CN108925237A - Long stalk class fruit auxiliary picker and its picking method - Google Patents
Long stalk class fruit auxiliary picker and its picking method Download PDFInfo
- Publication number
- CN108925237A CN108925237A CN201810604908.1A CN201810604908A CN108925237A CN 108925237 A CN108925237 A CN 108925237A CN 201810604908 A CN201810604908 A CN 201810604908A CN 108925237 A CN108925237 A CN 108925237A
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- Prior art keywords
- hollow hemisphere
- fruit
- hollow
- hemisphere
- picking
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses long stalk class fruit auxiliary picker and its picking methods.Existing fruit picker easily causes to damage to fruit.Picking direction of the invention adjusts the angle that component adjusts fruit picking end executive module；Fruit picking end executive module includes the first hollow hemisphere and the second hollow hemisphere being hinged；First hollow hemisphere is equipped with the first blade, and the second hollow hemisphere is equipped with the second blade.After the present invention completes picking angular adjustment, fruit is inserted in the first hollow hemisphere, and by lower switch, steering engine stalls automatically after rotating 180 °, first blade and the second blade closure cut off carpopodium, and the enclosure space of the first hollow hemisphere and the second hollow hemisphere coats fruit；Fruit picking end executive module is rotated to close to split ring direction, presses lower switch again, and steering engine stalls automatically after reversely rotating 180 °, and the first hollow hemisphere is opened, and fruit falls into split ring.The present invention avoids fruit from directly falling causing to damage.
Description
Technical field
The invention belongs to fruit picking technical fields, and in particular to a kind of long stalk class fruit auxiliary picker and its picking
Method.
Background technique
Currently, many areas in the whole nation in the picking of fruit it is still main manually, mechanization degree is low.It is existing in the market
Fruit picker be broadly divided into two kinds, a kind of end effector is scissors, it is main by shearing carpopodium by under fruit shears,
Another end effector is three-jaw, separates fruit with limb by pulling, both devices are all easy to cause fruit
Damage, they are power transmission to be carried out by flexible steel cable, therefore picking needs to consume a large amount of physical strength of orchard worker for a long time, and can not
It realizes that fruit voluntarily reaches ground after taking, can not continuously pick, low efficiency.Therefore, designing one kind can guarantee that fruit is being adopted
Not damaged during plucking, picking efficiency is high, and can be particularly significant by the fruits picking mechanical device of fruit transmission to ground.
Summary of the invention
The purpose of the present invention is to provide a kind of long stalk class fruit auxiliary picker and its picking methods.
The long stalk class fruit of the present invention assists picker, including hollow stock, picking direction to adjust component, fruit picking end
Hold executive module, fruit transmission buffer channel component and control system.The picking direction adjusts component and includes sliding block, connects
Bar, rocking bar and rod set；The sliding block is made of knob, axle sleeve and pull rod；Pull rod both ends are fixed respectively with knob and axle sleeve；It draws
Hand and axle sleeve are nested with outside hollow stock, and constitute sliding pair with hollow stock；Axle sleeve and connecting rod one end are hinged, and connecting rod is another
One end and rocking bar one end are hinged；The rocking bar other end and rod set are hinged, and rod set is fixed at the top of hollow stock.
The fruit picking end executive module include the first hollow hemisphere, the second hollow hemisphere, the first blade,
Second blade, steering engine, steering engine frame and connecting shaft；The bottom and picking direction of second hollow hemisphere are adjusted in the middle part of the rocking bar of component
It is fixed.The first through hole that first hollow hemisphere opens up and the first through hole that the second hollow hemisphere opens up are hinged by pin shaft,
The second through-hole and two first through hole that the second through-hole that first hollow hemisphere opens up, the second hollow hemisphere open up are coaxial
Setting, and two first through hole are located at one end of the first hollow hemisphere, two the second through-holes are located at the first hollow hemisphere
The other end；Steering engine is fixed on steering engine frame, and steering engine frame is fixed on the second hollow hemisphere external surface, the output shaft of steering engine and connection
Axis is connected by shaft coupling；Second through-hole of connecting shaft and the second hollow hemisphere constitutes revolute pair, and it is hollow to be fixed on first
In hemispheroidal second through-hole.Triangular notch, the top of triangular notch are opened up on the curved surface of first hollow hemisphere
It opens at the plane of the first hollow hemisphere；First blade is embedded in triangular notch；Second hollow hemisphere is put down
Arc-shaped slot is opened up on face, the second blade is embedded in arc-shaped slot；The plane of first hollow hemisphere and the second hollow hemisphere
When outer normal vector angle is 0 °, the first blade is located at the top of the second hollow hemisphere, and the second blade is located at the first hollow hemisphere
The bottom of body；When the outer normal vector angle of the plane of first hollow hemisphere and the second hollow hemisphere is 180 °, the first blade with
Second blade closure.
