CN108811749A - Fruit and vegetable picking near the ground - Google Patents
Fruit and vegetable picking near the ground Download PDFInfo
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- CN108811749A CN108811749A CN201810586731.7A CN201810586731A CN108811749A CN 108811749 A CN108811749 A CN 108811749A CN 201810586731 A CN201810586731 A CN 201810586731A CN 108811749 A CN108811749 A CN 108811749A
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- cutting blade
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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
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- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention belongs to fruit and vegetable picking technical fields, disclose a kind of fruit and vegetable picking near the ground, including picking execution module, picking drive module and picking control module；Picking execution module includes upper guide cam lid and lower guide cam seat, and overhead cam groove is equipped in upper guide cam lid, sets cam groove in lower guide cam seat；Upper guide cam lid and lower guide cam seat cooperatively form hollow receiver chamber, and hollow receiver is intracavitary to be equipped with cutterhead, upper cutting blade and lower cutting blade, and cutterhead can drive respectively upper cutting blade, lower cutting blade to circle in the case where picking drive module drives；Picking control module makes cutterhead that circular motion occur by control picking drive module movement；Upper cutting blade, lower cutting blade can move in overhead cam groove, lower cam groove respectively；Up/down cutting blade is rotated with cutterhead, completes the sawing action to picking position, while being controlled and being swung by cam curve again, and the shearing of conjunction knife and the tool backlash movement of up/down cutting blade are completed.
Description
Technical field
The present invention relates to fruit and vegetable picking technical fields, and in particular, to a kind of fruit and vegetable picking near the ground.
Background technique
At present both at home and abroad for the recovery operations of the sturdy fruits and vegetables of certain cauline leafs near the ground such as pineapple, Chinese cabbage, luxuriant dish etc.
Based on manually, however these fruits and vegetables seasonalities are very strong, especially usually only half of the peak period of its harvest of the fruit such as pineapple
Month or so, it is such as more than that the peak period is picked again, then fruit quality, quality etc. will have a greatly reduced quality, and can not bring for farmer big
Economic benefit, therefore carry out artificial picking in the peak period and need to put into a large amount of manpowers, plucker usually needs in harvesting
It wears gloves, after making an accurate selection of fruit according to fruit size and color, cuts fruit root with fruit knife, or in the tight fruit of holding
Portion, it is reciprocal to twist the root that fractures, however single pineapple sarcocarp weight, generally at 1-3 kilograms, a big person is even up to 4-5 kilograms, picking
Worker harvesting when large labor intensity, inefficiency, and in this way using back and forth twist come the root that fractures by the way of pick fruits and vegetables when,
It is often possible to cause fruits and vegetables excoriation that appearance is caused to be deteriorated, in addition, plucker needs long-time rickets waist in picking, this
It will seriously affect its health for the middle-aged and the old.
The picking cost of picked by hand fruits and vegetables can generally account for 30%-40% in its entire production cost at present, but close
Greatly developing with China's Urbanization Construction over year, rural laborer gradually shift to the other industries of society, agricultural workforce
Reduction problem is increasingly sharp, and the labour cost of picked by hand fruits and vegetables further goes up, therefore researches and develops and a can efficiently cope with fruits and vegetables
The device of picking is imperative, to alleviation labor shortage, stablizes fruit and vegetable picking operation quality, mitigation plucker's labor intensity
It will be of great significance.
Summary of the invention
Present invention solves the technical problem that be to overcome the deficiencies of existing technologies, provide it is a kind of automatically, can be efficiently complete
At picking operations and guarantee pick quality fruit and vegetable picking near the ground.
The purpose of the present invention is achieved through the following technical solutions：
A kind of fruit and vegetable picking near the ground, including picking execution module, picking drive module and picking control module.
Wherein picking execution module includes upper guide cam lid and lower guide cam seat, is equipped in upper guide cam lid convex
Groove is taken turns, is equipped with lower cam groove in lower guide cam seat, lower cam groove is arranged in pairs with overhead cam groove.
Specifically, upper guide cam lid and lower guide cam seat cooperatively form hollow receiver chamber, and hollow receiver is intracavitary to be equipped with
Cutterhead, upper cutting blade and lower cutting blade, cutterhead can be circled in the case where picking drive module drives, upper guide cam
Lid, lower guide cam seat and cutter head center all have centre bore and execute picking operations convenient for fruit and vegetable picking.
