CN108934448A - A kind of flexible double gripping ring-like Double-blade cherry picking machines - Google Patents
A kind of flexible double gripping ring-like Double-blade cherry picking machines Download PDFInfo
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- CN108934448A CN108934448A CN201810645804.5A CN201810645804A CN108934448A CN 108934448 A CN108934448 A CN 108934448A CN 201810645804 A CN201810645804 A CN 201810645804A CN 108934448 A CN108934448 A CN 108934448A
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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
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- 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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- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
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Abstract
The invention discloses a kind of flexible double gripping ring-like Double-blade cherry picking machines, supporting mechanism is gone up and down to be arranged on moveable platform trolley, fine-adjustment positioning mechanism includes parallelogram mechanism, vertically arranged gear mechanism and multiple motors, motor is connect with parallelogram mechanism and gear mechanism respectively, one end of parallelogram mechanism is connect with lifting supporting mechanism, the other end is connect by gear mechanism with round frame pedestal, cyclic annular Double-blade mechanism is arranged on round frame pedestal, it is connect with slider-crank mechanism, cyclic annular Double-blade mechanism includes two cutting blades and two fixed blades of mirror symmetry setting, by driving cutting blade to be picked around its axis rotation by slider-crank mechanism after fine-adjustment positioning mechanism positioning adjustment, cyclic annular Double-blade mechanism lower part, which is provided with, collects hose for picking collection.The configuration of the present invention is simple picks accurate positioning, and high degree of automation is effectively reduced labor intensity, improves labor efficiency, and is suitable for promoting.
Description
Technical field
The invention belongs to technical field of mechanical design, and in particular to a kind of flexible double gripping ring-like Double-blade cherry pickings
Machine.
Background technique
As the mechanization of reading intelligent agriculture is universal, after the fruits such as cherry are mature at present, indirect labor's picking will do it, with
Improve the targets such as picking efficiency, labor intensity, fruit final product quality；For the target, propose that a kind of flexible double gripping ring-like are double
Cutter cherry picking machine.Flexible double clamping devices and cyclic annular Double-blade are coupled by the cherry picking machine, utilize main lifting device
With fine-adjustment positioning mechanism realize Double-blade adaptive location, under the premise of guaranteeing cherry picking quality, can to different height, no
Equidirectional cherry carries out continuous, science picking, meets the actual demand of orchard worker at this stage.
Current existing indirect labor needs picking person to go to pick by the tools climbing fruit tree such as ladder, to make picking person
Labor intensity is high, and labor efficiency is low, and there are security risks for picking process；It is mainly adopted second is that existing indirect labor picks machine
It plucks comb, vibration percussion formula, aspirated-air type, clipping such method and is difficult to realize efficient, scientific picking.
Existing device for picking structure is single, the degree of automation is low, more demanding to the labor intensity of orchard worker.Secondly, existing
Device for picking is contact picking, and cutter inevitably rubs and scrapes fruit in picking process, in addition, branch currently on the market clamps work
Tool mainly be similar to the three rigid clamp structures grabbed, feature not only to branch carry out position fixing process in, can to fruit tree into
Row scratches, moreover, because its rigid structure, sharply declines different shape, the branch adaptability of different directions.In order to effectively,
Science carries out soft fixation to branch, designs the double clamping devices of the flexibility thus.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of flexible double fastener
Support ring shape Double-blade cherry picking machine, to solve existing labor intensity height during current cherry picking, low efficiency, fruit
The problems such as quality is low.
The invention adopts the following technical scheme:
A kind of flexible double gripping ring-like Double-blade cherry picking machines, including lifting supporting mechanism, fine-adjustment positioning mechanism, flexibility
Double clamping devices, cyclic annular Double-blade mechanism and collection device, lifting supporting mechanism are arranged on moveable platform trolley, fine tuning
Positioning mechanism includes parallelogram mechanism, vertically arranged gear mechanism and multiple motors, motor respectively with parallelogram
Mechanism is connected with gear mechanism for finely tuning, and flexible double clamping devices include round frame pedestal and slider-crank mechanism, and parallel four
One end of Bian Xing mechanism is connect with lifting supporting mechanism, and the other end is connect by gear mechanism with round frame pedestal, cyclic annular double-pole
Have mechanism to be arranged on round frame pedestal, be connect with slider-crank mechanism, cyclic annular Double-blade mechanism includes what mirror symmetry was arranged
Two cutting blades and two fixed blades, by driving cutting blade around it by slider-crank mechanism after fine-adjustment positioning mechanism positioning adjustment
Axis rotation is picked, and the lower part of cyclic annular Double-blade mechanism is provided with the collection hose of flare openings, collects the another of hose
One end connect with collection device and is collected.