The fruit transmission buffer channel component is made of split ring and collection channel；Split ring is fixed on hollow stock
Top, and be located at below the executive module of fruit picking end；It is fixed on split ring at the top of collection channel.
The control system includes switch, single-chip microcontroller, voltage regulator circuit plate and battery.Single-chip microcontroller and switch are each attached to
In single-chip microcontroller installation set；Single-chip microcontroller installation set is fixed on hollow stock.The opening and closing of switch control single-chip microcontroller and steering engine.Battery
The voltage of output is powered after voltage regulator circuit plate for single-chip microcontroller and steering engine.
The a length of 1.8m of bar of the hollow stock.
The internal diameter of first hollow hemisphere is 100mm, outer diameter 110mm；The internal diameter of second hollow hemisphere is
110mm, outer diameter 120mm.
The battery setting is on the ground.
The length obstructs the picking method of class fruit auxiliary picker, specific as follows：
Step 1: user pushes knob, the sliding block of knob, pull rod and axle sleeve composition is slided along stock together, sliding block
Rocking bar is driven to rotate around hinge joint by connecting rod, the fruit picking end executive module being connected on rocking bar is rotated with rocking bar, from
And the picking angular adjustment of fruit picking end executive module is completed by the stroke of change sliding block, not with Adaptable growth direction
Same fruit.
Step 2: two hollow hemisphere initial positions are outside the plane of the first hollow hemisphere and the second hollow hemisphere
Normal vector angle is 0 °；Fruit is inserted in the first hollow hemisphere body, by lower switch, single-chip microcontroller is controlled after steering engine rotates 180 ° certainly
Dynamic to stall, the second blade closure on the first blade and the second hollow hemisphere in the first hollow hemisphere cuts off carpopodium,
At this point, the outer normal vector angle of the plane of the first hollow hemisphere and the second hollow hemisphere is 180 °, the first hollow hemisphere and
Enclosure space between second hollow hemisphere envelopes fruit.
Step 3: user position of the adjusting slider on stock again, make fruit picking end executive module to close
Lower switch is then pressed in the rotation of split ring direction again, and single-chip microcontroller control steering engine stalls automatically after reversely rotating 180 °, and first is hollow
Hemisphere is opened, and two hollow hemispheres return to initial position, and fruit is fallen into split ring, and reaches ground along collection channel
Collecting box in.
Step 4: repeating Step 1: two and three.
The invention has the advantages that：
1, the present invention uses sliding block rocker device, can adjust the picking angle of fruit picking end effector, thus suitable
The fruit of different directions should be grown on.
2, the present invention is coated in sphere after being removed fruit by two hemispheroidal foldings, avoids directly falling
To cause to damage, play a very good protection to ripened fruit.
3, the present invention transmits buffer channel component using fruit, and fruit is made voluntarily to reach ground after taking, and realizes efficient
Rate is continuously picked.
4, the present invention controls steering engine rotation by single-chip microcontroller, executes shear action, saves manpower, make to pick more efficient.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural perspective that picking direction adjusts component in the present invention；
Fig. 3 is that the first hollow hemisphere and the second hollow hemisphere the fruit picking end in initial position are held in the present invention
The structural perspective of row component；
Fig. 4 is fruit picking end executive module when the first hollow hemisphere and the second hollow hemisphere are closed in the present invention
Structural perspective.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, long stalk class fruit assists picker, including hollow stock 9, picking direction to adjust component, fruit
Picking end executive module, fruit transmission buffer channel component and control system.The height of tree crown H of best fruiting period fruit tree 2.5~
3m or so, and bar bottom terrain clearance h is generally 1.2m or so, the hollow long L=of stock bar when user's operating stick class device for picking
Hollow stock bar length is set 1.8m by H-h, the present embodiment.
