CN109156153B - Strawberry picking integrated clothes device - Google Patents

Strawberry picking integrated clothes device Download PDF

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Publication number
CN109156153B
CN109156153B CN201810893799.XA CN201810893799A CN109156153B CN 109156153 B CN109156153 B CN 109156153B CN 201810893799 A CN201810893799 A CN 201810893799A CN 109156153 B CN109156153 B CN 109156153B
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China
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strawberry
fixing
shearing
conveying
plate
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CN109156153A (en
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张嘉泰
李娜
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Xuzhou Quanxin wool products Co., Ltd
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Xuzhou Shengdoushi Biological Technology Co ltd
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Publication of CN109156153A publication Critical patent/CN109156153A/en
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Cultivation Of Plants (AREA)

Abstract

The invention discloses a strawberry picking integrated clothes device which comprises a wearing mechanism, a shearing mechanism, a stem leaf protecting mechanism, a conveying mechanism, a control mechanism, a fixing mechanism and a loading mechanism, wherein the wearing mechanism comprises a shoulder fixing piece, a fixing buckle, a fixing connecting belt, a waist fixing piece and a leg fixing piece, the shearing mechanism is arranged on the leg fixing piece, the stem leaf protecting mechanism is arranged on the shearing mechanism, the fixing mechanism is arranged on the leg fixing piece, the conveying mechanism is arranged on the leg fixing piece and the fixing mechanism, the control mechanism is arranged in the fixing mechanism and the conveying mechanism, and the loading mechanism is arranged on the waist fixing piece. The invention belongs to the technical field of agricultural machinery, and particularly provides a strawberry picking integrated clothes device which is simple to operate, comfortable to wear, free of stooping for picking, capable of guaranteeing that strawberries are not damaged, capable of automatically transmitting, protecting strawberry stems, leaves and immature fruits from being damaged in picking, and convenient for picking and storing the strawberries separately.

Description

Strawberry picking integrated clothes device
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a strawberry picking integrated clothes device.
Background
The strawberry has high nutritive value, contains rich vitamin C, has the efficacy of helping digestion, can consolidate the gum, freshen the breath and moisten the throat, and is very popular with consumers due to the special appearance. The eating amount of the strawberry market in 2016 is up to 920 ten thousand tons, which is 5% higher than that in 2015. From 2007 to 2016, strawberry production increased annually with an annual growth rate of 5.1%, and worldwide strawberry production reached $ 156 billion. It is expected that strawberry consumption will continue to increase, and the global market consumption will reach 1150 million tons by 2025. China is the biggest strawberry producing country in the world, and according to statistics, the planting area of the strawberry in 2017 is 230 mu more than ten thousand mu, the yield is 400 ton more than ten thousand tons, and the total yield reaches more than 600 hundred million yuan RMB.
At present, strawberry planting can be divided into an overhead type and a ridge planting type, and because the overhead type planting cost of the strawberries is too high, the strawberries are planted in the ridge planting type mostly in China. However, for the ridge planting of strawberries, a great deal of manpower is consumed for picking the strawberries when the strawberries are ripe, a picker needs to bend down or squat to pick the strawberries, great labor is consumed, and after the posture is kept for a long time, the picker may suffer from occupational diseases such as lumbar muscle strain, lumbar disc herniation and the like. Most of existing strawberry picking equipment adopts a sensor to pick strawberries after identifying the strawberries, but the precision of the sensor is high without human eyes at all, so that wrong picking is easy to occur, or the phenomena of damaging stems, leaves and immature fruits of the strawberries affect the growth of the strawberries, the front surfaces of some strawberries are fresh, the back surfaces close to the ground can be rotten or damaged by worms, bad fruits and worm fruits cannot be well identified when the strawberries are picked by the existing machine, secondary picking is carried out by concentrating manpower after picking, the time and energy of users are wasted, the bad fruits, the worm fruits and the fresh strawberries are put together, the storage, the smell and the taste of the fresh strawberries are affected, and the fresh strawberries are also easy to rot; in addition, the strawberry is easy impaired when current machine is picked, influences the outward appearance and the taste of strawberry, influences the save time of strawberry, and the topography of strawberry is planted to ridge culture formula may not be enough regular, and there is the pothole on the ground, and some large-scale harvesting equipment may the focus unstable, or can't guarantee betterly not to press the strawberry at the harvesting in-process.
The patent application with the application number of 201810256558.4 discloses a flexible strawberry picker and a full-automatic strawberry picking spider cart applying the same, and the flexible strawberry picking spider cart comprises a base, wherein at least three four-bar mechanisms with the same structure are arranged on the base along the circumferential direction; the four-bar linkage mechanism is formed by sequentially hinging a main arm, a finger section, an auxiliary arm and a base; the tail ends of the finger sections extend downwards to form clamping ends, and the clamping ends of the three finger sections are arranged oppositely; the upper end of the main arm is hinged on the base, and an elastic tensioning device is arranged between the auxiliary arm and the base; a pull rope driving device is arranged between the main arm and the base. The movable picking mechanism of the strawberry picking spider wagon adopts a delta mechanical arm, although the mechanical arm can move freely, the manufacturing cost is high, and common strawberry growers cannot bear the delta mechanical arm; when the strawberry is driven to rotate by the motor to unscrew the strawberry, the strawberry is not sensitive to hands, the speed and the force are not easy to control, the calyx of the strawberry is easy to unscrew, the storage of the strawberry is influenced by the separation of the strawberry and the calyx, the strawberry is fast in deterioration and decay, in addition, the whole strawberry plant is easy to rotate when the strawberry rotates, and the root of the strawberry can be screwed out of the ground surface when the strawberry rotates seriously; when picking, the strawberry clamping and picking mechanism is too large in size, easily damages other strawberries, or branches, leaves and immature fruits of the strawberries, influences the strawberries to continuously bloom and fruit, reduces the yield of the strawberries, and machine learning is carried out on haar wavelets, so that a complex structure and language program are needed, program compiling is easy to break down, the accuracy of strawberry picking is influenced, and bad fruits and worm fruits cannot be distinguished in the machine learning when the strawberries are picked.
The patent application with the application number of 201810015236.0 discloses a strawberry picking device, which comprises a handle, a hand brake, a controller, a telescopic rod, a hand brake cable, a spherical hinge, a guide rail and a picking structure; the method is characterized in that: the telescopic rod can be stretched in a certain range; the picking structure is connected with the telescopic rod through a spherical hinge, and the angle can be adjusted within a certain range; the outer shell in the picking structure is connected with the tooth-shaped box through the guide rail and the ball screw, so that the distance between the two outer shells can be changed; the tooth-shaped blade in the picking structure is connected with the tooth-shaped box through a slide rod and can move left and right under the control of the hand brake. Although the strawberry picking device can avoid stooping picking for a picker, the device does not have a fixed position and a stress point, a user needs to hold the device for picking for a long time, the picker is easy to suffer from shoulder and arm muscle strain, a plurality of strawberries are placed in one container for picking simultaneously when picking, the picking efficiency is improved, the strawberries are easy to extrude, the surfaces of the strawberries are scratched, and the storage time is shortened; meanwhile, the picker needs to lift the device and move the device into the loading box after picking the strawberries, so that the strawberries can be placed into the loading box, the box is troublesome, time and labor are wasted, and bad fruits and worm fruits cannot be picked out when the strawberries are picked.
Disclosure of Invention
In order to solve the existing problems, the invention provides the integrated strawberry picking clothes device which does not need a picker to bend down, ensures the integrity of strawberries, does not damage branches and leaves of the strawberries and immature fruits, is convenient to operate, is not limited by terrain, automatically conveys the strawberries, and separately contains worm fruits, bad fruits and fresh strawberries.