Specifically, lifting supporting mechanism includes the 4th motor, wirerope, first pulley, the flexible arm cylinder and second of first segment
Flexible arm cylinder is saved, moveable platform trolley includes anti-pulley, support platform and telescopic cylinder, and the flexible arm cylinder setting of first segment is being propped up
It supports on platform, tensioning apparatus is provided in the lower inner wall of the flexible arm cylinder of first segment, the flexible arm cylinder of the second section is sleeved on first segment
In flexible arm cylinder, multiple first pulleys, which are arranged in series in the flexible arm cylinder of first segment, constitutes pulley blocks, one end setting of wirerope
In the inner wall radial line that the second section stretches arm cylinder, successively setting exists the other end after pulley blocks, the 4th motor and pulley blocks
First segment stretch arm cylinder inner wall radial line on, stretch the two-way exhibition of arm cylinder for realizing stretch arm cylinder and the second section of first segment
It opens, the lower part side of support platform is arranged in anti-pulley, and telescopic cylinder is correspondingly arranged at the other side.
Specifically, gear mechanism includes first gear, second gear, the second motor and upper inclined base, parallel four side
Shape mechanism includes third motor, upper spider, lower bearing bracket and four first connecting rods, and four first connecting rods form parallelogram knot
Structure, one end pass through lower bearing bracket respectively and connect with lifting supporting mechanism, and the other end passes through upper spider respectively and connect with gear mechanism, the
Three motors are arranged on lower bearing bracket, connect with a first connecting rod, and first gear is arranged on upper spider, connect with the second motor
It connects, second gear is arcuate structure, and the top of first gear is arranged in, and connection, upper inclined base setting are engaged with first gear
On the top of second gear, it is connect with the round frame pedestal of flexible double clamping devices.
Further, the two sides of parallelogram sturcutre are provided with tension spring, in round frame pedestal it is uniformly distributed there are three third from
Adapt to spring.
Specifically, semicircle type frame group and the 5th motor are provided on round frame pedestal, semicircle type frame group and round frame pedestal
Hingedly, semicircle type frame group includes first round frame and second round frame hinged by bolt group, and the top of the first round frame is set
It is equipped with Holding seat, Holding seat lower part is provided with the first adaptive spring, and the first adaptive spring and semicircle type frame group form
Self-adaptive regulating, the 5th motor are connect by slider-crank mechanism with cutting blade.
Further, slider-crank mechanism include drive connecting rod, first straight line bearing slider, second straight line bearing slider and
Retractable supports axis, one end of drive connecting rod are connect with the 5th motor, and the other end is straight by first straight line bearing slider and second
The connection of line bearing slider, retractable supports axis is horizontally disposed through second straight line bearing slider, and one end is hinged with Holding seat, separately
One end and semicircle type frame group are hinged.
Further, the band logical hole post being provided in clamping for wearing aid bracing wire is moved, quiet clamping, which is equipped with, is used for through-hole
The sliding slot of column sliding, quiet clamping are connected with the lower end of dynamic clamping by rubber band, are clamped one end of bracing wire and are moved what clamping was connected
Quarter butt connection, quarter butt slide in the sliding slot of quiet clamping, and the other end for clamping bracing wire is connect through second pulley with the second motor, use
In the automatic closure for realizing dynamic clamping.
Further, lower ball twisted seat and upper ball twisted seat are provided on second straight line bearing slider, lower ball twisted seat and upper ball twist
The second adaptive spring is equipped between seat and with column steel ball.
Specifically, cyclic annular Double-blade mechanism includes left cutting blade, left fixed blade, right cutting blade, right fixed blade, the first electricity
Machine, third gear, the 4th gear, second connecting rod, third connecting rod and tool rest bracket, left fixed blade and right fixed blade are arranged in knife rest
The inner surface of the two sides of pedestal, left cutting blade and right cutting blade is bonded the outer surface of left fixed blade and right fixed blade respectively, and a left side is dynamic
Two the 4th teeth that blade and right cutting blade pass through second connecting rod and third connecting rod respectively and be arranged on tool rest bracket front end face
Wheel connection, two the 4th gears engage connection with third gear, and first motor is connect with third gear.
Further, left fixed blade, right fixed blade upper end be connected separately with positioning pin, positioning pin and left fixed blade and the right side
The compression spring for flexible connection is provided in the vertical bar of fixed blade.
Compared with prior art, the present invention at least has the advantages that
A kind of flexible double gripping ring-like Double-blade cherry picking machines of the present invention, are passed through using height-adjustable double clamping devices
It is fitted dendritic shape, determines that the motion profile of ring-type Double-blade mechanism utilizes lifting by being coupled with cyclic annular Double-blade mechanism
Supporting mechanism and fine-adjustment positioning mechanism realize the adaptive location of Double-blade, under the premise of guaranteeing cherry picking quality, to not
Cherry with height, different directions carries out continuous, science picking, the small torque axis of the high speed that vertical gear mechanism exports motor
It is changed to low-speed big, has high transmission efficiency, compact-sized, reliable operation, service life length, transmission ratio accurate based on gear drive
The advantages that, to stablize, flexible double clamping devices and cyclic annular Double-blade mechanism are accurately carried out oscillation adjustment.