Upper cutting blade and lower cutting blade include blade part and blade support sector, and blade part is in crescent shape arc knot
The non-blade port portion of structure, blade support sector and blade part connects, and one end of blade support sector, which is equipped with, to be used for upper cutting blade/backspin
Cutting edge is hinged to the hinge hole of cutterhead；The other end of blade support sector, which is equipped with, can assist cutting blade, backspin for installing
The mounting hole for the connecting component that cutting edge is moved along overhead cam groove, lower cam groove respectively；Blade support sector include upper surface,
Lower surface and knife spine face.
Upper cutting blade and lower cutting blade are installed in the opposite mode of crescent shape arcuate structure to cutterhead, upper peeling knife
The hinge joint of piece and lower cutting blade and cutterhead on the diameter line of cutterhead, the hinge joint of lower cutting blade and cutter head center away from
From the hinge joint less than upper cutting blade at a distance from cutter head center, under the blade support sector of upper cutting blade and lower cutting blade
Surface is in the same plane or lower surface is oppositely arranged and has gap.
Cam curve expression formula is based on lower cam groove
Cam curve expression formula is based on overhead cam groove
Corresponding xr、yrExpression formula be
Wherein ω and t is cam curve coordinate position parameter, and ω is the angular speed that cutterhead circles, and t is cutterhead
Make the time of a circular motion cycle, r0The center of circle circled for hinge joint of the lower cutting blade on cutterhead to cutterhead
The distance between, e is the deviation of lower guide cam seat formation away from l is in the hinge hole and mounting hole at lower cutting blade both ends
Heart line distance.
Picking control module makes cutterhead that circular motion occur by control picking drive module movement.
Further, t can be taken as 0~1, and generally, t is determined according to the practical situations of fruit and vegetable picking.
Further, cutterhead is equipped with cushion block prevents cutting blade from deviating from from overhead cam groove for assisting.
Further, picking drive module include decelerating motor, the driving gear being connected with the motor shaft of decelerating motor, can
The driven gear of engaged transmission occurs with driving gear, lower guide cam seat tool has axial step, and driven gear passes through in inner hole
In be embedded bearing after be sheathed in lower axial step, driven gear is fixedly connected with cutterhead.
Further, axial step periphery be uniformly provided at least two for install contacted with bearing inner race simultaneously compression axis
The non-close mounting hole of the compressing member held.
Further, picking execution module further includes the pedestal being arranged at driven gear lower end surface, pedestal respectively with
Lower guide cam seat, the connection of upper guide cam bonnet bolt.
Still further, being additionally provided with adjusting washer between bearing inner race lower end surface and pedestal.
Further, picking control module includes the controller of controllable decelerating motor work and rest.
Still further, upper guide cam covers the handle for being equipped with and user being facilitated to lift the fruit and vegetable picking.
Also further, controller includes button switch, and button switch, which is arranged on handle, is convenient for user's thumb or food
Refer to the position of pressing.
Compared with prior art, the invention has the advantages that：
1) this fruit and vegetable picking is small in size, mobility strong, easy to carry, is opened by button on the handle and handle of hommization
The setting of pass, plucker without substantially bending over, when handle is made it is enough long when even be not required to bend over, pass through push button switch behaviour
Control picking drive module carries out fruit and vegetable picking to control picking execution module, and whole-process automatic progress keeps picking work easily efficient
It completes；
2) each cam groove is drawn out using unique cam curve in guide cam lid and lower guide cam seat on, respectively
Cutting blade, which is operated and crossed in corresponding cam groove, completes the movement of cutting fruits and vegetables rhizome, and cutoff action is fast and each
Cutting blade automatic withdrawal is rapid, can continuously and efficiently carry out high-volume fruit and vegetable picking；
3) rotary motion that the circular motion that each cutting blade is driven by cutterhead and corresponding cam groove drive is made simultaneously
With completion reduces cutting difficulty, effectively prevent knife caused by single shearing to the rotation sawing of fruits and vegetables rhizome and shear action
Piece problem on deformation, while also ensuring that the notch of fruits and vegetables rhizome is beautiful uniformly；
4) it is circled by driving gear and driven gear engagement come band movable knife disc, is equivalent to Purely mechanical transmission,
The running accuracy of cutterhead is high, it can be ensured that the functional reliability of each cutting blade；
5) setting of adjusting washer avoids rotation, it can be achieved that the spacing between upper cutting blade and overhead cam groove is adjustable
Spacing between cutting edge and overhead cam groove is excessive and deviates from from overhead cam groove.