The technical scheme adopted by the invention is as follows: the invention relates to a strawberry picking integrated clothes device, which comprises a wearing mechanism, a shearing mechanism, a stem leaf protecting mechanism, a conveying mechanism, a control mechanism, a fixing mechanism and a loading mechanism, wherein the wearing mechanism comprises a shoulder fixing piece, a fixing buckle, a fixing connecting belt, a waist fixing piece and a leg fixing piece;
the shearing mechanism comprises a gear shearing module, a shearing fixing module and a strawberry receiving shovel, the shearing fixing module is arranged on a right leg fixing part, people usually use right hands to do the shearing mechanism, the right hand is more sensitive, the shearing mechanism is arranged on the right leg fixing part, and is convenient for a picker to operate, the shearing fixing module comprises a fixing post, a universal joint, a sliding rail, a fixing plate, a sliding plate, a shearing sliding block, a shearing sliding rail and an angle adjusting handle, the fixing post is fixedly connected to the right leg fixing part and plays a role in bearing and stabilizing the shearing mechanism, one end of the universal joint is arranged on the fixing post, the fixing plate is arranged at the other end of the universal joint, the sliding plate is arranged on the fixing plate in a sliding manner, the sliding plate can drive the gear shearing module to slide up and down, the strawberry is convenient to pick, the strawberry is prevented from being too far away from the strawberry, the gear shearing module cannot shear the strawberry or the gear shearing module is too close to the strawberry to damage the surface of the strawberry, the storage of strawberries is prevented from being influenced, a supporting plate is arranged at the lower end of the fixed plate, the supporting plate at the bottom of the fixed plate can better stabilize the sliding connection plate, the sliding connection plate is prevented from sliding off the fixed connection plate, the shearing slide rail is arranged on the front wall of the fixed plate, the shearing slide block is arranged on the rear wall of the sliding connection plate, one end of the universal joint is arranged on the fixed connection column, the other end of the universal joint is arranged on the rear wall of the fixed plate, the angle adjusting handle is arranged at the upper part of the fixed plate, the watch is in a handheld shape, the handheld angle adjusting handle conforms to the ergonomic design, the comfort level of a user is improved, the angle adjusting handle and the universal joint can drive the shearing mechanism to adjust the angle freely, and strawberries at different positions can be conveniently sheared; the sliding connection plate comprises an upper sliding connection plate, a lower sliding connection plate and a middle sliding connection plate, and the sliding rail is arranged in the middle of the front wall of the upper sliding connection plate; the gear shearing module is arranged on the shearing fixing module and comprises a shearing driving gear, a shearing handle, a traction rod, a limiting part, a driven rack, a straight rack, a driven gear, an arc rack, a shearing part and a rotating central column, wherein the central shaft part of the shearing driving gear is hinged to the right half part of the front wall of the upper sliding plate, so that the fixation and the bearing of the shearing driving gear are ensured, the shearing driving gear is an incomplete gear, the surface of the shearing driving gear is provided with sawteeth, the driven rack is arranged on the outer side of the shearing driving gear, the driven rack is provided with sawteeth, the length of the sawteeth on the driven rack is equal to the arc length of the sawteeth on the shearing driving gear, the sawteeth of the shearing driving gear are meshed with the sawteeth of the driven rack, when the shearing driving gear rotates, the incomplete gear on the surface of the shearing driving gear can drive the driven rack to do up-and-down reciprocating motion, the left driven rack and the right driven rack are both provided with sawteeth, the length of the sawteeth on the left driven rack and the length of the sawteeth on the right driven rack are equal to the arc length of the sawteeth on the shearing driving gear, when the shearing driving gear is meshed with the left driven rack, the left driven rack rotates clockwise along with the rotation of the shearing driving gear to rise, and when the shearing driving gear is meshed with the right driven rack, the right driven rack rotates clockwise along with the rotation of the shearing driving gear to fall; the shearing handle is arranged at the central part of the front wall of the shearing driving gear, the shearing handle drives the shearing driving gear to rotate, the draw bar is arranged on the driven rack, the limiting part is arranged on the sliding plate, the draw bar is arranged between the limiting part and the sliding plate, the limiting part has a limiting effect on the up-and-down movement of the driven rack, the limiting part and the shearing driving gear have a bearing effect on the driven rack, the straight rack is arranged at the lower end of the draw bar, the surface of the straight rack is provided with sawteeth, the draw bar reciprocates up and down along with the driven rack and drives the straight rack to reciprocate up and down, the driven gear is hinged on the lower sliding plate and is meshed with the straight rack, the rotating central column is arranged on the lower sliding plate, the shearing part is hinged on the rotating central column, the rotating central column has fixing and bearing effects on the shearing part, the arc-shaped rack is arranged on the shearing part, the driven gear is meshed with the arc-shaped rack, the driven gear is arranged between the straight rack and the arc-shaped rack, the driven gear does reciprocating rotary motion along with the up-and-down reciprocating motion of the straight rack and drives the arc-shaped rack to do arc reciprocating motion, so that a shearing part achieves a shearing effect; the strawberry receiving shovel is arranged at the lower end of the fixing plate and is arranged under the shearing part, so that the strawberries can be sheared by sliding the sliding connection plate after being shoveled by the strawberry receiving shovel, the strawberries are convenient to shear, the strawberries are prevented from falling into the strawberry receiving shovel, the front part of the strawberry receiving shovel is in a smooth arc shape, and a film on the surface of a strawberry planting ground cannot be damaged when a picker picks the strawberries;
the stem leaf protection mechanism comprises a lower sliding handle, a lower sliding block, a fixed rail sliding block, an arc-shaped sliding rail, a rotating part, a rotating limiting column, a push rod and a push plate, wherein the lower sliding block is arranged in the sliding rail in a sliding clamping manner, the rotating limiting column is arranged on the lower sliding block, the lower sliding handle is arranged on the rotating limiting column, the lower sliding block can be driven by the lower sliding handle to slide in the sliding rail, so that the stem leaf protection mechanism is driven to move upwards and downwards, the lower sliding block and the sliding rail can be used for completely opening rhizomes of strawberries with different heights, one end of the rotating limiting column is arranged on the lower sliding block, the other end of the rotating limiting column is arranged on the lower sliding handle, the rotating limiting column comprises a rotating bearing rod and a rotating limiting rod, the rotating limiting rod is arranged at two ends of the rotating bearing rod, the rotating part is rotatably arranged on the rotating bearing rod, the rotating limiting rod plays a limiting role on the rotating part, and prevents the rotating part from moving back and forth or generating gaps, guarantee to reach the effect of protection strawberry stem leaf better, the rotating member is the ring than the wide 0.5CM of diameter of rotation carrier bar, and the rotating member of being convenient for is rotatory around rotatory carrier bar, on the rotating member was located to the push rod upper end, the lower extreme of push rod is located to the push pedal, and push pedal and push rod horizontal rotation of being convenient for, the push pedal is longer, under the combined action of user's power of exerting force downwards and gravity, can guarantee that the strawberry stem leaf on left and right sides all can strut completely, the rail setting slider is located on the push rod, the arc slide rail is located between push rod and the rail setting slider, and rail setting slider and arc slide rail combine to use, guarantee when user's downward slip gliding handle, the push rod drives the rotatory certain safety space that produces of push pedal to can also guarantee when cuting the strawberry can not injure other stem leaves and immature fruit.
Furthermore, the sliding connection plate comprises an upper sliding connection plate, a lower sliding connection plate and a middle sliding connection plate, the upper sliding connection plate and the lower sliding connection plate are the same in width, the middle sliding connection plate is half of the width of the upper sliding connection plate, the upper end of the middle sliding connection plate is arranged on the right half of the lower wall of the upper sliding connection plate, and the lower end of the middle sliding connection plate is arranged on the right half of the upper wall of the lower sliding connection plate, so that the shearing mechanism is convenient to fix, small and light as much as possible, and convenient for a picker to operate; the traction rod comprises an upper traction rod and a lower traction rod, the lower end of the upper traction rod is arranged at the upper end of the driven rack, and the upper end of the lower traction rod is arranged at the lower end of the driven rack; the limiting piece comprises an upper limiting piece and a lower limiting piece, the upper traction rod is arranged between the upper limiting piece and the sliding connection plate, the lower traction rod is arranged between the lower limiting piece and the sliding connection plate, the upper limiting piece and the lower limiting piece limit the driven rack, and the lower limiting piece can prevent the driven rack and the traction rod from sliding downwards under the action of gravity when a picker does not use the shearing mechanism; the shearing piece includes left sword, right sword, left sword upper end is located down on the fishplate bar, right sword upper end is located to the arc rack, left sword and right sword handing-over department are located in the articulated left sword and right sword handing-over department of locating of rotatory center post one end, the other end of rotatory center post is located down on the fishplate bar, when spur rack upward movement, driven gear anticlockwise rotation, arc rack is arc motion downwards, it is rotatory around rotatory to drive the right sword, left sword and right sword separation, when spur rack downstream, driven gear clockwise rotation, arc rack upwards is arc motion, it is rotatory around rotatory to drive the right sword, left sword and right sword coincide, reach the shearing effect.