Further, the one end for passing through motor driven wirerope with pulley combination makes the flexible arm cylinder of first segment and the second section
Flexible arm cylinder realizes two dimensional development, with meet it is certain it is flexible set load substantially, fast lifting machine, tensioning apparatus makes steel
Slipping phenomenon does not occur in transmission process for cord, and anti-pulley and support cylinder can make picking machine mobile or static, can make whole
Machine is convenient in orchard, steadily drags.
Further, the third motor of parallelogram mechanism drives forearm superstructure by driving first connecting rod
Height fine-adjustment, parallelogram mechanism is while small range is translatable, since superstructure is slightly eccentric, thus parallel
Quadrangle two sides are equipped with tension spring, to guarantee the stationarity and safety of top structure movement, to realize efficient, safety picking.
Further, it is equipped with tension spring in parallelogram two sides, to guarantee the stationarity and safety of top structure movement.
To realize efficient, safety picking, three adaptive springs of uniformly distributed third make flexible double clamping devices and annular cutter mechanism
Whole revolution while, and can improve branch and clamping to neutrality, to guarantee that branch is wrapped up by each quiet cutter completely.
Further, the first round frame of mirror symmetry, second are set by the semicircle type frame group of flexible double clamping devices
Round frame and realize that the assembly parts of adaptation functions carry out organic assembling with other, this is compact-sized, it is beautiful and compared to
Other similar component has more practicability, and flexible double fastener is made to hold positioning accuracy height, guarantees flexible double clamping devices and cyclic annular double-pole
Tool mechanism can adapt to different branch environment.
Further, high-efficient, the relative altitude at both ends of straight-line feed motion transmission is carried out using slider-crank mechanism
Adjustable, on the one hand retractable supports axis combines the relative position progress for completing to hold double fastener with self-adaptive regulating adaptive
Answer, give tool feeding act offer condition, with double fastener hold control holding it is synchronous, on the other hand may be buffered in the second motor action mistake
To the rigidity of clamping bracing wire in journey, to improve the reliability of machine.
Further, aid bracing wire provides guiding to cyclic annular Double-blade feed motion, so that picking efficiency is improved, rubber band
Double fastener is set to hold the state of maintaining a normally open, the second motor rotation clamping bracing wire is to pull clamping bracing wire to be closed clamping, thus real
The automatic control for now clamping branch, mitigates the labor intensity of orchard worker.
Further, the second adaptive spring is used for the position of minor adjustments annular cutter, makes cyclic annular Double-blade can be in knife
Tool axle center and branch axle center carry out small adaptation in the case of misaligning.
Further, cyclic annular Double-blade uses contactless picking, passes through right cutting blade, right fixed blade and left moving knife
Piece, left fixed blade intercouple with the teamwork of flexible double clamping devices, fine-adjustment positioning mechanism realize it is efficient, continuously adopt
It plucks.
In conclusion the configuration of the present invention is simple, picks accurate positioning, high degree of automation is effectively reduced labor intensity, mentions
High labor efficiency is suitable for promoting.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is cutter main view of the present invention；
Fig. 3 is cutter left view of the present invention；
Fig. 4 is clamping device schematic diagram of the present invention.
Wherein: 1. first motors；2, left cutting blade；3, linear bearing sliding block；4, quiet clamping；5, clamping is moved；6, first certainly
Adapt to spring；7, right round frame；8, round frame pedestal；9, gear mechanism；10, the second motor；11, first connecting rod；12, third electricity
Machine；13, wirerope；14, anti-pulley；15, the 4th motor；16, Telescopic cylinder；17, first pulley；18, first segment telescopic arm；
19, the second section telescopic arm；20, first gear；21, second gear；22, the 5th motor；23, second pulley；24, retractable supports
Axis；25, collection device；26, Holding seat；27, rubber band；28, left fixed blade；29, positioning pin；30, third gear；31,
Two connecting rods；32, third connecting rod；33, the 4th gear；34, right cutting blade；35, right fixed blade；36, upper ball twisted seat；37, second certainly
Adapt to spring；38, lower ball twisted seat；39, self-adaptive regulating；40, left round frame；41, the adaptive spring of third；42, second
Linear bearing；43, bracing wire is accommodated.
Specific embodiment
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside", " side ", " one end ", " one side " is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively heavy
The property wanted or the quantity for implicitly indicating indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed
Or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " multiple "
It is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The present invention provides a kind of flexible double gripping ring-like Double-blade cherry picking machines, first with height-adjustable double fastener
Mechanism is held by fitting dendritic shape, the motion profile of cutter is determined, by being coupled with cyclic annular Double-blade mechanism, utilizes lifting
Supporting mechanism and fine-adjustment positioning mechanism realize the adaptive location of Double-blade, under the premise of guaranteeing cherry picking quality, to not
Cherry with height, different directions carries out continuous, science picking.
