rod 201 and the auxiliary movable rod 202 to form a certain angle, which is convenient for picking. The picking system 3 is composed of a fixed ring sleeve 301, a return spring 302; an L-shaped force transmission plate 303, and a movable scissor body 304; The scissors body 304; the L-shaped force transmission plate 303 is hinged on the fixed ring 301, and the movable scissors body 304 cuts off the branches of the apple tree through the power transmitted by the flexible stay cord 103 connected with it. The collection mechanism 4 is composed of a limit net 401 and a net 402; the net 402 is fixed on the limit net 401; the net 402 is used to collect picked apples; the limit net 401 is used to limit the displacement direction of the apples when they fall, so that the apples fall to the collection place according to the specified route.

With reference to Fig. 1, when movable scissor body 304 cuts off the branch of apple tree, fruit body falls into the limit net 401, slides down to the collection place along net bag 402. The net bag is made of soft nylon material (not shown in the figure), which has a good cushioning effect and ensures the quality of the fruit body. The collection is convenient, and the picking efficiency is increased.

Referring to Fig. 2 and Fig. 4, the present invention is an integrated multi-axis apple harvesting device. The buckle 104 connects the handle handle 101 with the movable brake lever 102. When a force is applied to the movable brake lever 102, it will drive The flexible pull cord 103 produces a small displacement at the end. Thereby driving the L-shaped force transmission plate 303 to produce displacement to the rear, compressing the return spring 302, pulling the movable scissors body 304 to close, and realizing the picking and cutting function with the fixed scissors body. When no force acts, the return spring 302 returns to its original length, realizing the reset of the L-shaped force transmission plate 303 and the return spring 302 .

Referring to Fig. 3 , the present invention is an integrated device for harvesting apples with multi-axis linkage. The slider 203 and the slider limit sleeve 204 are all nested on the main movable rod 201. Under normal conditions, the main movable rod 201 and the auxiliary movable rod 202 is in a coaxial state, parallel to the multi-axis linkage transmission rod 205 . When the slider 203 is pushed, the multi-axis linkage transmission rod 205 will drive the auxiliary movable rod 202 to form a certain angle with the main movable rod 201 through the double rod connection hinge 206, so that people can pick without standing directly under the tree. The size of the angle is limited by the slider limit sleeve 204 .

Claims (7)

1. a kind of multi-shaft interlocked apple harvests integrated apparatus, it is characterised in that：The multi-shaft interlocked apple harvesting integration Device is made of control mechanism (1), transmission mechanism (2), picker system (3), collecting mechanism (4)；The control mechanism (1) by Handle (101), movable restrictor bar (102), flexible drawstring (103), buckle (104) are constituted；The movable restrictor bar (102) is logical Buckle (104) is crossed on main motion bar；The flexible drawstring (103) is connected with movable restrictor bar (102), movable gate of holding with a firm grip Bar (102) can transmit certain pulling force by flexible drawstring (103)；The transmission mechanism (2) is by main motion bar (201), pair Motion bar (202), sliding block (203), sliding block stop collar (204), multi-shaft interlocked drive link (205), double rod connects hinge (206) structure At；The sliding block (203), sliding block stop collar (204) are nested on main motion bar (201), and sliding block stop collar (204) is used for Limit the displacement of sliding block (203)；The double rod connects hinge (206) is for connecting main motion bar (201) and secondary motion bar (202)；The multi-shaft interlocked drive link (205) is connected on sliding block (203) and secondary motion bar (202), forms crank block Mechanism will make multi-shaft interlocked drive link (205) drive main motion bar (201) and secondary motion bar (202) shape when slide block movement It has a certain degree, facilitates picking；The picker system (3) is by Fixing shrink ring (301), resetting spring (302), L-type power transmission Plate (303), shears cutter hub (304) are constituted；The Fixing shrink ring (301) is sleeved on secondary motion bar, for fixing picking portion Sub-cut cutter hub (304)；The L-type force transmitting board (303) is hinged on Fixing shrink ring (301), passes through coupled flexible drawstring (103) power transmitted makes shears cutter hub (304) cut the branch of apple tree；The collecting mechanism (4) is by limiting Position net circle (401) and the string bag (402) are constituted；The string bag (402) is fixed in limit net circle (401)；The string bag (402) it is used to collect the apple of picking；The limit net circle (401) is used to limit direction of displacement when apple falls, and makes apple Fruit is fallen on by fixed route at collection.

2. a kind of multi-shaft interlocked apple according to claim 1 harvests integrated apparatus, it is characterised in that：When picker uses Hold tight movable restrictor bar (102) can be transmitted by flexible drawstring (103) certain pulling force so that shears cutter hub (304) is closed to Achieve the purpose that cut apple stalk.

3. a kind of multi-shaft interlocked apple according to claim 1 harvests integrated apparatus, it is characterised in that：When beta pruning terminates Afterwards, when movable restrictor bar (102) is unclamped, resetting spring (302), which will bounce, makes shears cutter hub (304) open the original shape of recovery State.

4. a kind of multi-shaft interlocked apple according to claim 1 harvests integrated apparatus, it is characterised in that：Described is described Multi-shaft interlocked drive link (205) be connected on sliding block (203) and secondary motion bar (202), form slider-crank mechanism, work as sliding block It will make multi-shaft interlocked drive link (205) that main motion bar (201) and secondary motion bar (202) be driven to form certain angle when movement Degree, picker is just without the picking that can be completed immediately below apple to apple of standing at this time.

5. a kind of multi-shaft interlocked apple according to claim 1 harvests integrated apparatus, it is characterised in that：Work as movable scissors After body (304) cuts fruit branch, the string bag (402) is used to collect the apple of picking, and limit net circle (401) is for limiting apple Direction of displacement when whereabouts, makes apple be fallen at collection by fixed route.

6. a kind of multi-shaft interlocked apple according to claim 1 harvests integrated apparatus, it is characterised in that：The main work Lever (201) and secondary motion bar (202) are made of light-high-strength aluminum alloy materials.

7. a kind of multi-shaft interlocked apple according to claim 1 harvests integrated apparatus, it is characterised in that：The string bag (402) it is made of nylon material.