Furthermore, the rotating part comprises a left rotating part and a right rotating part, the left rotating part and the right rotating part can be rotatably sleeved on a rotating bearing rod of a rotating limiting column, the width of the left rotating part and the width of the right rotating part are half of the width of a push rod, so that the length of the rotating limiting column is smaller, the stem leaf protection mechanism is guaranteed to be small and portable, the push rod comprises a left push rod and a right push rod, the push rod comprises a left push plate and a right push plate, the upper end of the left push rod is arranged on the left rotating part, the upper end of the right push rod is arranged on the right rotating part, the upper ends of the left push rod and the right push rod are respectively provided with a right oblique arc groove and a left oblique arc groove, the left rotating part is arranged above the right oblique arc groove, the right rotating part is arranged above the left oblique arc groove, the oblique arc groove is convenient for the rotating part to rotate, the rotating part is guaranteed not to be blocked when the rotating part rotates, and the left push plate is arranged at the lower end of the left push rod, the lower extreme of right push rod is located to the right push pedal, left side push pedal and right push pedal parallel just are in same horizontal direction, and during the downward movement gliding handle, left side push pedal and right push pedal shift the same angle to both sides respectively to softly promote other stems and leaves and move to both sides, so that cut the strawberry, and the user still can select rotatory left push pedal or right push pedal according to actual conditions, and the user of being convenient for reaches the effect of protection strawberry stem leaf effectively when cuting the strawberry of different angles.
Further, the conveying mechanism comprises a strawberry conveying module and a conveying fixing module, the conveying fixing module is arranged on the left leg fixing part, and the strawberry conveying module is arranged on the conveying fixing module; the conveying fixing module comprises a conveying fixing plate and an L-shaped fixing piece, the conveying fixing plate is arranged on the left leg fixing piece, the L-shaped fixing piece is arranged on the side walls of two sides of the conveying fixing plate, and the conveying fixing module plays a role in bearing and fixing the conveying mechanism and prevents the conveying mechanism from falling off; the strawberry conveying module comprises a conveying driving gear, a conveying driven gear, a conveying belt, a lower sliding plate, a motor, a strawberry storage part, a first gear bearing column and a second gear bearing column, the first gear bearing column is hinged on an L-shaped fixed connection part through a fixing mechanism, the conveying driven gear is arranged on the first gear bearing column, saw teeth are arranged on the surface of the conveying driven gear, the first gear bearing column is arranged on the side walls on two sides of the conveying driven gear, the pair of strawberry conveying modules of the gear bearing column plays a role in fixing and bearing, one end of the second gear bearing column is hinged on the fixing mechanism, the left side wall of the conveying driving gear is arranged on the other end of the second gear bearing column, saw teeth are arranged on the surface of the conveying driving gear, the motor is arranged on the fixing mechanism, an output shaft of the motor is arranged on the right side wall of the conveying driving gear, and the motor drives the conveying driving gear to rotate, the conveying belt is arranged on the outer sides of the conveying driving gear and the conveying driven gear, sawteeth are arranged in the conveying belt, the sawteeth in the conveying belt are meshed with the sawteeth of the conveying driving gear and the sawteeth of the conveying driven gear, the motor drives the conveying driving gear to rotate, the conveying driving gear drives the conveying belt to transmit, the conveying belt drives the conveying driven gear to rotate, the conveying driven gear plays a role in fixing bearing and auxiliary conveying, the conveying driving gear plays a main transmission role in the conveying belt, the strawberry storage part is uniformly arranged on the outer side of the conveying belt, the strawberry storage part moves upwards along with the rotation of the conveying belt and drives strawberries in the strawberry storage part to move upwards without bending down for picking up by a picker, time and labor are saved, only one strawberry is placed in each strawberry storage part, a user can distinguish fruits, bad fruits and wormy fruits conveniently, and, the strawberry storage part is in a transverse triangular prism shape, the upper part of the outer edge of the strawberry storage part is provided with a baffle plate, so that strawberries are prevented from sliding off in the process of being placed in the strawberry storage part, and the interior of the strawberry storage part is provided with a soft silica gel layer which can play a role in buffering the strawberries due to the fact that the strawberries are fresh and tender, so that the strawberries are prevented from being damaged, and the strawberries are guaranteed from being damaged; the lower slide is located on the fixed establishment, lower slide lower extreme and the contact of strawberry storing part, lower slide lower extreme width is the same with the width of strawberry storing part, the lower slide lower extreme is 1CM with the clearance of strawberry storing part, the clearance diameter is less than the diameter of strawberry far away, and can guarantee the normal operation of strawberry storing part, can not touch the conveyer belt, the lower slide can be convenient for the user with the strawberry from shearing the mechanism shift to the strawberry storing part in, when preventing that the strawberry from accepting shovel and the contact of strawberry storing part are inaccurate, the strawberry drops, avoid injuring the strawberry, guarantee the accurate of strawberry transportation, it is narrow under wide on the lower slide, be convenient for the user to observe and carry the strawberry, the lower slide surface is equipped with soft smooth rubber layer, receive the injury when avoiding the strawberry to slide.
Furthermore, the control mechanism comprises a central processing unit, a power supply, a motor control module, a key module and a strawberry downward sliding detection module, the central processing unit and the power supply are arranged in the conveying fixed connection plate, the central processing unit is a micro control unit, an A/D conversion module, a crystal oscillator circuit and an I/O circuit are arranged in the micro control unit, the motor control module is arranged in the fixing mechanism, the key module is arranged on the conveying fixed connection plate, the key module comprises a conveying switch and a power switch, the key operation is simple, and the user operation is facilitated; strawberry gliding detection module locates the lower slide plate lower extreme, and strawberry gliding detection module can detect the strawberry conveniently accurately whether fall into strawberry storage portion in to the rotation of accurate control motor, strawberry gliding detection module includes that light beam detecting element and light beam jet out the unit, light beam detecting element, light beam jet out the unit locate down on the lower extreme both sides inner wall of slide, light beam detecting element and light beam jet out the unit openly relative, and light beam jet out unit, light beam detecting element pass through AD mouth and miniature control unit and link to each other, button module, motor control module pass through IO mouth and are connected with miniature control unit, the power is miniature battery.
Furthermore, the fixing mechanism comprises a bearing rod, a connecting rod and a through hole, the bearing rod is arranged on the waist fixing part, the bearing rod comprises a left bearing rod and a right bearing rod, the connecting rod comprises a left connecting rod and a right connecting rod, the left connecting rod can be arranged on the left bearing rod in a front-back swinging mode, the right connecting rod can be arranged on the right bearing rod in a front-back swinging mode, the connecting rod is internally of a hollow structure, when a picker walks, the conveying mechanism can conveniently move up and down along with thighs of the picker, the walking of the picker is prevented from being influenced, the picker can conveniently pick, the through hole is arranged on the connecting rod and comprises an upper through hole and a lower through hole, the first gear bearing column penetrates through the upper through hole of the left connecting rod and the upper through hole of the right connecting rod, the second gear bearing column is hinged to the lower through hole of the left connecting rod, the motor is fixedly connected, strengthen conveying mechanism's stability, on the antetheca of left connecting rod lower extreme was located to the lower slide, the lower slide was the slant and sets up down, and the strawberry of being convenient for in accepting the shovel is through lower slide landing to strawberry storage portion.