Referring to Fig. 1, a kind of flexible double gripping ring-like Double-blade cherry picking machines of the present invention, including lifting supporting mechanism,
Fine-adjustment positioning mechanism, flexible double clamping devices, cyclic annular Double-blade mechanism and collection device, go up and down the bottom setting of supporting mechanism
On moveable platform trolley, fine-adjustment positioning mechanism includes parallelogram mechanism and vertically arranged gear mechanism 9, and flexibility is double
Clamping device includes round frame pedestal 8 and crank linear bearing slide block mechanism, and one end of parallelogram mechanism and lifting support
Mechanism connection, the other end are connect by gear mechanism 9 with round frame pedestal 8, and cyclic annular Double-blade mechanism is arranged in round frame pedestal 8
On, it is connect with crank linear bearing slide block mechanism, cyclic annular Double-blade mechanism includes two cutting blades and two fixed blades, passes through song
Handle linear bearing slide block mechanism driving cutting blade is picked around its axis rotation, is provided in the lower part of cyclic annular Double-blade mechanism
The collection hose of flare openings, the other end for collecting hose is connect with collection device to be collected.
Going up and down supporting mechanism includes moveable platform trolley and elevating mechanism.
Moveable platform trolley is mainly made of parts such as anti-pulley 14, support platform, telescopic cylinders 16；Elevating mechanism by
The flexible arm cylinder 18 of 4th motor 15, wirerope 13, the concatenated pulley blocks of same size first pulley 17, first segment, the second section are stretched
The composition such as contracting arm cylinder 19.
One end of wirerope 13 is fixed in the inner wall radial line of the flexible arm cylinder 19 of the second section, and the other end successively passes through two
It connect after concatenated first pulley 17 with the 4th motor 15, is connected after the 4th motor 15 and four and concatenated first pulley 17
In in the inner wall radial line that first segment stretches arm cylinder 18, close wirerope 13 in elevating mechanism, first segment stretches arm cylinder 18
Upper inner be radially respectively disposed with a first pulley 17, the stretch lower end surface normal direction of arm cylinder 19 of the second section is provided with two rows two
Column first pulley 17, four first pulleys 17 that the second section stretches in arm cylinder 19 make opposite transport relative to first segment arm cylinder 18 of stretching
It is dynamic.Bidirectional-movement herein refers to the first pulley 17 being connected in support platform in the 4th motor driven, keeps wirerope opposite
Each first pulley 17 moves, and then makes the first pulley 17 of flexible 19 first row of arm cylinder of the second section and the first pulley of second row
17 move round about, and then make how the flexible arm cylinder 18 of first segment and the flexible arm cylinder 19 of the second section realize two dimensional development.
Screw pair in existing elevating mechanism mainly by transmission mechanisms such as ball-screws realizes lifting, and the present invention is to change
Into pulley combination by one end of motor driven wirerope, so that stretch arm cylinder 18, the second section of first segment is stretched the realization of arm cylinder 19
Two dimensional development, with meet it is certain it is flexible set load substantially, fast lifting machine.
Secondly, the lower part side of support platform is arranged in anti-pulley 14, telescopic cylinder 16 is correspondingly arranged at the other side, lifting
The anti-pulley 14 and support cylinder 16 of supporting mechanism can make picking machine mobile or static, and complete machine can be made convenient, flat in orchard
Steady dragging.In order to make wirerope 13 that slipping phenomenon not occur in transmission process, the present invention stretches under arm cylinder 18 in first segment
Portion's inner wall is equipped with tensioning apparatus.
It is herein stretcher, wherein stretcher includes tensioning wheel and adjustable axle stand, and the support shaft of axle stand is adjusted
There are nut, other end welding orthogonal with the axis of tensioning wheel in upper one end.Adjustable axle stand passes through the through-hole of the flexible arm cylinder of first segment
With nut coupled thereto knot tensioning wheel can be made to stretch the outer normal orientation tense wire rope of arm cylinder to first segment, made by adjusting nut
Wirerope has certain pretightning force.
Fine-adjustment positioning mechanism is hinged by three groups of bolt groups with lifting supporting mechanism top, and composition includes parallelogram
Mechanism and gear mechanism.
Gear mechanism 9 includes first gear 20, second gear 21, the second motor 10, end face bearing and upper inclined base
Deng.Parallelogram mechanism includes third motor 12, first connecting rod 11, upper spider and lower bearing bracket, and four first connecting rods 11 form
Parallelogram sturcutre, one end pass through lower bearing bracket respectively and connect with the flexible arm cylinder 19 of the second section for going up and down supporting mechanism, the other end
It is connect respectively by upper spider with gear mechanism 9, third motor 12 is arranged on lower bearing bracket, connect with first connecting rod 11, first
Gear 20 is arranged on upper spider, connect with the second motor 10, and second gear 21 is arcuate structure, and first gear 20 is arranged in
Connection is engaged on top with first gear 20, and the top of second gear 21 is arranged in upper inclined base, with flexible double clamping devices
Round frame pedestal 8 connects.
Gear mechanism 9 can carry out first gear 20 using the second motor 10 self-locking, and can increase and hold to flexible double fastener
Mechanism and cyclic annular Double-blade mechanism tilts efficiency.In parallelogram mechanism, third motor 12 passes through driving first connecting rod 11
Drive the height fine-adjustment of forearm superstructure, parallelogram mechanism is while small range is translatable, since top is tied
Structure is slightly eccentric, is equipped with tension spring in parallelogram two sides thus, to guarantee the stationarity and safety of top structure movement.From
And realize efficient, safety picking.