As shown in Fig. 2, it includes sliding block, connecting rod 6, rocking bar 5 and rod set 14 that picking direction, which adjusts component,；Sliding block by knob 10,
Axle sleeve 7 and pull rod 8 form；8 both ends of pull rod are fixed respectively with knob 10 and axle sleeve 7；Knob and axle sleeve are nested in hollow stock
Outside, and sliding pair is constituted with hollow stock 9；Axle sleeve 7 and 6 one end of connecting rod are hinged, and the connecting rod other end and rocking bar one end are hinged；It shakes
The bar other end and rod set 14 are hinged, and rod set is fixed at the top of hollow stock.
As shown in Figures 3 and 4, fruit picking end executive module include the first hollow hemisphere 1, the second hollow hemisphere 4,
First blade, the second blade, steering engine 2, steering engine frame 3 and connecting shaft 16；The diameter of two hollow hemispheres obstructs class fruit according to long
Average diameter and select, in the present embodiment the internal diameter of the first hollow hemisphere 1 be 100mm, outer diameter 110mm；Second is hollow
The internal diameter of hemisphere 4 is 110mm, outer diameter 120mm.The bottom of second hollow hemisphere 4 adjusts shaking for component with picking direction
It is fixed in the middle part of bar 5.The first through hole that the first through hole that first hollow hemisphere 1 opens up is opened up with the second hollow hemisphere 4 passes through
Pin shaft 17 is hinged, the second through-hole and two that the second through-hole that the first hollow hemisphere 1 opens up, the second hollow hemisphere 4 open up
A first through hole coaxial arrangement, and two first through hole are located at one end of the first hollow hemisphere 1, two the second through-holes are positioned at the
The other end of one hollow hemisphere 1；Steering engine 2 is fixed by screws on steering engine frame 3, and steering engine frame is fixed on the second hollow hemisphere
The output shaft of 4 outer surfaces, steering engine is connect with connecting shaft 16 by shaft coupling；The second of connecting shaft 16 and the second hollow hemisphere 4
Through-hole constitutes revolute pair, and is fixed in the second through-hole of the first hollow hemisphere 1.It is opened on the curved surface of first hollow hemisphere 1
If triangular notch, the open-top of triangular notch is at the plane of the first hollow hemisphere 1；First blade is embedded in triangle
In notch；Arc-shaped slot is opened up in the plane of second hollow hemisphere 4, the second blade is embedded in arc-shaped slot；First hollow half
The outer normal vector angle of the plane of sphere 1 and the second hollow hemisphere 4 is 0 ° of (i.e. outer surface and second of the first hollow hemisphere 1
The inner surface of hollow hemisphere 4 is overlapped) when, the first blade is located at the top of the second hollow hemisphere, and the second blade is located at first
When the outer normal vector angle of the plane of the bottom of hollow hemisphere 1, the first hollow hemisphere 1 and the second hollow hemisphere 4 is 180 °,
First blade and the second blade are closed.
As shown in Figure 1, fruit transmission buffer channel component is made of split ring 15 and collection channel 13；Split ring is fixed on
Hollow 9 top of stock, and be located at below the executive module of fruit picking end；It is fixed on split ring at the top of collection channel 13.
Control system includes switch, single-chip microcontroller 11, voltage regulator circuit plate and battery.Single-chip microcontroller 11 and switch are each attached to list
In piece machine installation set 12；Single-chip microcontroller installation set is fixed on hollow stock 9.The opening and closing of switch control single-chip microcontroller and steering engine.Electric power storage
The voltage of pond output is powered after voltage regulator circuit plate for single-chip microcontroller and steering engine.Battery is arranged on the ground.
The length obstructs the picking method of class fruit auxiliary picker, specific as follows：
Step 1: user pushes knob 10, the sliding block that knob, pull rod 8 and axle sleeve 7 form is slided along stock 9 together,
Sliding block drives rocking bar 5 to rotate around hinge joint by connecting rod 6, is connected in the fruit picking end executive module on rocking bar with rocking bar 5
Rotation, to complete the picking angular adjustment of fruit picking end executive module, by the stroke for changing sliding block to adapt to give birth to
The different fruit of length direction.
Step 2: two hollow hemisphere initial positions are the plane of the first hollow hemisphere 1 and the second hollow hemisphere 4
Outer normal vector angle is 0 °, as shown in Figure 3；Fruit is inserted in the first hollow hemisphere 1, by lower switch, single-chip microcontroller 11 is controlled
Steering engine 2 stalls automatically after rotating 180 °, second on the first blade and the second hollow hemisphere 4 in the first hollow hemisphere 1
Blade closure cuts off carpopodium, at this point, the outer normal vector angle of the plane of the first hollow hemisphere 1 and the second hollow hemisphere 4 is
It 180 °, as shown in figure 4, the enclosure space between the first hollow hemisphere 1 and the second hollow hemisphere 4 envelopes fruit, avoids
Fruit, which is fallen, to be caused to damage.