Furthermore, the wearing mechanism comprises a shoulder fixing piece, a fixing buckle, a waist fixing piece, a fixing connecting belt and a leg fixing piece, the waist fixing piece is arranged between the shoulder fixing piece and the fixing connecting belt, the shoulder fixing piece is arranged at the upper end of the waist fixing piece, the fixing buckle is arranged at the rear part of the waist fixing piece, and the fixing buckle can adjust the length of the waist fixing piece, so that the waist fixing piece is fixed on the waist of a user more firmly, the strawberry picking integrated clothes device has a better bearing effect, the comfort level is better, and the user does not feel uncomfortable when in use; the lower extreme of waist mounting is located to the upper end of fixed connection area, and fixed connection area transition waist to shank, the lower extreme of fixed connection area is located to the shank mounting for the shank can be crooked naturally, is convenient for pick the person and walks, does not influence the action of picking the person, left side shank mounting is equipped with annular slide, and the rotatable fixed connection area lower extreme of locating of left side shank mounting makes things convenient for shearing mechanism to remove for the strawberry accepts the smooth landing of the interior strawberry of shovel to the slide down, the shank mounting is the arc lamella setting, is equipped with memory metal bullet lamella in the shank mounting, after the stress point atress of shank mounting, can be crooked by oneself to the winding is in human leg, and memory metal bullet lamella set up the adaptation in all leg footpaths of user.
Further, loading mechanism is including loading box and flying piece, the flying piece is located on the waist mounting, load on the box locates the flying piece, the user of being convenient for to the dismantlement and the change of loading the box, it is non-deformation rectangle structure to load the box, and the shape is fixed, can not produce deformation easily, can not make and produce the extrusion between the strawberry mutually, avoids hurting the strawberry, it includes that fresh fruit loads the box, bad fruit loads box and wormy fruit and loads the box, can be convenient for the picker to classify and deposit the strawberry of picking.
The invention with the structure has the following beneficial effects: the integrated strawberry picking clothes device provided by the invention is convenient to operate, simple in structure, low in cost, high in comfort, small in size, convenient to move and pick, capable of enabling a picker to pick without stooping, reducing the possibility of damaging the health of the picker, fast and convenient, the cutting mechanism can accurately cut strawberries nearby the picker, the cutting mechanism can freely adjust the angle, the picker can pick the strawberries at various positions of the picker conveniently, and the strawberries are received by a strawberry receiving shovel, the strawberry picking is simply and quickly realized, meanwhile, the stem and leaf protection mechanism can ensure that when the strawberries are cut, other stem leaves and immature fruits of the strawberries are pushed to two sides, only the rhizomes of the strawberries to be cut are ensured to be arranged between push plates, other stem leaves of the strawberries are not damaged when the strawberries are cut, and the strawberries can be protected to continue to grow; the conveying mechanism ensures that the strawberries can be automatically conveyed to the waist of a picker after being cut, the picker does not need to bend over to pick up the strawberries, the picker can conveniently cut the strawberries while distinguishing the quality of the strawberries and separately contain the strawberries, and the conveying device can ensure that the strawberries are not damaged and are convenient to store due to the fact that the strawberries are fresh and tender; wearing mechanism and fixed establishment can guarantee that the picker dresses the integrative clothing of strawberry picking on one's body, and the steadiness is better, can not restrict the picker action, and the picker can pick the strawberry of various topography when dressing the integrative clothing device of strawberry picking, does not receive the restriction of topography, and the integrative clothing device of strawberry picking wholly adopts the light material, can not bear too big pressure when the picker dresses, and is comparatively light.
Drawings
FIG. 1 is a schematic view of the assembly preparation of the strawberry picking integrated clothes device of the present invention;
FIG. 2 is a schematic view of the strawberry picking integrated clothes device of the present invention after assembly;
FIG. 3 is a schematic structural view of the strawberry picking integrated clothes device of the present invention;
FIG. 4 is a schematic structural view of a shearing mechanism of the strawberry picking integrated clothes device;
FIG. 5 is a partial enlarged view of portion A of FIG. 4;
FIG. 6 is a partial enlarged view of portion B of FIG. 4;
FIG. 7 is a schematic view of a shear-fixing module of the strawberry picking integral coating device according to the present invention;
FIG. 8 is a front view of a gear cutting module of the integrated strawberry picking coat device of the present invention;
FIG. 9 is an enlarged view of a portion C of FIG. 8;
FIG. 10 is a right side view of the gear cutting module of the integrated strawberry picking coat device of the present invention;
FIG. 11 is an enlarged view of a portion D of FIG. 10;
FIG. 12 is a schematic structural view of a stem and leaf protection mechanism of the integrated strawberry picking coat device;
fig. 13 is a partial enlarged view of portion E of fig. 12;
fig. 14 is a left side view of the conveying mechanism of the strawberry picking integrated clothes device of the invention;
fig. 15 is a partial enlarged view of portion F of fig. 14;
FIG. 16 is an enlarged view of a portion G of FIG. 14;
FIG. 17 is a right side view of the conveying mechanism of the integrated strawberry picking coat device of the present invention;
fig. 18 is a partial enlarged view of portion H of fig. 17;
fig. 19 is a schematic structural view of a loading mechanism of the strawberry picking integrated clothes device of the invention;
FIG. 20 is a schematic structural view of a wearing mechanism of the strawberry picking integrated clothes device of the present invention;
FIG. 21 is a system block diagram of the strawberry picking integrated clothes device of the present invention;
fig. 22 is a circuit diagram of a motor control module of the strawberry picking integrated clothes device of the present invention;
FIG. 23 is a circuit diagram of a light beam emitting unit of the strawberry picking integrated clothing apparatus of the present invention;
FIG. 24 is a circuit diagram of a light beam detecting unit of the strawberry picking integrated clothing apparatus of the present invention;
fig. 25 is a circuit diagram of a key module of the strawberry picking integrated clothes device of the invention.
The device comprises a wearing mechanism 1, a wearing mechanism 2, a shearing mechanism 3, a stem leaf protection mechanism 4, a conveying mechanism 5, a fixing mechanism 6, a control mechanism 7, a loading mechanism 8, an angle adjusting handle 9, a fixed connection column 10, a shearing slide block 11, a strawberry receiving shovel 12, a shearing part 13, a sliding connection plate 14, a fixing plate 15, a shearing slide rail 16, a universal joint 17, a slide rail 18, an upper sliding connection plate 19, a middle sliding connection plate 20, a lower sliding connection plate 21, a shearing driving gear 22, a driven rack 23, a traction rod 24, a driven gear 25, an arc rack 26, a left blade 27, a rotating center column 28, a right blade 29, a straight rack 30, an upper traction rod 31, a limiting part 32, a shearing handle 33, a lower traction rod 34, a lower limiting part 35, an upper limiting part 36, a rotating part 37, a lower sliding handle 38, a lower limiting part, a, A lower slide block 39, a fixed rail slide block 40, an arc-shaped slide rail 41, a push rod 42, a push plate 43, a left push plate 44, a right push plate 45, a rotation limiting column 46, a right rotating member 47, a left rotating member 48, a left push rod 49, a right push rod 50, a rotation limiting rod 51, a rotation bearing rod 52, a bearing rod 53, a conveying fixed connection plate 54, an L-shaped fixed connection member 55, a first gear bearing column 56, a conveying driven gear 57, a lower slide plate 58, a second gear bearing column 59, a conveying driving gear 60, a conveying belt 61, a strawberry storage part 62, a connecting rod 63, a left bearing rod 64, a left connecting rod 65, a motor 66, a through hole 67, a right connecting rod 68, a right bearing rod 69, a hanging part 70, a loading box 71, a fixing buckle 72, a shoulder fixing part 73, a waist fixing part 74, a fixing connecting belt 75, a fixing buckle 75, a right connecting rod, a fixing part, a left connecting rod 65, a motor, a through hole 67, a right connecting rod 68, a right connecting rod, a bearing rod 68, a right connecting rod, a bearing rod, a hanging part, leg fixing piece, 76, left leg fixing piece, 77, right leg fixing piece, 78, power supply, 79, motor control module, 80, key module, 81, light beam detection unit, 82, infrared light beam, 83, light beam emitting unit, 84 and central processing unit.