In 8 rotating device of round frame pedestal, to make integrally turning round for flexible double clamping devices and annular cutter mechanism
Meanwhile and branch can be improved with clamping to neutrality, to guarantee that branch is wrapped up by each quiet cutter completely, thus cleverly equipped with three
A adaptive spring 41 of uniformly distributed third.
In the tilting procedure of flexible double clamping devices, to keep transmission accurate, rapidly, efficiently, vertical tooth is selected thus
Mechanism is taken turns, drives the second motor 10 that the small torque of high speed that motor exports is converted to low-speed big by gear reduced drive,
Have many advantages, such as that high transmission efficiency, compact-sized, reliable operation, the service life is long, transmission ratio is accurate based on gear drive, thus surely
Determine, accurately by flexible double clamping devices and cyclic annular Double-blade mechanism progress oscillation adjustment.
Branch clamping device currently on the market is mainly to be similar to the three rigid clamp structures grabbed, and feature is not only right
Branch can scratch to fruit tree in position fixing process, moreover, because its rigid structure, to different shape, different directions
Branch adaptability sharply declines.Soft fixation is carried out to branch in order to effective, scientific, thus the flexible double clamping devices of design.
Referring to Fig. 4, by semicircle type frame group, double fastener to hold group, self-adaptive regulating 39, crank straight for flexible double clamping devices
Spool holds slide block mechanism composition.
Semicircle type frame group includes the first round frame 7, the second round frame 40, and the first round frame 7 passes through with the second round frame 40
Bolt group is hinged, and the blind hole for installing the first adaptive spring 6, self-adaptive regulating 39 are provided on the first round frame 7
It is made of the first adaptive spring 6 with the first round frame 7 and the second round frame 40, Holding seat 26 is fixed on the first round frame
7 upper surface.
Slider-crank mechanism is by drive connecting rod, first straight line bearing slider 3, second straight line bearing slider 42 and scalable branch
It supports axis 24 to form, one end of drive connecting rod is connect with the 5th motor 22, and the other end is straight by first straight line bearing slider 3 and second
Line bearing slider 42 connects, and retractable supports axis 24 is horizontally disposed through second straight line bearing slider 42, retractable supports axis 24
Both ends it is hinged with semicircle type frame group respectively.
The hinged retractable supports axis 24 in the top side of semicircle type frame group, the bottom side of semicircle type frame group are articulated with circle
On the V-arrangement connecting rod of frame pedestal 8, the other side is articulated on the platform of the 5th motor 22 of slider-crank mechanism, the first round frame 7 and
It is coupled between two round frames 40 by bolt group, 24 other side of retractable supports axis and clamping bottom for the feeding of annular cutter mechanism
Seat 26 is hinged, and left and right clamping is fixed on 7 right upper portion of Holding seat 26 and the first round frame, left and right clamping with bolt group respectively
It is quiet clamping 4, dynamic clamping 5 hingedly composition, wherein the band logical hole post for wearing aid bracing wire 43 is provided in dynamic clamping 5, it is quiet
It clamps and is equipped with the rubber band 27 resetted for reset between sliding slot and sound clamping of 4 arms equipped with the sliding of through-hole column.
In the round frame group design of flexible double clamping devices, to make flexible double fastener hold positioning accuracy height, and guarantee soft
Property double clamping device with cyclic annular Double-blade mechanism can adapt to different branch environment, thus by the semicircle of flexible pair of clamping devices
Type frame group is set as the first round frame 7, the second round frame 40 and the assembly that adaptation function is realized with other of mirror symmetry
Part carries out organic assembling.This is compact-sized, beautiful and have more practicability compared to other similar component.
In the clamping group design of flexible double clamping devices, in order to stablize branch, it is equipped with novel double clamp structures thus, to
Cyclic annular Double-blade feed motion provides guiding, to improve picking efficiency.To make double fastener hold the state of maintaining a normally open, it is equipped with rubber thus
Rubber band 27 connects the lower end of two sides quiet clamping 4 and dynamic clamping 5, moves connection clamping bracing wire 43 on the connected quarter butt of clamping 5, quarter butt exists
It is slided in the slot of quiet clamping 4, (sandwich respectively accounts for a slot, folder in second pulley 23 for clamping bracing wire 43 drawing to underlying wound
It is opposite to hold 43 winding direction of bracing wire), then using second motor 22 (being shared with crank block) rotation clamping bracing wire 43, to draw
It is dynamic to clamp bracing wire 43 to control, make 5 closure of clamping, to realize the automatic control of clamping branch, the labour for mitigating orchard worker is strong
Degree.
In the self-reacting device design of flexible double clamping devices, the first adaptive spring 6 can be in special circumstances to two
The relative position of clamping is adjusted, to guarantee that cyclic annular Double-blade picks the entirely on the center of branch with target.
