CN109220214B

CN109220214B - Telescopic fruit picker and control method thereof

Info

Publication number: CN109220214B
Application number: CN201811205569.6A
Authority: CN
Inventors: 周年勇; 王韵杰; 徐慕豪; 段峰; 王庆荣; 王露
Original assignee: Changzhou University
Current assignee: Changzhou University
Priority date: 2018-10-17
Filing date: 2018-10-17
Publication date: 2021-05-25
Anticipated expiration: 2038-10-17
Also published as: CN109220214A

Abstract

The invention provides a telescopic fruit picker and a control method thereof, which can pick fruits such as apples, oranges, pears and the like, and has the characteristics of simple structure, low cost, convenient use and carrying, capability of better protecting the fruits and the fruits from being damaged, and high fruit picking efficiency. The invention mainly comprises a double-action rocker-slide bar mechanism, a telescopic rod mechanism and a handle mechanism. Compared with the existing fruit picker, the fruit picker moves the telescopic wire through the closed rotation of the handle mechanism, and then the clamping part moves first and then the shearing part shears. It can realize the picking of fruits such as pears, oranges, litchis and the like, and effectively improve the labor efficiency. Has great practical value and wide application prospect.

Description

Telescopic fruit picker and control method thereof

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a telescopic fruit picker and a control method thereof.

Background

With the high-speed and steady development of economy, agriculture is taken as a first industry, and the agriculture plays a very important role in supporting the construction and development of national economy. In vast rural areas, the agricultural production marketing variety is wide, fruits are taken as typical cash crops, the dietary varieties of people are enriched, and the life quality of people is improved. China is not only a fruit production large country but also a first consumer country, the total fruit production amount is increased year by year, the variety structure is continuously improved, the national demand for vigorous fruits creates a huge market for the orchard planting industry, and the orchard planting industry has a wide development prospect.

In the whole production, the labor consumed by picking fruits occupies 50 to 70 percent of the whole production process. The seasonality of picking operation is relatively strong, and traditional artifical mode of picking not only easily causes the fruit damage, and traditional fruit is picked simultaneously and can only rely on people's vision to go to differentiate and pick, and individual subjective factor has influenced picking efficiency greatly, in case can lead to economic huge loss when not picking in time. The main deficiency of the existing artificial auxiliary fruit picker is as follows: the primary damage or the secondary damage to the fruits is large, so that the storage life of the fruits is shortened, and the selling price of the fruits is reduced; the damage to branches and leaves of fruit trees is large, and the yield of the fruit trees in the next year is influenced; when the fruit stalks are cut from the fruit trees, the fruit stalks cannot be clamped firstly and then picked in a cutting mode, so that the phenomenon of empty cutting can be caused, and the picking rate is not high enough; the picking and collecting operation of the fruits are carried out by two working procedures, and the collecting efficiency is lower; the auxiliary fruit picker has larger dead weight and is laboursome when in use, and the labor intensity can not be reduced well.

Therefore, the invention relates to a mechanical-assisted semi-automatic picker which can overcome the defects of the existing manual-assisted picker, has the characteristics of simple structure, lower manufacturing and picking cost, light use and carrying, integrated picking and collection, high harvesting efficiency, no damage to fruits and branches of fruit trees in harvesting and high harvesting quality, and can be used for all harvesting operations of various fruits such as pears, oranges, litchis and the like with different harvesting height ranges. Has great practical value and wide application prospect.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: in order to overcome the defects in the prior art, the invention provides a telescopic fruit picker and a control method thereof, which can pick fruits such as apples, oranges, pears and the like. Has the characteristics of simple structure, easy operation, convenient use and the like.

The technical scheme adopted for solving the technical problems is as follows: a telescopic fruit picker mainly comprises a double-action rocker-slide bar mechanism, a telescopic rod mechanism, a handle mechanism and a frame. The double-acting rocker-slide bar mechanism is connected with the upper part of the telescopic rod mechanism and is fixedly connected with the frame. The upper part of the telescopic rod mechanism is connected with the double-acting rocker-slide rod mechanism through a telescopic wire, and the handle mechanism is positioned at the lower part of the telescopic rod mechanism.

The telescopic rod mechanism comprises a telescopic rod, a buckle, an anti-skidding sleeve and a fixed rod, the telescopic rod is arranged in the fixed rod and can slide in the telescopic rod, the telescopic rod is fixed on the fixed rod through the buckle, at least three notches are formed in the telescopic rod, the buckle is stirred to enable the telescopic rod to slide and be matched and fixed with different notches, telescopic adjustment of different lengths is achieved, the anti-skidding sleeve is arranged on the fixed rod, and longitudinal notches are formed in the lower portion of the anti-skidding sleeve.