Detailed description of the invention
Fig. 1 is the surface structure schematic diagram of fruit and vegetable picking near the ground described in embodiment 1；
Fig. 2 a is the explosive view of fruit and vegetable picking near the ground described in embodiment 1；
Fig. 2 b is the partial sectional view of fruit and vegetable picking near the ground described in embodiment 1；
Fig. 3 is the structural schematic diagram of cutterhead described in embodiment 1；
Fig. 4 is the structural schematic diagram of upper cutting blade described in embodiment 1；
Fig. 5 is the structural schematic diagram of lower cutting blade described in embodiment 1；
Fig. 6 is the structural schematic diagram of upper guide cam lid described in embodiment 1；
Fig. 7 is the structural schematic diagram of lower guide cam seat described in embodiment 1；
Fig. 8 is the structural schematic diagram of bushing described in embodiment 1；
Fig. 9 is the movement locus schematic diagram of upper cutting blade described in embodiment 1, lower cutting blade；
Figure 10 is upper cutting blade described in embodiment 1, the feed of lower cutting blade, withdrawing track schematic diagram；
Figure 11 is upper cutting blade described in embodiment 1, lower cutting blade crosses and completes the track schematic diagram of cutoff action；
Figure 12 illustrates schematic diagram away from e for deviation described in embodiment 1.
Specific embodiment
The present invention is further illustrated With reference to embodiment, wherein attached drawing only for illustration,
What is indicated is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent；Reality in order to better illustrate the present invention
Example is applied, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To those skilled in the art
For, the omitting of some known structures and their instructions in the attached drawings are understandable.
Embodiment 1
A kind of fruit and vegetable picking near the ground is provided, as described in Figure 1, including execution module, picking drive module is picked and adopts
Pluck control module.
As shown in Figure 2 a and 2 b, picking execution module includes upper guide cam lid 11 and lower guide cam seat 12, such as Fig. 6
It is shown, overhead cam groove 111 is equipped in upper guide cam lid 11, as shown in fig. 7, it is recessed to be equipped with lower cam in lower guide cam seat 12
Slot 121, lower cam groove 121 are arranged in pairs with overhead cam groove 111.
Upper guide cam lid 11 and lower guide cam seat 12 are cooperatively connected to form hollow receiver chamber by bolt, such as Fig. 3 to 5
Shown, hollow receiver is intracavitary to be equipped with cutterhead 13, upper cutting blade 14 and lower cutting blade 15, and cutterhead 13 can be in picking drive module
(being in principle uniform circular motion) is circled under drive, wherein upper guide cam lid 11, lower guide cam seat 12 and knife
13 center of disk all have centre bore convenient for fruit and vegetable picking execute picking operations, this fruit and vegetable picking be by by centre bore in fruit
Straight line decline makes the position of cutterhead 13, upper cutting blade 14 and lower cutting blade 15 that can be directed at fruits and vegetables root after vegetable overhead alignment fruits and vegetables
Stem is in case subsequent cutting is picked.
As shown in Figure 4 and Figure 5, upper cutting blade 14 and lower cutting blade 15 include blade part and blade support sector (on
Cutting blade blade part is 141, blade support sector is 142, the blade part of lower cutting blade is 151, blade support sector be 152),
Blade part is in crescent shape arcuate structure, and the non-blade port portion connection of blade support sector and blade part, one end of blade support sector is equipped with
For the lower cutting blade 15 of upper cutting blade 14/ to be hinged to the hinge hole of cutterhead 13；The other end of blade support sector, which is equipped with, to be used
Upper cutting blade 14, lower cutting blade 15 can be assisted to move respectively along overhead cam groove 111, lower cam groove 121 in installation
The mounting hole of connecting component；Blade support sector includes upper surface, lower surface and knife spine face.
Upper cutting blade 14 is installed in the opposite mode of crescent shape arcuate structure to cutterhead 13 with lower cutting blade 15, on
The hinge joint of cutting blade 14 and lower cutting blade 15 and cutterhead 13 is on the diameter line of cutterhead 13, wherein lower cutting blade 15
Hinge joint at a distance from 13 center of cutterhead less than upper cutting blade 14 hinge joint at a distance from 13 center of cutterhead, upper peeling knife
The blade of piece and lower cutting blade supports lower surface to be oppositely arranged and have gap, which is 0~1mm, upper rotary-cut
The size of blade and lower cutting blade needs to determine overall length and beam overall according to the actual design of this fruit and vegetable picking, general next
It says, in order to adapt to upper cutting blade and the respective motion profile of lower cutting blade and two cutting blades be better achieved cross
When cutting action, lower cutting blade in overall length and beam overall outline be less than upper cutting blade.