In the crank linear bearing slider designs of flexible double clamping devices, achievable straight-line feed movement existing at present
Transmission has synchronous belt, lead screw etc., but since the efficiency of synchronous belt, lead screw wants low compared to crank linear bearing sliding block, and
The relative altitude at its both ends cannot be adjusted.In addition, the derivative mechanism of shaping machine is improved herein, to realize and there is height
The self-reacting device 39 and double fastener of adaptability hold the ingenious combination of aid group of relative position adjusting.
In order to make double fastener hold fitting branch approximate with cyclic annular Double-blade, it is equipped with retractable supports axis 24 herein, thus a side
Combine the relative position for completing to hold double fastener with self-adaptive regulating 39 and adaptively, give tool feeding to act and item is provided in face
Part, with double fastener hold control holdings it is synchronous, on the other hand may be buffered in 10 action process of the second motor to clamp bracing wire 43 it is rigid
Degree, to improve the reliability of machine.
In addition, being provided with ball twisted seat 36 on second straight line bearing slider 42 for the position of minor adjustments annular cutter
With lower ball twisted seat 38, equipped with the second adaptive spring 37 and with column steel ball in upper ball twisted seat 36 and lower ball twisted seat 38, so that cyclic annular
Double-blade can carry out small adaptation when cutter axle center and branch axle center misalign.
It collects hose to be fixed on ball twisted seat 36, be acted with flexible double clamping devices.
Fig. 2 and Fig. 3 are please referred to, annular cutter mechanism includes the left cutting blade 2, left fixed blade 28, right moving knife of mirror symmetry
Piece 34, right fixed blade 35, first motor 1, third gear 30, the 4th gear 33, second connecting rod 31, third connecting rod 32, knife rest bottom
Seat.
Left fixed blade 28, the right fixed blade 35 of annular cutter connect firmly on the two sides with tool rest bracket, and third gear 30 is coupled
In on motor shaft, the shaft of the 4th gear 33 is linked on the front end face of tool rest bracket, and left cutting blade 2, right cutting blade 34 are distinguished
Be fixed on the side of second connecting rod 31, third connecting rod 32, left cutting blade 2, right cutting blade 34 inner surface fit in respectively it is left quiet
Blade 28, right fixed blade 35 outer surface on, left fixed blade 28, right fixed blade 35 upper end be linked with positioning pin 29, positioning pin
29 thereafter with left fixed blade 28, right fixed blade 35 vertical bar on be connected to compression spring, to guarantee the flexible connection of each dynamic and static blade
Knot.Second connecting rod 31, third connecting rod 32 the other end be hingedly connected on the front end face of the 4th gear of two sides, to pass through drive
Dynamic first motor is engaged with the 4th gear 33 by third gear 30 with driving third gear 30 to rotate by motion transmission to the
On two connecting rods 31, third connecting rod 32, further, left cutting blade 2 is transmitted motion to, on right cutting blade 34, to realize each
Relatively each fixed blade of cutting blade moves reciprocatingly.
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 described and shown in usually here in attached drawing is real
The component for applying example can be arranged and be designed by a variety of different configurations.Therefore, below to the present invention provided in the accompanying drawings
The detailed description of embodiment be not intended to limit the range of claimed invention, but be merely representative of of the invention selected
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Firstly, by the 4th motor 14 be powered, make its rotate forward with drive first pulley 17 turn round, by wirerope 13 with
The relative motion of first pulley 17 is carrying out height using elevating mechanism to target picking branch to realize the height coarse adjustment of complete machine
After spending coarse adjustment, axle center height approximation and the target branch phase of the left cutting blade 2, right fixed blade 34 of annular Double-blade mechanism at this time
Deng；
Then pass through and drive the second motor 10 of the gear mechanism of fine-adjustment positioning mechanism by cyclic annular Double-blade and flexible double fastener
It holds mechanism to be tilted, to make the axle center centering approximate with the axle center of target branch of left cutting blade 2, right fixed blade 34, then
By driving the third motor 12 of fine-adjustment positioning mechanism parallelogram mechanism so that cyclic annular Double-blade and flexible double clamping devices
Height carry out secondary accurate adjustment, so that it is guaranteed that the axle center " three-core unification " of cyclic annular Double-blade and flexible double clamping devices, Jin Erwei
The continuous picking of cyclic annular Double-blade provides position basis；
Followed by successively driving first motor 1, the 5th motor 22, under the movement of flexible double clamping devices, the 5th
Motor 22 successively drives first straight line bearing slider 3 and second straight line bearing slider 42, then will under cyclic annular Double-blade mechanism
The hinged ball in side twists phase trigger action, so as to which in flexible double clamping devices, along branch direction, feeding is completed at the same time cyclic annular Double-blade
" contactless " the shearing cherry of mechanism；The cherry that will be cut by the coupling of cyclic annular each fixed blade of Double-blade mechanism and each cutting blade
Peach can be collected cherry by collection device 25.
In order to continuously pick the cherry of same branch different location, can be moved by opening the second motor 10, third motor 12
Make the parallelogram mechanism and gear mechanism of fine-adjustment positioning mechanism, repeats the location action in previous step, make flexible double fastener
Hold the dynamic clamping 5 of mechanism and cyclic annular Double-blade mechanism, quiet clamping 4, each cutting blade, each fixed blade it is fully wrapped around live target branch
Upper end.