In the circuit diagrams of fig. 22-25, VCC is a power supply of the circuit, GND is a ground terminal, R1-R9 is a resistor, T is a transformer, VT1-VT3 is an NPN type triode, TR is a thyristor, I/O1-I/O3 is an I/O interface of the cpu, LED1 is an infrared emitting tube, LED2 is an infrared receiving tube, C1 is a capacitor, VDD is a working voltage of the chip, a/D is an a/D interface of the cpu, a is an operational amplifier, and SW-PB is a key.
Detailed Description
The technical solutions of the present invention will be further described in detail with reference to specific implementations, and all the portions of the present invention not described in detail are the prior art.
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 25, the strawberry picking and integrally coating device of the present invention includes a wearing mechanism 1, a shearing mechanism 2, a stem and leaf protection mechanism 3, a conveying mechanism 4, a control mechanism 6, a fixing mechanism 5 and a loading mechanism 7, wherein the wearing mechanism 1 includes a shoulder fixing member 72, a fixing buckle 71, a fixing connecting band 74, a waist fixing member 73 and a leg fixing member 75, the leg fixing member 75 includes a left leg fixing member 76 and a right leg fixing member 77, the shearing mechanism 2 is disposed on the right leg fixing member 77, the stem and leaf protection mechanism 3 is disposed on the shearing mechanism 2, the fixing mechanism 5 is disposed on the left leg fixing member 76, the conveying mechanism 4 is disposed on the left leg fixing member 76 and the fixing mechanism 5, the control mechanism 6 is disposed in the fixing mechanism 5 and the conveying mechanism 4, and the loading mechanism 7 is disposed on the waist fixing member 73.
The shearing mechanism 2 comprises a gear shearing module, a shearing fixing module and a strawberry receiving shovel 11, the shearing fixing module is arranged on a right leg fixing part 77, the shearing fixing module comprises a fixing post 9, a universal joint 16, a sliding rail 17, a fixing plate 14, a sliding plate 13, a shearing sliding block 10, a shearing sliding rail 15 and an angle adjusting handle 8, the fixing post 9 is fixedly connected onto the right leg fixing part 77, one end of the universal joint 16 is arranged on the fixing post 9, the fixing plate 14 is arranged on the other end of the universal joint 16, the sliding plate 13 is arranged on the fixing plate 14 in a sliding manner, a supporting plate is arranged at the lower end of the fixing plate, the shearing sliding rail 15 is arranged on the front wall of the fixing plate 14, the shearing sliding block 10 is arranged on the rear wall of the sliding plate 13, one end of the universal joint 16 is arranged on the fixing post 9, the other end of the universal joint 16 is arranged on the rear wall of the fixing plate 14, the angle adjusting handle 8 is arranged on the upper part of the fixing plate 14, the surface of the angle adjusting handle 8 is in a hand-held shape, the sliding plate 13 comprises an upper sliding plate 18, a lower sliding plate 20 and a middle sliding plate 19, and the sliding rail 17 is arranged in the middle of the front wall of the upper sliding plate 18; the gear shearing module is arranged on the shearing fixing module and comprises a shearing driving gear 21, a shearing handle 32, a traction rod 23, a limiting part 31, a driven rack 22, a spur rack 29, a driven gear 24, an arc-shaped rack 25, a shearing part 12 and a rotating central column 27, wherein the central shaft part of the shearing driving gear 21 is hinged to the right half part of the front wall of the upper sliding plate 18, the shearing driving gear 21 is an incomplete gear, the surface of the shearing driving gear 21 is provided with sawteeth, the driven rack 22 is arranged on the outer side of the shearing driving gear 21, sawteeth are arranged on the driven rack 22, the length of the sawteeth on the driven rack 22 is equal to the arc length of the sawteeth on the shearing driving gear 21, the sawteeth of the shearing driving gear 21 are meshed with the sawteeth of the driven rack 22, the driven rack 22 comprises a left driven rack and a right driven rack, and sawteeth are arranged on the left driven rack and the right driven rack, the length of the sawteeth arranged on the left driven rack and the length of the sawteeth arranged on the right driven rack are equal to the arc length of the sawteeth arranged on the shearing driving gear 21, the cutting handle 32 is provided at the center of the front wall of the cutting pinion 21, the traction bar 23 is provided on the driven rack 22, the limiting piece 31 is arranged on the sliding plate 13, the traction rod 23 is arranged between the limiting piece 31 and the sliding plate 13, the straight rack 29 is arranged at the lower end of the traction rod 23, the surface of the straight rack 29 is provided with sawteeth, the driven gear 24 is hinged on the lower sliding connection plate 20, the driven gear 24 is meshed with the straight rack 29, the rotating central column 27 is arranged on the lower sliding plate 20, the shearing part 12 is hinged on the rotating central column 27, the arc-shaped rack 25 is arranged on the shearing part 12, the driven gear 24 is meshed with the arc-shaped rack 25, and the driven gear 24 is arranged between the straight rack 29 and the arc-shaped rack 25; shovel 11 is accepted to strawberry locates 14 lower extremes of fixed plate, the strawberry is accepted shovel 11 and is located under shearing piece 12, and the strawberry is accepted the front portion of shovel 11 and is smooth arc. The sliding plate 13 comprises an upper sliding plate 18, a lower sliding plate 20 and a middle sliding plate 19, the upper sliding plate 18 and the lower sliding plate 20 have the same width, the width of the middle sliding plate 19 is half of the width of the upper sliding plate 18, the upper end of the middle sliding plate 19 is arranged on the right half of the lower wall of the upper sliding plate 18, and the lower end of the middle sliding plate 19 is arranged on the right half of the upper wall of the lower sliding plate 20; the traction rod 23 comprises an upper traction rod 30 and a lower traction rod 33, the lower end of the upper traction rod 30 is arranged at the upper end of the driven rack 22, and the upper end of the lower traction rod 33 is arranged at the lower end of the driven rack 22; the limiting piece 31 comprises an upper limiting piece 35 and a lower limiting piece 34, the upper traction rod 30 is arranged between the upper limiting piece 35 and the sliding connection plate 13, and the lower traction rod is arranged between the lower limiting piece 34 and the sliding connection plate 13; the shearing part 12 comprises a left blade 26 and a right blade 28, the upper end of the left blade 26 is arranged on the lower sliding plate 20, the arc-shaped rack 25 is arranged at the upper end of the right blade 28, one end of a rotating central column 27 is hinged to the joint of the left blade 26 and the right blade 28, and the other end of the rotating central column 27 is arranged on the lower sliding plate 20.
The stem leaf protection mechanism 3 comprises a lower sliding handle 37, a lower sliding block 38, a rail fixing sliding block 39, an arc-shaped sliding rail 40, a rotating part 36, a rotary limiting column 45, a push rod 41 and a push plate 42, the lower sliding block 38 is slidably clamped in the sliding rail 17, the rotary limiting column 45 is arranged on the lower sliding block 38, the lower sliding handle 37 is arranged on the rotary limiting column 45, one end of the rotary limiting column 45 is arranged on the lower sliding block 38, the other end of the rotary limiting column 45 is arranged on the lower sliding handle 37, the rotary limiting column 45 comprises a rotary bearing rod 51 and a rotary limiting rod 50, the rotary limiting rod 50 is arranged at two ends of the rotary bearing rod 51, the rotating part 36 is rotatably arranged on the rotary bearing rod 51, the rotating part 36 is a circular ring with a diameter wider than that of the rotary bearing rod 51 by 0.5CM, the upper end of the push rod 41 is arranged on the rotating part 36, the lower end of the push plate 42 is arranged on the push rod 41, the rail fixing sliding block 39 is arranged on the push rod 41, the arc-shaped sliding rail 40 is arranged between the push rod 41 and the fixed rail sliding block 39, the rotating part 36 comprises a left rotating part 47 and a right rotating part 46, the left rotating part 47 and the right rotating part 46 can be rotatably sleeved on a rotating bearing rod 51, the widths of the left rotating part 47 and the right rotating part 46 are half of the width of the push rod 41, the push rod 41 comprises a left push rod 48 and a right push rod 49, the push plate 42 comprises a left push plate 43 and a right push plate 44, the upper end of the left push rod 48 is arranged on the left rotating part 47, the upper end of the right push rod 49 is arranged on the right rotating part 46, the upper ends of the left push rod 48 and the right push rod 49 are respectively provided with a right oblique arc-shaped groove and a left oblique arc-shaped groove, the left rotating part 47 is arranged above the right oblique arc-shaped groove, the right rotating part 46 is arranged above the left oblique arc-shaped groove, the left push plate 43 is arranged at the lower end of the left push rod 48, the right push plate 44 is arranged at the lower end of the right push rod 49, the left push plate 43 and the right push plate 44 are parallel and in the same horizontal direction.