Referring to the motion profile of lower cutting blade 15 shown in Fig. 9, based on lower cam groove 121 as shown in Figure 7
Cam curve expression formula is
Lower cam groove 121 and being arranged in pairs for overhead cam groove 111 are to make upper cutting blade 14 and lower peeling knife
The motion profile of piece 15 is exactly the opposite, therefore cam based on overhead cam groove 111 in upper guide cam lid as shown in FIG. 6
Curve representation formula is
Corresponding x in above-mentioned two expression formular、yrExpression formula be
Wherein ω and t is cam curve coordinate position parameter, and ω is cutterhead
The angular speed circled, t is the time that cutterhead makees a circular motion cycle, by t value 0~1, r in the present embodiment0For
Distance of the lower cutting blade between the center of circle that the hinge joint on cutterhead to cutterhead circles, e are lower guide cam seat shape
At deviation away from, specifically, lower cutting blade during around cam curve mobile (swing) there is always an oscillation center,
For deviation away from the distance between the center of circle that e is that the oscillation center to cutterhead circles, this oscillation center is an imaginary point,
Be specifically in the present embodiment in lower cutting blade motion process the line of its hinge hole and mounting hole by it is constant by section
Point, as shown in figure 12, when cutting blade is located at position E instantly, lower cutting blade hinge hole and mounting hole center are (see in Figure 12
G, h point) line pass through O1Point；Instantly when cutting blade is located at position F, corresponding g', h' point line will also pass through O1Point, O1
Point be it is above-mentioned it is constant by node, OO1The distance between be hinge hole that deviation is lower cutting blade both ends away from, l
With the line of centres distance of mounting hole.
Picking control module then makes cutterhead 13 that circular motion, picking control occur by control picking drive module movement
Module provides power supply and power for picking drive module.
Specifically, as shown in Figure 4 and Figure 5, the tapered knot in cutting edge portion of upper cutting blade/lower cutting blade blade part
In the same plane, the taper of pyramidal structure is 18~22 ° for the lower surface of structure, the bottom surface of pyramidal structure and blade support sector, this
Embodiment is preferably 20 °；In addition, the vertical width in cutting edge portion is 6~10mm, preferably 8mm；The arc of arcuate structure blade part
Bending radius is 51mm.
For enhance upper cutting blade and lower cutting blade cross sawing fruits and vegetables rhizome when sharpness, can be by upper peeling knife
Piece/lower cutting blade cutting edge portion is designed as serrated cutting edge portion, and (zigzag is not shown in attached drawing, which is and common knife
It is identical to have cutting edge broached-tooth design).
It certainly, is the whole portability for guaranteeing fruit and vegetable picking, upper cutting blade/lower cutting blade is unsuitable blocked up, specifically
Ground, the blade support sector height of each cutting blade are 2.5~3mm.
Corresponding with the arcuate structure in cutting edge portion, blade support sector knife spine face is also in the curved bend that bending radius is 71mm
Bent structure, to be adapted with the inner circumferential structure of cutterhead.
Blade part and the end of blade support sector are connected smoothly, and generation on each cutting blade can be effectively prevent to be unfavorable for
Guarantee the sharp parts such as the wedge angle of fruits and vegetables good appearance when fruit and vegetable picking, while also avoiding each cutting blade because of these sharp parts
And the problem of being interfered with cutterhead inner circumferential.
The articulation piece installed in the hinge hole of blade support sector is positioning pin 16, the positioning pin 16 on each cutting blade with
Cutterhead 13 is welded and fixed, and each cutting blade still can relative positioning pin 16 make fixed point rotate freely, this measure can ensure that peeling knife
Piece 14 and lower cutting blade 15 reliably follow cutterhead 13 to circle, while not interfering each cutting blade along respective cams again
The moving operation of groove.
The connecting component installed in the mounting hole of blade support sector be positioning pin 16 and the bushing being set on positioning pin or
Miniature bearing (bushing and miniature bearing can reach the purpose for moving each cutting blade flexibly along respective cams groove), this reality
Selection bushing 17 in example is applied, as shown in figure 8, the upper surface and lower end surface of bushing 17 are in semi-annular shape, two bushings can be distinguished
Rolled in overhead cam groove 111 and lower cam groove 121, the design of semi-annular shape can reduce bushing 17 and each cam groove and
Friction between each cutting blade upper and lower surface, while the position-limiting action of the upper and lower operating position of restricted each cutting blade again.