Further, the 5th motor 22, first motor 1 are successively opened, slider-crank mechanism is by the cyclic annular Double-blade of movement
It is fed forward, cuts off cyclic annular Double-blade during feeding by the carpopodium between fruit and branch, fruit passes through cutter
Collection hose below device is transmitted in collection device 25.To successively the cherry of same branch efficiently, continuously adopt
It plucks.
Branch is closed on last picking in order to pick, can be acted micro- by opening third motor 12, the second motor 10
The parallelogram mechanism and gear mechanism 9 for adjusting positioning mechanism, repeat the location action in previous step, make flexible double clamping machines
Structure and the dynamic clamping 5 of cyclic annular Double-blade mechanism, quiet clamping 4, each cutting blade, each fixed blade it is fully wrapped around live target branch it is upper
End.
Further, the 5th motor 22, first motor 1 are successively opened, slider-crank mechanism is by the cyclic annular Double-blade of movement
It is fed forward, cuts off cyclic annular Double-blade during feeding by the carpopodium between fruit and branch, fruit passes through cutter
Collection hose below device is transmitted in collection device 25.To successively the cherry of same branch efficiently, continuously adopt
It plucks.
The present invention devises novel shear, and annular blade surrounds trunk, then when each cutting blade of crank handle turns
Around its axis rotation, cutting blade blade is made to do relative motion with fixed blade blade, falls it by the carpopodium cutting of shearing force,
Complete cutting action.The feeding of continuous action and crank linear bearing sliding block based on cutting blade acts on, and keeps device continuous
Shearing carpopodium, improve picking efficiency.The Design of length of fixed blade blade is deliberately much larger than to cutting blade, and front is gradually
It comes to a point.The carpopodium of cherry can be made to be easier to enter between the gap of blade in this way, complete the task of cutting carpopodium, but also can
Fruit or branch are switched to avoid blade.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (10)
1. a kind of flexible double gripping ring-like Double-blade cherry picking machines, which is characterized in that including lifting supporting mechanism, fine tuning positioning
Mechanism, flexible double clamping devices, cyclic annular Double-blade mechanism and collection device, lifting supporting mechanism setting are small in moveable platform
Che Shang, fine-adjustment positioning mechanism include parallelogram mechanism, vertically arranged gear mechanism (9) and multiple motors, motor difference
It connect with parallelogram mechanism and gear mechanism (9) for finely tuning, flexible double clamping devices include round frame pedestal (8) and song
One end of handle slide block mechanism, parallelogram mechanism is connect with lifting supporting mechanism, and the other end passes through gear mechanism (9) and round
Frame pedestal (8) connection, cyclic annular Double-blade mechanism are arranged on round frame pedestal (8), connect with slider-crank mechanism, cyclic annular double-pole
Tool mechanism includes two cutting blades and two fixed blades of mirror symmetry setting, by song after being adjusted by fine-adjustment positioning mechanism positioning
Handle slide block mechanism driving cutting blade is picked around its axis rotation, and the lower part of cyclic annular Double-blade mechanism is provided with flare openings
Collection hose, the other end for collecting hose is connect with collection device to be collected.
2. a kind of flexible double gripping ring-like Double-blade cherry picking machines according to claim 1, which is characterized in that lifting branch
Support mechanism includes the 4th motor (15), wirerope (13), first pulley (17), first segment stretches arm cylinder (18) and the second section is flexible
Arm cylinder (19), moveable platform trolley include anti-pulley (14), support platform and telescopic cylinder (16), and first segment stretches arm cylinder
(18) be arranged in support platform, first segment stretch arm cylinder (18) lower inner wall on be provided with tensioning apparatus, the second section stretches
Arm cylinder (19) is sleeved on first segment and stretches in arm cylinder (18), and multiple first pulleys (17) are arranged in series in the flexible arm cylinder of first segment
(18) pulley blocks are constituted in, one end setting of wirerope (13) is another in the inner wall radial line that the second section stretches arm cylinder (19)
Successively setting is stretched the inner wall radial line of arm cylinder (18) in first segment by pulley blocks, the 4th motor (15) and pulley blocks after at end
On, it stretches the two dimensional development of arm cylinder (19) for realizing stretch arm cylinder (18) and the second section of first segment, anti-pulley (14) setting exists
The lower part side of support platform, telescopic cylinder (16) are correspondingly arranged at the other side.
3. a kind of flexible double gripping ring-like Double-blade cherry picking machines according to claim 1, which is characterized in that gear mechanism
Structure (9) includes first gear (20), second gear (21), the second motor (10) and upper inclined base, parallelogram mechanism
Including third motor (12), upper spider, lower bearing bracket and four first connecting rods (11), four first connecting rods (11) form parallel four side
Shape structure, one end pass through lower bearing bracket respectively and connect with lifting supporting mechanism, and the other end passes through upper spider and gear mechanism (9) respectively
Connection, third motor (12) are arranged on lower bearing bracket, connect with a first connecting rod (11), and first gear (20) is arranged in upper machine
It on frame, is connect with the second motor (10), second gear (21) is arcuate structure, and setting is on the top of first gear (20), with the
One gear (20) engagement connection, circle of the upper inclined base setting on the top of second gear (21), with flexible double clamping devices
Frame pedestal (8) connection.