The conveying mechanism 4 comprises a strawberry conveying module and a conveying fixing module, the conveying fixing module is arranged on the left leg fixing part 76, and the strawberry conveying module is arranged on the conveying fixing module; the conveying fixing module comprises a conveying fixed connection plate 53 and an L-shaped fixed connection piece 54, the conveying fixed connection plate 53 is arranged on the left leg fixing piece 76, and the L-shaped fixed connection piece 54 is arranged on the side wall of two sides of the conveying fixed connection plate 53; the strawberry conveying module comprises a conveying driving gear 59, a conveying driven gear 56, a conveying belt 60, a lower sliding plate 57, a motor 65, a strawberry storage part 61, a first gear bearing column 55 and a second gear bearing column 58, wherein the first gear bearing column 55 passes through a fixing mechanism 5 and is hinged on an L-shaped fixed connection part 54, the conveying driven gear 56 is arranged on the first gear bearing column 55, sawteeth are arranged on the surface of the conveying driven gear 56, the first gear bearing column 55 is arranged on the side walls on two sides of the conveying driven gear 56, one end of the second gear bearing column 58 is hinged on the fixing mechanism 5, the left side wall of the conveying driving gear 59 is arranged on the other end of the second gear bearing column 58, sawteeth are arranged on the surface of the conveying driving gear 59, the motor 65 is arranged on the fixing mechanism 5, an output shaft of the motor 65 is arranged on the right side wall of the conveying driving gear 59, the conveying belt 60 is arranged on the outer sides of the conveying driving gear 59 and the conveying driven gear 56, the inside sawtooth that is equipped with of conveyer belt 60, the inside sawtooth of conveyer belt 60 and the sawtooth meshing of carrying driving gear 59 and carrying driven gear 56, the conveyer belt 60 outside is evenly located to strawberry storing part 61, strawberry storing part 61 is horizontal triangular prism type, and strawberry storing part 61 outward flange upper portion is equipped with the baffle, the inside soft silica gel layer that is equipped with of strawberry storing part 61, slide 57 locates on fixed establishment 5 down, and slide 57 lower extreme touches with strawberry storing part 61 and connects, and slide 57 lower extreme width is the same with the width of strawberry storing part 61, and slide 57 lower extreme is 1CM with the clearance of strawberry storing part 61, and it is narrow under the upper width of slide 57 down, and slide 57 surface is equipped with soft smooth rubber layer.
The control mechanism 6 comprises a central processing unit 84, a power supply 78, a motor control module 79, a key module 80 and a strawberry gliding detection module, the central processing unit 84 and the power supply 78 are arranged in the conveying fixed connection plate 53, the central processing unit 84 is a micro control unit, an A/D conversion module, a crystal oscillator circuit and an I/O circuit are arranged in the micro control unit, the motor control module 79 is arranged in the fixing mechanism 5, the key module 80 is arranged on the conveying fixed connection plate 53, the key module 80 comprises a conveying switch and a power switch, the strawberry gliding detection module is arranged at the lower end of the lower sliding plate 57 and comprises a light beam detection unit 81 and a light beam ejection unit 83, the light beam detection unit 81 and the light beam ejection unit 83 are arranged on the inner walls of the two sides of the lower end of the lower sliding plate 57, and the light beam detection unit 81 and the light beam ejection unit 83 are opposite in front, the light beam detection unit 81 and the light beam emitting unit 83 are connected with the micro control unit through the A/D port, the key module 80 and the motor control module 79 are connected with the micro control unit through the I/O port, and the power supply 78 is a micro storage battery.
Fixing mechanism 5 includes bearing bar 52, connecting rod 62 and through-hole 66, on waist mounting 73 was located to bearing bar 52, bearing bar 52 included left bearing bar 63 and right bearing bar 68, connecting rod 62 includes left connecting rod 64 and right connecting rod 67, and left connecting rod 64 can swing back and forth on locating left bearing bar 63, and right connecting rod 67 can swing back and forth on locating right bearing bar 68, and the inside hollow structure that is of connecting rod 62, on connecting rod 62 was located to through-hole 66, through-hole 66 includes through-hole and lower through-hole, gear bearing post 55 passes the last through-hole of left connecting rod 64 and the last through-hole of right connecting rod 67, the articulated lower through-hole of locating left connecting rod 64 of two 58 gear bearing posts, the motor 65 rigid coupling is in the lower through-hole of right connecting rod 67, slide 57 is located on the antetheca of left connecting rod 64 lower extreme down.
Wearing mechanism 1 includes shoulder mounting 72, fixed knot 71, waist mounting 73, fixed connection area 74 and leg fixing piece 75, waist mounting 73 is located between shoulder mounting 72 and the fixed connection area 74, the upper end of waist mounting 73 is located to shoulder mounting 72, the rear portion of waist mounting 73 is located to fixed knot 71, the lower extreme of waist mounting 73 is located to the upper end of fixed connection area 74, the lower extreme of fixed connection area 74 is located to leg mounting 75, left side leg mounting 76 is equipped with annular slide, and the lower extreme of fixed connection area 74 is rotatably located to left side leg mounting 76, leg mounting 75 is the arc lamella setting, is equipped with the memory metal bullet lamella in the leg mounting 75.
The loading mechanism 7 comprises a loading box 70 and a hanging piece 69, the hanging piece 69 is arranged on the waist fixing piece 73, the loading box 70 is arranged on the hanging piece 69, the loading box 70 is in a non-deformation rectangular structure, and the loading box 70 comprises a fresh fruit loading box, a bad fruit loading box and a worm fruit loading box.