Because of upper cutting blade 14 and lower 15 arranged in dislocation of cutting blade, upper cutting blade 14 only by positioning pin 16 to its into
Row parallel support, therefore its one end for installing bushing 17 run-off the straight downward may make cutting blade 14 under the effect of gravity
It is no longer accurately moved along overhead cam groove 111, for the generation for avoiding this situation, as shown in figure 3, settable pad on cutterhead 13
Block 131 prevents cutting blade 14 from deviating from from overhead cam groove 111 for assisting, and certainly, upper cutting blade 14 is around convex
During taking turns the movement of groove 111, the relative movement occurred with cutterhead 13 be will be localized in sub-fraction region, therefore cutterhead
On cushion block 131 need to only be arranged in the fraction region, in addition, lower cutting blade will not enter the area during the work time
In domain, therefore the cushion block being arranged in the region will not generate interference effect to the movement of lower cutting blade.
In view of upper cutting blade can more or less generate slight inclination, at the same also for avoid cutting blade 14 with pad
The contact beginning of block 131 may occur there is a situation where stuck, can set cushion block 131 in the end close to 13 centre bore of cutterhead
(wedge structure actually refers to an inclined face to wedge structure 1311, and the inclined face is relatively low close to central hole
A bit, relatively higher far from central hole), i.e., for upper cutting blade 14 when having just enter into cushion block setting area, upper cutting blade will
It is gradually elevated by wedge structure 1311 and is contacted with cushion block upper surface, to guarantee upper cutting blade 14 stably and reliably along upper
Cam groove 111 is mobile.
Picking drive module include decelerating motor 21, the driving gear being connected with the motor shaft of decelerating motor 22, can be with master
The driven gear 23 of engaged transmission occurs for moving gear, and lower guide cam seat tool has two layers of stepped axial step (including middle section
Axial step 122 and at the end of the axial step 123, the diameter of middle section axial step 122 are greater than the diameter of at the end of the axial step 123),
Driven gear 23 is sheathed at the end of the axial step 123 by being embedded after bearing 24 in inner hole, bearing inner race upper surface then with
The end face of middle section axial step 122 contacts, and bore end is additionally provided with bearing limited step 231, bearing limiting stand in driven gear 23
Spacing between rank 231 and 122 end face of middle section axial step is equal with the height of bearing 24, and bearing 24 is specially ultra-thin bearing,
Driven gear 23 and cutterhead 13 are bolted so that in engaged transmission, smoothly band movable knife disc rotates.
To fasten bearing 24, make the circular motion even running of cutterhead 13, the at the end of the axial step of lower guide cam seat 12
123 peripheries are also uniformly provided with two for installing the non-close mounting hole for the compressing member that bearing is contacted and compressed with bearing inner race
124, compressing member can be bolt, and the setting of compressing member can also provide booster action simultaneously for the disassembly of bearing.
Picking execution module further includes the pedestal 25 being arranged at driven gear lower end surface, and pedestal 25 is convex with lower guiding respectively
Wheel seat 12, upper guide cam lid 11 are bolted to connection, and are also had and upper guide cam lid, lower guide cam on pedestal 25
Driven gear is folded in the space that the two is fixedly connected to form by seat to corresponding centre bore, upper guide cam lid and bottom seat,
Fruit and vegetable picking is set to form a more closed entirety.
The inner face of pedestal 25 close to central hole be equipped with seam allowance 251 (fixing structure is as shown in attached drawing 2b), seam allowance 251 with
Also there is groove, the at the end of the axial step 123 of lower guide cam seat is embedded in the groove between centre hole of base.
Engagement further to ensure driving gear and driven gear avoids various maloperations from nibbling it not by external interference
It closes transmission to impact, the present embodiment uses and adds driving gear protective cover 112, pedestal 25 on upper 11 periphery of guide cam lid
On driving gear protective cover corresponding position also be provided with protection pedestal 252, driving gear protective cover 112 and protection pedestal 252
Be bolted, driving gear 22 can be placed in driving gear protective cover 112 and protect pedestal 252 formed space in and just
It can be engaged with driven gear 23 well.
There is through-hole to protrude into for the motor shaft of decelerating motor 21 to match with driving gear 22 above driving gear protective cover 112
It closes, decelerating motor 21 is vertically arranged in 112 top of driving gear protective cover.
To realize that the spacing between upper cutting blade 14 and overhead cam groove 111 is adjustable, avoid cutting blade with it is convex
Spacing between wheel groove is excessive and deviate from from overhead cam groove, as shown in Figure 2 b, 24 inner ring lower end surface of bearing and pedestal
It is additionally provided with adjusting washer 26 between seam allowance 251, by the thickness of unrestricted choice adjusting washer 26, can be obtained required for user
Best spacing dimension between upper cutting blade and overhead cam groove.