4. a kind of flexible double gripping ring-like Double-blade cherry picking machines according to claim 3, which is characterized in that parallel four
The two sides of side shape structure are provided with tension spring, and uniformly distributed in round frame pedestal (8) there are three the adaptive springs of third (41).
5. a kind of flexible double gripping ring-like Double-blade cherry picking machines according to claim 1, which is characterized in that round frame
Semicircle type frame group and the 5th motor (22) are provided on pedestal (8), semicircle type frame group and round frame pedestal (8) are hingedly, semi-circular
Frame group includes first round frame (7) and second round frame (40) hinged by bolt group, the top setting of the first round frame (7)
Have Holding seat (26), Holding seat (26) lower part is provided with the first adaptive spring (6), the first adaptive spring (6) and half
Round frame group forms self-adaptive regulating (39), and the 5th motor (22) is connect by slider-crank mechanism with cutting blade.
6. a kind of flexible double gripping ring-like Double-blade cherry picking machines according to claim 5, which is characterized in that slide crank
Block mechanism includes drive connecting rod, first straight line bearing slider (3), second straight line bearing slider (42) and retractable supports axis
(24), one end of drive connecting rod is connect with the 5th motor (22), and the other end passes through first straight line bearing slider (3) and second straight line
Bearing slider (42) connection, retractable supports axis (24) is horizontally disposed through second straight line bearing slider (42), one end and clamping
Hingedly, the other end and semicircle type frame group are hinged for pedestal (26).
7. a kind of flexible double gripping ring-like Double-blade cherry picking machines according to claim 5, which is characterized in that dynamic clamping
(5) the band logical hole post for wearing aid bracing wire (43) is provided on, quiet clamping (4) is equipped with the sliding slot for the sliding of through-hole column,
The lower end of quiet clamping (4) and dynamic clamping (5) is connected by rubber band (27), one end of clamping bracing wire (43) and dynamic clamping (5) phase
Even quarter butt connection, quarter butt it is quiet clamping (4) sliding slot in slide, clamp bracing wire (43) the other end through second pulley (23) with
Second motor (22) connection, for realizing the automatic closure of dynamic clamping (5).
8. a kind of flexible double gripping ring-like Double-blade cherry picking machines according to claim 5, which is characterized in that second is straight
Be provided with lower ball twisted seat (38) and upper ball twisted seat (36) on line bearing slider (42), lower ball twisted seat (38) and upper ball twisted seat (36) it
Between be equipped with the second adaptive spring (37) and with column steel ball.
9. a kind of flexible double gripping ring-like Double-blade cherry picking machines according to claim 1, which is characterized in that cyclic annular double
Cutter mechanism includes left cutting blade (2), left fixed blade (28), right cutting blade (34), right fixed blade (35), first motor (1),
Three gears (30), the 4th gear (33), second connecting rod (31), third connecting rod (32) and tool rest bracket, left fixed blade (28) and the right side
Fixed blade (35) is arranged in the two sides of tool rest bracket, and the inner surface of left cutting blade (2) and right cutting blade (34) is bonded left quiet respectively
The outer surface of blade (28) and right fixed blade (35), left cutting blade (2) and right cutting blade (34) pass through second connecting rod (31) respectively
It is connect with third connecting rod (32) with two the 4th gears (33) being arranged on tool rest bracket front end face, two the 4th gears (33)
Connection is engaged with third gear (30), first motor (1) is connect with third gear (30).
10. a kind of flexible double gripping ring-like Double-blade cherry picking machines according to claim 9, which is characterized in that Zuo Jing
Blade (28), right fixed blade (35) upper end be connected separately with positioning pin (29), positioning pin (29) and left fixed blade (28) and right
The compression spring for flexible connection is provided in the vertical bar of fixed blade (35).
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| CN201810645804.5A CN108934448B (en) | 2018-06-21 | 2018-06-21 | Flexible double-clamping annular double-cutter cherry picking machine |
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| CN201810645804.5A CN108934448B (en) | 2018-06-21 | 2018-06-21 | Flexible double-clamping annular double-cutter cherry picking machine |
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| CN113273473B (en) * | 2021-04-30 | 2023-03-14 | 中国热带农业科学院橡胶研究所 | Profiling mechanism of single-arm bidirectional rubber tapping device |
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| CN116941422A (en) * | 2023-08-03 | 2023-10-27 | 淮安市福美好农业机械有限公司 | Stable full-automatic apple picking machine with supporting structure |
| CN116941422B (en) * | 2023-08-03 | 2024-03-19 | 淮安市福美好农业机械有限公司 | Stable full-automatic apple picking machine with supporting structure |
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