When the strawberry picking integrated garment is used specifically, a user penetrates the shoulder fixing pieces 72 with two hands, the waist fixing pieces 73 surround the waist of the user, the length of the waist fixing pieces 73 is adjusted according to the waistline of the user, the fixing buckles 71 are buckled after the adjustment is finished, a force is applied to stress points of the leg fixing pieces 75, the leg fixing pieces 75 are automatically bent and wound on the legs of the user, and the strawberry picking integrated garment is worn completely; a user turns on a power switch, the central processing unit 84, the motor control module 79 and the strawberry downward sliding detection module start to work, corresponding control signals sent by the central processing unit 84 are amplified through transistors to drive the infrared transmitting tube LED1 and the LED1 to emit infrared light beams 82, the light beam emitting unit 83 adopts the infrared receiving tube LED1 as an infrared light beam detection device, signals received by the infrared receiving tube LED1 are amplified through the gain of the operational amplifier A to strengthen received signals, and the received signals are input into the central processing unit 84 through the phase-inverting circuit. The user holds the angle adjusting handle 8 to adjust the angle of the shearing mechanism 2 through the universal joint 16 until the strawberry receiving shovel 11 is aligned with the strawberry, the strawberry receiving shovel 11 is used for shoveling the strawberry, the shearing part 12 is aligned with the strawberry to be sheared, the user pulls the lower sliding handle 37 downwards through the other hand to drive the lower sliding block 38 to slide in the sliding rail 17, the user can select to rotate the left push plate 43 or the right push plate 44 according to the adjusting angle, or the left push plate 43 and the right push plate 44 rotate together, the rail fixing slide blocks 39 arranged on the left push rod 48 and the right push rod 49 slide along the arc-shaped sliding rail 40, the left push plate 43 and the right push plate 44 gently push other stems and leaves of the strawberry and immature fruits to two sides, at the moment, the push plate 42 is fixed at an angle due to the blocking effect of the ground, the user does not need to fix by hands, the user rotates the shearing handle 32 clockwise to drive the shearing driving gear 21 to rotate clockwise, the shearing driving gear 21 is meshed with the left driven rack, the shearing driving gear 21 drives the driven rack 22 to move upwards, the driven rack 22 drives the straight rack 29 on the traction rod 23 to move upwards, the straight rack 29 drives the driven gear 24 to rotate anticlockwise, the driven gear 24 drives the arc-shaped rack 25 to do arc motion downwards and drives the right blade 28 to rotate around the rotating central column 27 until the driven rack 22 reaches the upper limiting piece 35, a user stops rotating the shearing handle 32, the left blade 26 is separated from the right blade 28, at the moment, the distance from the shearing piece 12 to the strawberry is adjusted by sliding the sliding plate 13 through the sliding shearing handle 32 until the root of the strawberry to be sheared is positioned between the left blade 26 and the right blade 28, the user continues rotating the shearing handle 32 anticlockwise, the shearing driving gear 21 is driven by the shearing handle 32 to rotate anticlockwise, at the moment, the shearing driving gear 21 is meshed with the right driven rack, the shearing driving gear 21 drives the driven rack 22 to move downwards, the driven rack 22 drives the straight rack 29 on the traction rod 23 to move downwards, the straight rack 29 drives the driven gear 24 to rotate clockwise, the driven gear 24 drives the arc-shaped rack 25 to do arc motion upwards and drives the right blade 28 to rotate around the rotating central column 27 until the driven rack 22 reaches the lower limit part 34, a user stops rotating the shearing handle 32, the left blade 26 and the right blade 28 recover to the original positions and coincide, the strawberry shearing is completed, the strawberry falls into the strawberry receiving shovel 11, the user holds the angle adjusting handle 8, drives the shearing mechanism 2 to rotate around the leg fixing part 75 and rotates the angle adjusting handle 8 to adjust the angle of the strawberry receiving shovel 11 until the strawberry receiving shovel 11 is in contact with the upper end of the lower sliding plate 57, the strawberry in the strawberry receiving shovel 11 slides downwards into the lower sliding plate 57, the strawberry slides downwards along the lower sliding plate 57 to fall into the strawberry storage part 61, and when the strawberry slides to the lower end of the lower sliding plate 57, the strawberry passes through the strawberry slip detection module, blocks the infrared light beam 82 emitted by the light beam emission unit 83, when the light beam detection unit 81 cannot detect the infrared light beam 82, the central processing unit 84 realizes time delay for five seconds through the crystal oscillator circuit and the program code, the phase shift trigger signal output by the pin I/O1 of the central processing unit 84 passes through the resistor R1 and the B-E junction of the driving triode VT1, so that the driving triode VT1 is in saturated conduction to provide conduction trigger current for the bidirectional triode TR, the driving motor 65 drives the conveying driving gear 59 to rotate a preset angle, the conveying driving gear 59 drives the conveying driven gear 56 to rotate a certain angle, the conveying driving gear 59 and the conveying driven gear 56 drive the conveying belt 60 and the strawberry storage part 61 to rise one lattice, the next strawberry storage part 61 without containing the strawberry is in contact with the lower sliding plate 57, the user continues to operate the shearing mechanism 2 to shear the strawberry, and put into strawberry storage portion 61, until all strawberry storage portion 61 is filled up in the front, the user presses the transport switch, motor 65 drives strawberry storage portion 61 and rotates and rise, the user can pick the strawberry on one side, put it into corresponding loading box 70 on one side, after the user finishes picking the positive strawberry, press the transport switch, motor 65 drives strawberry storage portion 61 and rotates until next check strawberry storage portion 61 contacts with lower slide plate 57, motor 65 stall.
The practical operation process is simple and feasible, only the user operates the shearing mechanism 2 to shear the strawberries, the strawberry receiving shovel 11 is operated to enable the strawberries to slide down into the strawberry storage part 61, the motor 65 is operated to drive the strawberry storage part 61 to ascend, finally, the strawberries are picked out and placed into the loading box 70, a picker can be effectively prevented from bending down to pick the strawberries, and the strawberry picking device is simple and feasible, time-saving and labor-saving, low in cost and wide in market popularization value.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. The utility model provides an integrative clothing device is picked to strawberry which characterized in that: the device comprises a wearing mechanism, a shearing mechanism, a stem leaf protection mechanism, a conveying mechanism, a control mechanism, a fixing mechanism and a loading mechanism, wherein the wearing mechanism comprises a shoulder fixing piece, a fixing buckle, a fixing connecting belt, a waist fixing piece and a leg fixing piece; the shearing mechanism comprises a gear shearing module, a shearing fixing module and a strawberry receiving shovel, the shearing fixing module is arranged on the right leg fixing part and comprises a fixing post, a universal joint, a slide rail, a fixing plate, a sliding plate, a shearing slide block, a shearing slide rail and an angle adjusting handle, the fixing post is fixedly connected onto the right leg fixing part, one end of the universal joint is arranged on the fixing post, the fixing plate is arranged on the other end of the universal joint, the sliding plate is slidably arranged on the fixing plate, the shearing slide rail is arranged on the front wall of the fixing plate, the shearing slide block is arranged on the rear wall of the sliding plate, one end of the universal joint is arranged on the fixing post, the other end of the universal joint is arranged on the rear wall of the fixing plate, the angle adjusting handle is arranged on the upper part of the fixing plate, the angle adjusting handle is used for holding the watch, the sliding plate comprises an upper sliding plate, a lower sliding plate and a middle sliding plate, the sliding rail is arranged in the middle of the front wall of the upper sliding plate; the utility model discloses a fixed module of shearing is located to the gear shearing module, the gear shearing module is including shearing driving gear, shearing handle, traction lever, locating part, driven rack, spur rack, driven gear, arc rack, shearing piece and rotatory center post, the articulated right half portion of sliding plate antetheca of locating of center pin portion of shearing driving gear, shearing the driving gear and be incomplete gear, shearing driving gear surface is equipped with the sawtooth, the outside of shearing the driving gear is located to driven rack, is equipped with the sawtooth on the driven rack, and the length that is equipped with the sawtooth on the driven rack equals with the arc length of shearing the driving gear and being equipped with the sawtooth, and the sawtooth of shearing the driving gear meshes with the sawtooth of driven rack, driven rack includes left driven rack and right driven rack, all is equipped with the sawtooth on left driven rack and the right driven rack, is equipped with the length of sawtooth on the left driven rack and the right driven rack all with the arc length of shearing the sawtooth on the driving gear The shearing mechanism comprises a shearing handle, a traction rod, a limiting piece, a sliding plate, a traction rod, a straight rack, a driven gear, a rotating central column, a shearing piece, an arc rack and a driven gear, wherein the shearing handle is arranged at the central part of the front wall of the shearing driving gear; the strawberry receiving shovel is arranged at the lower end of the fixing plate and is arranged right below the shearing piece, and the front part of the strawberry receiving shovel is in a smooth arc shape; stem leaf protection mechanism includes gliding handle, gliding slider, fixed rail slider, arc slide rail, rotating member, rotatory spacing post, push rod and push pedal, gliding slider slip joint locates in the slide rail, rotatory spacing post is located on the gliding slider, gliding handle locates on rotatory spacing post, rotatory spacing post one end is located on the gliding slider, rotatory spacing post other end is located on the gliding handle, rotatory spacing post is including rotatory carrier bar and rotatory gag lever post, rotatory gag lever post is located rotatory carrier bar both ends, on the rotatory carrier bar of locating of rotating member, the rotating member is the ring than the wide 0.5CM of diameter of rotatory carrier bar, on the rotating member was located to the push rod upper end, the lower extreme of push rod is located to the push pedal, the fixed rail slider is located on the push rod, the arc slide rail is located between push rod and the fixed rail slider.