It can also be electrically connected with rotary encoder (not shown) on decelerating motor 21 and successively rotate one for monitoring cutterhead
Accurately control upper cutting blade, the reset of lower cutting blade week, this fruit and vegetable picking device mainly passes through upper cutting blade, lower rotary-cut
The rotation of blade and the gap size between two cutting blades of the mobile mode of respective cams groove and change form torque
It generates cutting force to cut the rhizome of fruits and vegetables, after fruits and vegetables rhizome is cut, disk continues to move in a circle, and rotary encoder can
For immediately monitoring cutterhead when resetting upper cutting blade, lower cutting blade after just rotating a circle, sending stops decelerating motor
The instruction of work stops operating controlling decelerating motor, and (rotary encoder issues the instruction for making decelerating motor stop working and final
The sequence of operations for making speed reducer stop working can realize that PLC is included in by the way that PLC is arranged in picking control module
Next section, by the controller mentioned, about realizing that this sequence of operations belongs to the prior art with PLC, is no longer gone to live in the household of one's in-laws on getting married herein
State), in case pick each cutting blade in the state of reset next time, it so can avoid each cutting blade and returned
The possibility interfered in knife reseting procedure successively performs picking preparation for the fruit and vegetable picking process of continuous several times, effectively improves
Picking efficiency.
Picking control module includes the controller (not shown) of controllable decelerating motor work and rest, the fruit of the present embodiment
One of design aim of vegetable picking machine is brisk portable, therefore picks control module and stored using knapsack 35, picking control
Module is electrically connected with decelerating motor；The handle 31 for facilitating user to lift fruit and vegetable picking is installed on upper guide cam lid 11, this
The handle 31 of embodiment is u-shaped, and upper guide cam lid periphery is symmetrically arranged with two handles for installing U-shaped handle and installs
Hole, the cross bar of U-shaped handle 31 are equipped with Anti-slip handle 32 and finger protecting baffle plate 33,33 both ends of finger protecting baffle plate by screw with it is anti-skidding
Handle 32 is fixedly connected, and Anti-slip handle 32, which is used to provide comfortable handle for user, holds experience, finger protecting baffle plate 33 be then be anti-
Only the highest point of fruits and vegetables is contacted with user's hand, such as when fruits and vegetables are that pineapple has harder more sharp leaf portion, highest point one
Denier is contacted with user's hand, and it is uncomfortable or stabbed to will lead to user's hand.
Controller includes button switch 34, to carry out picking operations, button switch to fruit and vegetable picking immediately convenient for user
The position pressed on handle convenient for user's thumb or index finger is preferably set, user is facilitated rapidly to issue to picking driving device
Work order, so that picking executive device efficiently be driven to execute the picking operations to fruits and vegetables.
The working principle of this fruit and vegetable picking is explained in detail below：As shown in figure 9, heavy line part in figure, left
Figure is upper cutting blade, and right figure is lower cutting blade (hereinafter referred to as cutting blade), and upper cutting blade, lower cutting blade are wrong up and down
Position installation, cutting blade and cutterhead (not indicating in this figure) node at a link, and cutterhead is rotated with speed omega, when cutterhead rotates
Cutting blade is driven to rotate around rotation center O, cutting blade track at a is circular path A at this time；It rotates and drives in cutterhead
Under, along cam curve track, B is moved node in corresponding cam groove at cutting blade c.
As shown in Figure 10, in the case where cutterhead operating drives, from a node, circumferentially track A is run to from b for cutting blade one end,
The cutting blade other end is run to from d from c node along track 2, and cutting blade rotates under the guiding of track A, completes rotary cutting
Cut movement, meanwhile, cutting blade under the guiding of track B to center movement, promote upper cutting blade, lower cutting blade simultaneously to
Center movement, as shown in figure 11, two cutting blade cutting edge portions cross to fold at center cuts, and completes feeding cutoff action, cutterhead operating
Angle be that θ 1, track A and track B are acted on blade can be made to complete rotation sawing and shear action simultaneously, it is difficult that cutting is effectively reduced
Degree prevents blade caused by single shearing from deforming, and makes to cut off at fruits and vegetables rhizome beautiful uniform.
Hereafter, cutterhead continues to rotate, and from b node, circumferentially track A is run back from a of original state for cutting blade one end,
The cutting blade other end is run back from c from d node along track B, and cutting blade rotates under the guiding of track A, leading in track B
Draw lower separate center movement, that completes cutting blade recalls movement, at this point, cutting blade returns to original state, as shown in Figure 10,
The angle of cutterhead operating is θ 2, can be seen that θ 1 by cutterhead angle of operation>θ 2 shows in cutterhead rotating speed omega constant, peeling knife
Piece feed cutting is opposite to use duration, and withdrawing is short with respect to the used time, but generally speaking, and feed and withdrawing used time are very short, makes fruits and vegetables
Picking operations efficiently carry out.