Step 3: user position of the adjusting slider on stock 9 again, make fruit picking end executive module to close
Lower switch is then pressed in the rotation of 15 direction of split ring again, and single-chip microcontroller control steering engine stalls automatically after reversely rotating 180 °, and first is empty
Heart hemisphere 1 is opened, and two hollow hemispheres return to initial position, and fruit is fallen into split ring 15, and along collection channel 13
In the collecting box for reaching ground.
Step 4: repeating to realize that fruit is continuously picked Step 1: two and three.
Claims (5)
1. long stalk class fruit assists picker, including hollow stock, picking direction to adjust component, fruit picking end execution group
Part, fruit transmission buffer channel component and control system, it is characterised in that：The picking direction adjust component include sliding block,
Connecting rod, rocking bar and rod set；The sliding block is made of knob, axle sleeve and pull rod；Pull rod both ends are fixed respectively with knob and axle sleeve；
Knob and axle sleeve are nested with outside hollow stock, and constitute sliding pair with hollow stock；Axle sleeve and connecting rod one end are hinged, connecting rod
The other end and rocking bar one end are hinged；The rocking bar other end and rod set are hinged, and rod set is fixed at the top of hollow stock；
The fruit picking end executive module includes the first hollow hemisphere, the second hollow hemisphere, the first blade, second
Blade, steering engine, steering engine frame and connecting shaft；The bottom and picking direction of second hollow hemisphere adjust solid in the middle part of the rocking bar of component
It is fixed；The first through hole that first hollow hemisphere opens up and the first through hole that the second hollow hemisphere opens up are hinged by pin shaft, the
The second through-hole and two first through hole that the second through-hole that one hollow hemisphere opens up, the second hollow hemisphere open up coaxially are set
It sets, and two first through hole are located at one end of the first hollow hemisphere, two the second through-holes are located at the another of the first hollow hemisphere
One end；Steering engine is fixed on steering engine frame, and steering engine frame is fixed on the second hollow hemisphere external surface, the output shaft and connecting shaft of steering engine
It is connected by shaft coupling；Second through-hole of connecting shaft and the second hollow hemisphere constitutes revolute pair, and is fixed on first hollow half
In second through-hole of sphere；Triangular notch is opened up on the curved surface of first hollow hemisphere, is opened at the top of triangular notch
It is put at the plane of the first hollow hemisphere；First blade is embedded in triangular notch；The plane of second hollow hemisphere
On open up arc-shaped slot, the second blade is embedded in arc-shaped slot；Outside the plane of first hollow hemisphere and the second hollow hemisphere
When normal vector angle is 0 °, the first blade is located at the top of the second hollow hemisphere, and the second blade is located at the first hollow hemisphere
Bottom；When the outer normal vector angle of the plane of first hollow hemisphere and the second hollow hemisphere is 180 °, the first blade and the
Two blades closure；
The fruit transmission buffer channel component is made of split ring and collection channel；Split ring is fixed on hollow stock top
End, and be located at below the executive module of fruit picking end；It is fixed on split ring at the top of collection channel；
The control system includes switch, single-chip microcontroller, voltage regulator circuit plate and battery；Single-chip microcontroller and switch are each attached to monolithic
In machine installation set；Single-chip microcontroller installation set is fixed on hollow stock；The opening and closing of switch control single-chip microcontroller and steering engine；Battery output
Voltage power after voltage regulator circuit plate for single-chip microcontroller and steering engine.
2. long stalk class fruit according to claim 1 assists picker, it is characterised in that：The bar of the hollow stock is long
For 1.8m.
3. long stalk class fruit according to claim 1 assists picker, it is characterised in that：First hollow hemisphere
Internal diameter be 100mm, outer diameter 110mm；The internal diameter of second hollow hemisphere is 110mm, outer diameter 120mm.
4. long stalk class fruit according to claim 1 assists picker, it is characterised in that：The battery setting exists
On ground.