2. The strawberry picking integrated clothes device according to claim 1, characterized in that: the sliding connection plate comprises an upper sliding connection plate, a lower sliding connection plate and a middle sliding connection plate, the width of the upper sliding connection plate is the same as that of the lower sliding connection plate, the width of the middle sliding connection plate is half of that of the upper sliding connection plate, the upper end of the middle sliding connection plate is arranged on the right half of the lower wall of the upper sliding connection plate, and the lower end of the middle sliding connection plate is arranged on the right half of the upper wall of the lower sliding connection plate; the traction rod comprises an upper traction rod and a lower traction rod, the lower end of the upper traction rod is arranged at the upper end of the driven rack, and the upper end of the lower traction rod is arranged at the lower end of the driven rack; the limiting piece comprises an upper limiting piece and a lower limiting piece, the upper traction rod is arranged between the upper limiting piece and the sliding connection plate, and the lower traction rod is arranged between the lower limiting piece and the sliding connection plate; the shearing part comprises a left blade and a right blade, the upper end of the left blade is arranged on the lower sliding connection plate, the upper end of the right blade is arranged on the arc-shaped rack, one end of the rotary central column is hinged to the joint of the left blade and the right blade, and the other end of the rotary central column is arranged on the lower sliding connection plate.
3. The strawberry picking integrated clothes device according to claim 1, characterized in that: the rotating member comprises a left rotating member and a right rotating member, the left rotating member and the right rotating member can be rotatably sleeved on a rotating bearing rod of a rotating limiting column, the width of the left rotating member and the width of the right rotating member are half of the width of a push rod, the push rod comprises a left push rod and a right push rod, the push plate comprises a left push plate and a right push plate, the upper end of the left push rod is arranged on the left rotating member, the upper end of the right push rod is arranged on the right rotating member, the upper ends of the left push rod and the right push rod are respectively provided with a right oblique arc-shaped groove and a left oblique arc-shaped groove, the left rotating member is arranged above the right oblique arc-shaped groove, the right rotating member is arranged above the left oblique arc-shaped groove, the left push plate is arranged at the lower end of the left push rod, the right push plate is arranged at the lower end of the right push rod, and the left push plate and the right push plate are parallel and are arranged on the same horizontal direction.
4. The strawberry picking integrated clothes device according to claim 1, characterized in that: the conveying mechanism comprises a strawberry conveying module and a conveying fixing module, the conveying fixing module is arranged on the left leg fixing part, and the strawberry conveying module is arranged on the conveying fixing module; the conveying fixing module comprises a conveying fixing plate and L-shaped fixing pieces, the conveying fixing plate is arranged on the left leg fixing piece, and the L-shaped fixing pieces are arranged on the side walls of two sides of the conveying fixing plate; the strawberry conveying module comprises a conveying driving gear, a conveying driven gear, a conveying belt, a lower sliding plate, a motor, a strawberry storage part, a first gear bearing column and a second gear bearing column, wherein the first gear bearing column is hinged on an L-shaped fixed connection part through a fixing mechanism, the conveying driven gear is arranged on the first gear bearing column, saw teeth are arranged on the surface of the conveying driven gear, the first gear bearing column is arranged on the side walls on two sides of the conveying driven gear, one end of the second gear bearing column is hinged on the fixing mechanism, the left side wall of the conveying driving gear is arranged on the other end of the second gear bearing column, saw teeth are arranged on the surface of the conveying driving gear, the motor is arranged on the fixing mechanism, an output shaft of the motor is arranged on the right side wall of the conveying driving gear, the conveying belt is arranged on the outer side of the conveying driving gear and the conveying driven gear, the saw teeth are arranged inside the conveying belt, inside sawtooth of conveyer belt and the sawtooth meshing of carrying the driving gear and carrying driven gear, the conveyer belt outside is evenly located to the strawberry storage part, the strawberry storage part is horizontal triangular prism type, and strawberry storage part outward flange upper portion is equipped with the baffle, the inside soft silica gel layer that is equipped with of strawberry storage part, on the fixed establishment was located to the lower slide, lower slide lower extreme and strawberry storage part touched and connect, and lower slide lower extreme width was the same with the width of strawberry storage part, and the lower slide lower extreme is 1CM with the clearance of strawberry storage part, and is wide narrow down on the lower slide, and the lower slide surface is equipped with soft smooth rubber layer.
5. The strawberry picking integrated clothes device according to claim 1, characterized in that: the control mechanism comprises a central processing unit, a power supply, a motor control module, a key module and a strawberry gliding detection module, wherein the central processing unit and the power supply are arranged in the conveying fixed connection plate, the central processing unit is a micro control unit, an A/D conversion module, a crystal oscillator circuit and an I/O circuit are arranged in the micro control unit, the motor control module is arranged in the fixing mechanism, the key module is arranged on the conveying fixed connection plate, the key module comprises a conveying switch and a power switch, the strawberry gliding detection module is arranged at the lower end of the lower sliding plate, the strawberry gliding detection module comprises a light beam detection unit and a light beam ejection unit, the light beam detection unit and the light beam ejection unit are arranged on the inner walls of the two sides of the lower end of the lower sliding plate, the light beam detection unit and the light beam ejection unit are opposite in front, and the light beam detection unit and the light beam ejection unit are connected with the micro control unit through an A/D port, the key module and the motor control module are connected with the micro control unit through an I/O port, and the power supply is a micro storage battery.
6. The strawberry picking integrated clothes device according to claim 4, wherein: the fixing mechanism comprises a bearing rod, a connecting rod and a through hole, the bearing rod is arranged on the waist fixing piece and comprises a left bearing rod and a right bearing rod, the connecting rod comprises a left connecting rod and a right connecting rod, the left connecting rod can swing back and forth on the left bearing rod, the right connecting rod can swing back and forth on the right bearing rod, the connecting rod is internally provided with a hollow structure, the through hole is arranged on the connecting rod and comprises an upper through hole and a lower through hole, a first gear bearing column penetrates through the upper through hole of the left connecting rod and the upper through hole of the right connecting rod, a second gear bearing column is hinged to the lower through hole of the left connecting rod, a motor is fixedly connected in the lower through hole of the right connecting rod, and a lower sliding plate is arranged on the front wall of the lower end of the left connecting rod.
7. The strawberry picking integrated clothes device according to claim 1, characterized in that: wearing mechanism includes shoulder mounting, fixed knot, waist mounting, fixed connection area and shank mounting, the waist mounting is located between shoulder mounting and the fixed connection area, the upper end of waist mounting is located to the shoulder mounting, the fixed rear portion of locating the waist mounting of detaining, the lower extreme of waist mounting is located to the upper end of fixed connection area, the lower extreme of fixed connection area is located to the shank mounting, left side shank mounting is equipped with annular slide, and the lower extreme of fixed connection area is rotatably located to left side shank mounting, the shank mounting is the arc lamella setting, is equipped with memory metal bullet lamella in the shank mounting.
8. The strawberry picking integrated clothes device according to claim 1, characterized in that: the loading mechanism comprises a loading box and a suspension piece, the suspension piece is arranged on the waist fixing piece, the loading box is arranged on the suspension piece, the loading box is of a non-deformation rectangular structure, and the loading box comprises a fresh fruit loading box, a bad fruit loading box and an insect fruit loading box.
CN201810893799.XA 2018-08-08 2018-08-08 Strawberry picking integrated clothes device Active CN109156153B (en)

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CN110463441B (en) * 2019-08-07 2021-02-09 徐州盛斗士生物科技有限公司 Euonymus alatus airflow poking selective positioning lossless harvesting and separating vehicle
CN114248282B (en) * 2021-12-20 2024-07-19 中国计量大学 Picking end effector for spheroidal fruits and method thereof
CN114271099B (en) * 2022-01-29 2022-12-09 南京晓庄学院 Ridge culture strawberry man-machine cooperation picking system and operation method thereof

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CN201541482U (en) * 2009-09-30 2010-08-11 吕树岐 Picking device
JP2016073265A (en) * 2014-10-02 2016-05-12 大介 阿部 Automatic fruit harvest device
CN106863342B (en) * 2017-03-23 2023-09-15 南京工程学院 Picking robot end effector
CN207443508U (en) * 2017-10-12 2018-06-05 钦州学院 The auxiliary device of strawberry picking
CN207460847U (en) * 2017-10-17 2018-06-08 西北农林科技大学 A kind of apple-picking machinery hand
CN108093854B (en) * 2017-12-19 2019-09-27 徐州工业职业技术学院 A kind of apery hand formula strawberry picker

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