The fruit and vegetable picking course of work of the present embodiment is as follows：Fruit and vegetable picking, which is covered, need to pick the rhizome of cutting in fruits and vegetables
Portion (such as pineapple carpopodium, Chinese cabbage root) specifically allows fruits and vegetables to pass through upper guide cam lid 11, cutterhead 13, lower guide cam seat
12 and pedestal 25 centre bore, Manual press button switch 34, make controller starting be decelerating motor 21 be powered drive actively
Gear 22 rotates, to make the driven gear 23 engaged with driving gear 22 and then rotate, and finally drive and driven tooth
The cutterhead 13 that wheel 23 is solidly installed operates, and cutterhead 13 then drives upper cutting blade 14 mounted thereto, lower cutting blade 15
Rotation, be mounted on cutting blade 14, the bushing 17 on lower cutting blade 15 then start respectively overhead cam groove 111, under it is convex
It is rolled in wheel groove 121, upper cutting blade, the swing of lower cutting blade is controlled by cam curve, the folding for completing cutting blade is dynamic
Make.
On the one hand, each cutting blade is rotated with cutterhead, completes the sawing action to picking position, on the other hand, each rotary-cut
Blade is controlled by cam curve and is swung, and completes the conjunction knife shear action of two cutting blades, meanwhile, each rotation is controlled by cam curve
Automatic withdrawal (returning knife) movement of cutting edge, sawing and shearing simultaneously operation, make to pick position shearing in place, greatly reduce and cut
Difficulty is cut, the beauty at picking position has been ensured, has improved the service life of fruit and vegetable picking.
Obviously, above-described embodiment is only intended to clearly illustrate technical solution of the present invention example, and is not
Restriction to embodiments of the present invention.For those of ordinary skill in the art, on the basis of the above description also
It can make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all
Made any modifications, equivalent replacements, and improvements etc. within the spirit and principles in the present invention should be included in right of the present invention and want
Within the protection scope asked.
Claims (9)
1. a kind of fruit and vegetable picking near the ground, which is characterized in that including picking execution module, picking drive module and picking control
Module；
Picking execution module includes upper guide cam lid and lower guide cam seat, is equipped with overhead cam groove in upper guide cam lid,
Lower cam groove is equipped in lower guide cam seat, lower cam groove is arranged in pairs with overhead cam groove；
Upper guide cam lid and lower guide cam seat cooperatively form hollow receiver chamber, and hollow receiver is intracavitary to be equipped with cutterhead, upper rotary-cut
Blade and lower cutting blade, cutterhead can be circled in the case where picking drive module drives, upper guide cam lid, lower guide cam
Seat and cutter head center all have centre bore and execute picking operations convenient for fruit and vegetable picking；
Upper cutting blade and lower cutting blade include blade part and blade support sector, and blade part is in crescent shape arcuate structure, knife
Piece support sector and the non-blade port portion of blade part connect, and one end of blade support sector, which is equipped with, to be used for upper cutting blade/lower peeling knife
Piece is hinged to the hinge hole of cutterhead；The other end of blade support sector, which is equipped with, can assist cutting blade, lower peeling knife for installing
The mounting hole for the connecting component that piece is moved along overhead cam groove, lower cam groove respectively；Blade support sector includes upper surface, following table
Face and knife spine face；
Upper cutting blade and lower cutting blade are installed in the opposite mode of crescent shape arcuate structure to cutterhead, upper cutting blade and
For the hinge joint of lower cutting blade and cutterhead on the diameter line of cutterhead, the hinge joint of lower cutting blade is small at a distance from cutter head center
In upper cutting blade hinge joint at a distance from cutter head center, the blade of upper cutting blade and lower cutting blade supports lower surface
In the same plane or lower surface is oppositely arranged and has gap；
Cam curve expression formula is based on lower cam groove
Cam curve expression formula is based on overhead cam groove
Corresponding xr、yrExpression formula be
Wherein ω and t is cam curve coordinate position parameter, and ω is the angular speed that cutterhead circles, and t is that cutterhead makees one
The time of a circular motion cycle, r0It is lower cutting blade between the center of circle that the hinge joint on cutterhead to cutterhead circles
Distance, e is that the deviation that lower guide cam seat is formed connects away from the center of hinge hole and mounting hole that, l is lower cutting blade both ends
Linear distance；
Picking control module makes cutterhead that circular motion occur by control picking drive module movement.