5. the picking method of long stalk class fruit auxiliary picker according to any one of claim 1 to 4, feature exist
In：This method is specific as follows：
Step 1: user pushes knob, the sliding block of knob, pull rod and axle sleeve composition is slided along stock together, and sliding block passes through
Connecting rod drives rocking bar to rotate around hinge joint, and the fruit picking end executive module being connected on rocking bar is rotated with rocking bar, thus logical
It crosses and changes the stroke of sliding block to complete the picking angular adjustment of fruit picking end executive module, it is different with Adaptable growth direction
Fruit；
Step 2: two hollow hemisphere initial positions are the outer normal direction of plane of the first hollow hemisphere and the second hollow hemisphere
Measuring angle is 0 °；Fruit is inserted in the first hollow hemisphere body, by lower switch, single-chip microcontroller control steering engine stops automatically after rotating 180 °
Turning, the second blade closure on the first blade and the second hollow hemisphere in the first hollow hemisphere cuts off carpopodium, at this point,
The outer normal vector angle of the plane of first hollow hemisphere and the second hollow hemisphere is 180 °, the first hollow hemisphere and the second sky
Enclosure space between heart hemisphere envelopes fruit；
Step 3: user position of the adjusting slider on stock again, makes fruit picking end executive module to close to opening
Lower switch is then pressed in the rotation of ring direction again, and single-chip microcontroller control steering engine stalls automatically after reversely rotating 180 °, the first hollow hemisphere
Body is opened, and two hollow hemispheres return to initial position, and fruit is fallen into split ring, and the receipts on ground are reached along collection channel
In header；
Step 4: repeating Step 1: two and three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604908.1A CN108925237B (en) | 2018-06-13 | 2018-06-13 | Auxiliary picking device and method for long-stem fruits |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604908.1A CN108925237B (en) | 2018-06-13 | 2018-06-13 | Auxiliary picking device and method for long-stem fruits |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108925237A true CN108925237A (en) | 2018-12-04 |
| CN108925237B CN108925237B (en) | 2020-04-28 |
Family
ID=64446333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810604908.1A Active CN108925237B (en) | 2018-06-13 | 2018-06-13 | Auxiliary picking device and method for long-stem fruits |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108925237B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937698A (en) * | 2019-04-15 | 2019-06-28 | 长安大学 | A kind of booster type fruit picker and its application method |
| CN113179762A (en) * | 2021-05-28 | 2021-07-30 | 西安交通大学 | Single-person portable cherry picking machine |
| CN114503834A (en) * | 2022-02-09 | 2022-05-17 | 武汉理工大学 | Automatic apple picking machine |
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| CN201674800U (en) * | 2009-12-30 | 2010-12-22 | 李鑫 | Fruit picking device |
| CN207083503U (en) * | 2017-07-31 | 2018-03-13 | 广元市昭化区仙和甜柿专业合作社 | A kind of fruit picking device that can change angle |
| CN207382934U (en) * | 2017-11-09 | 2018-05-22 | 四川农业大学 | Plum seed harvester |
| CN108076825A (en) * | 2018-02-26 | 2018-05-29 | 盐城工学院 | High-altitude fruit picking device |
| CN207476251U (en) * | 2017-11-30 | 2018-06-12 | 王子瑞 | A kind of half-open box-like packet cage modle peach picker |
-
2018
- 2018-06-13 CN CN201810604908.1A patent/CN108925237B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4174022A (en) * | 1977-02-14 | 1979-11-13 | Snyder W Henry | Orchard lifts |
| CN201674800U (en) * | 2009-12-30 | 2010-12-22 | 李鑫 | Fruit picking device |
| CN207083503U (en) * | 2017-07-31 | 2018-03-13 | 广元市昭化区仙和甜柿专业合作社 | A kind of fruit picking device that can change angle |
| CN207382934U (en) * | 2017-11-09 | 2018-05-22 | 四川农业大学 | Plum seed harvester |
| CN207476251U (en) * | 2017-11-30 | 2018-06-12 | 王子瑞 | A kind of half-open box-like packet cage modle peach picker |
| CN108076825A (en) * | 2018-02-26 | 2018-05-29 | 盐城工学院 | High-altitude fruit picking device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937698A (en) * | 2019-04-15 | 2019-06-28 | 长安大学 | A kind of booster type fruit picker and its application method |
| CN113179762A (en) * | 2021-05-28 | 2021-07-30 | 西安交通大学 | Single-person portable cherry picking machine |
| CN114503834A (en) * | 2022-02-09 | 2022-05-17 | 武汉理工大学 | Automatic apple picking machine |
| CN114503834B (en) * | 2022-02-09 | 2022-12-02 | 武汉理工大学 | Automatic apple picking machine |
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| Publication number | Publication date |
|---|---|
| CN108925237B (en) | 2020-04-28 |
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