2. fruit and vegetable picking near the ground according to claim 1, which is characterized in that cutterhead is equipped with cushion block for assisting preventing
Only upper cutting blade is deviate from from overhead cam groove.
3. fruit and vegetable picking near the ground according to claim 1, which is characterized in that picking drive module includes the electricity that slows down
Machine, the driving gear being connected with the motor shaft of decelerating motor, the driven gear that engaged transmission can occur with driving gear, lower guiding
Cam chair has axial step, and driven gear is sheathed in lower axial step by being embedded after bearing in inner hole, driven gear
It is fixedly connected with cutterhead.
4. fruit and vegetable picking near the ground according to claim 3, which is characterized in that axial step periphery is uniformly provided at least
Two for installing the non-close mounting hole for the compressing member that bearing is contacted and compressed with bearing inner race.
5. fruit and vegetable picking near the ground according to claim 3, which is characterized in that picking execution module further includes that setting exists
Pedestal at driven gear lower end surface, pedestal are connect with lower guide cam seat, upper guide cam bonnet bolt respectively.
6. fruit and vegetable picking near the ground according to claim 5, which is characterized in that between bearing inner race lower end surface and pedestal
It is additionally provided with adjusting washer.
7. fruit and vegetable picking near the ground according to claim 3, which is characterized in that picking control module includes controllable subtracts
The controller of speed motor work and rest.
8. fruit and vegetable picking near the ground according to claim 7, which is characterized in that upper guide cam, which covers, to be equipped with conveniently
User lifts the handle of the fruit and vegetable picking.
9. fruit and vegetable picking near the ground according to claim 8, which is characterized in that controller includes button switch, button
The position pressed on handle convenient for user's thumb or index finger is arranged in switch.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810586731.7A CN108811749B (en) | 2018-06-08 | 2018-06-08 | Near-ground fruit and vegetable picking machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810586731.7A CN108811749B (en) | 2018-06-08 | 2018-06-08 | Near-ground fruit and vegetable picking machine |
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| CN108811749A true CN108811749A (en) | 2018-11-16 |
| CN108811749B CN108811749B (en) | 2021-02-26 |
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| RU2259705C1 (en) * | 2004-04-23 | 2005-09-10 | Гой Владимир Леонтьевич | Berry gathering apparatus |
| CN2917239Y (en) * | 2006-06-01 | 2007-07-04 | 李峰斌 | Mechanical fruit picker |
| CN102354157A (en) * | 2011-08-01 | 2012-02-15 | 大连交通大学 | Radius compensation algorithm for convex contour closed-angle linear and circular arc composite transitional cutting tool |
| CN102668813A (en) * | 2012-05-24 | 2012-09-19 | 华南农业大学 | Rotating scissor type litchi picking machine |
| CN103797969A (en) * | 2014-03-16 | 2014-05-21 | 衢州市煜鑫农产品加工技术开发有限公司 | Handheld harvester for fruits and vegetables |
| CN106664965A (en) * | 2017-02-24 | 2017-05-17 | 中国农业大学 | Portable apple pickup device based on negative pressure suction |
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2018
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2259705C1 (en) * | 2004-04-23 | 2005-09-10 | Гой Владимир Леонтьевич | Berry gathering apparatus |
| CN2917239Y (en) * | 2006-06-01 | 2007-07-04 | 李峰斌 | Mechanical fruit picker |
| CN102354157A (en) * | 2011-08-01 | 2012-02-15 | 大连交通大学 | Radius compensation algorithm for convex contour closed-angle linear and circular arc composite transitional cutting tool |
| CN102668813A (en) * | 2012-05-24 | 2012-09-19 | 华南农业大学 | Rotating scissor type litchi picking machine |
| CN103797969A (en) * | 2014-03-16 | 2014-05-21 | 衢州市煜鑫农产品加工技术开发有限公司 | Handheld harvester for fruits and vegetables |
| CN106664965A (en) * | 2017-02-24 | 2017-05-17 | 中国农业大学 | Portable apple pickup device based on negative pressure suction |
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| CN108811749B (en) | 2021-02-26 |
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Effective date of registration: 20211203 Address after: 412000 China Power Valley Independent Innovation Park Phase 6 F18 Building 301, Tianyuan District, Zhuzhou City, Hunan Province Patentee after: ZHUZHOU JIACHENG TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: No.1, wisdom road, vocational education university town, Yunlong demonstration area, Zhuzhou City, Hunan Province Patentee before: HUNAN VOCATIONAL College OF RAILWAY TECHNOLOGY |
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