Furthermore, the double-acting rocker-sliding rod mechanism mainly comprises a double-acting rocker, a connecting rod for shearing, a connecting rod for clamping, a shearing mechanism and a clamping mechanism. The double-acting rocker has three end parts, two of which are respectively connected with one end of the connecting rod for shearing and one end of the connecting rod for clamping, and the third end part is connected with the telescopic wire through a salient point. The shearing mechanism and the clamping mechanism are respectively connected with the shearing connecting rod and the clamping connecting rod.

Specifically, the shearing mechanism mainly comprises a sliding rod for shearing, a blade and a cutter holder. One end of the shearing sliding rod is hinged with the shearing connecting rod, the other end of the shearing sliding rod is provided with the blade, and the cutter holder and the blade are arranged oppositely and fixedly arranged on the rack; when picking fruits, the double-acting rocker drives the blade to be inserted into or withdrawn from the cutter holder through the shearing connecting rod and the shearing sliding rod in sequence. The blade is fixed at the front part of the sliding rod for shearing and is used for shearing the fruit stalks.

Specifically, the clamping mechanism mainly comprises a rotary clamping arm, a push rod and a connecting sliding block. One end of the connecting slide block is hinged with the connecting rod for clamping, the other end of the connecting slide block is connected with the push rod, the rotating clamping arm is fixed on the rack and connected with the push rod, and hard rubber is arranged on the rotating clamping arm and used for clamping the fruit handle. When picking fruits, the double-acting rocker arm sequentially passes through the clamping connecting rod, the connecting slide block and the push rod to enable the rotating clamping arm to rotate to close or open.

Furthermore, the handle mechanism mainly comprises a trigger, a spring, a handle and a wire-rewinding device. The upper part of the trigger is provided with a hole which is coaxially connected with the wire-rewinding device, so that the trigger can rotate around the shaft as a fixed shaft. And a roller is arranged at the rod end of the upper left part of the trigger, and one side of the roller is propped against the telescopic wire. When the trigger is held to rotate around the fixed shaft, one side of the roller moving outwards towards the telescopic rod mechanism abuts against the telescopic wire to move outwards towards the telescopic rod mechanism, so that the telescopic wire in the telescopic rod is pulled to move downwards. The return spring is located between the trigger and the handle for resetting the trigger. The wire rewinding device is fixed outside the handle and used for contracting and expanding the telescopic wire.

A control method of a telescopic fruit picker comprises the following steps: the trigger is held by hand to rotate the fixed shaft, so that the telescopic line is dragged to move outwards to the telescopic rod mechanism. The double-action rocker-sliding rod mechanism is connected with the telescopic wire through the convex point, when the telescopic wire moves downwards, the double-action rocker is pulled to rotate clockwise fixed shafts, at the moment, the connecting sliding block is pushed forwards by the clamping connecting rod, then the push rod is pushed, the rotating clamping arms are rotated and closed, and therefore the clamping action of the clamping mechanism is completed. Then, the cutting connecting rod moves towards the right upper side, and the cutting mechanism is pulled to cut, so that the blade on the cutting mechanism is driven to move inwards in a closed mode, and finally the blade is closed with the blade holder on the machine frame, and the cutting action is completed.

The invention has the beneficial effects that: according to the telescopic fruit picker and the control method thereof, the telescopic wire mechanism moves through the closed rotation of the handle mechanism, then the clamping part moves, and then the shearing part shears. It can realize the picking of fruits such as pears, oranges, litchis and the like, and effectively improve the labor efficiency. Has great practical value and wide application prospect.

Drawings

The invention is further illustrated by the following figures and examples.

Fig. 1 is a schematic structural view of the retractable fruit picker of the present invention.

Figure 2 is a schematic diagram of the structure of a double-acting rocker-slide bar mechanism.

Figure 3 is a schematic diagram of the structure of a double-acting rocker-slide bar mechanism.

Fig. 4 is a schematic structural view of the telescopic rod mechanism.

Fig. 5 is a schematic structural view of the handle mechanism.

In the figure: 1. the double-action rocker-sliding rod mechanism 11, a double-action rocker 111, an end part 12, a connecting rod for shearing 13, a connecting rod for clamping 14, a shearing mechanism 141, a sliding rod for shearing 142, a blade 143, a tool apron 15, a clamping mechanism 151, a connecting sliding block 152, a push rod 153, a rotating clamping arm 16 and a convex point; 2. the device comprises a telescopic rod mechanism 21, a telescopic rod 22, a buckle 23, an anti-skidding sleeve 24, a fixing rod 25 and a longitudinal groove opening; 3. a handle mechanism 31, a trigger 32, a spring 33, a handle 34 and a wire-rewinding device; 5. and a frame.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams illustrating the basic structure of the present invention only in a schematic manner, and thus show only the constitution related to the present invention, and directions and references (e.g., upper, lower, left, right, etc.) may be used only to help the description of the features in the drawings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.

As shown in fig. 1, the retractable fruit picker of the present invention is mainly composed of a double-action rocker-slide bar mechanism 1, a retractable bar mechanism 2, a handle mechanism 3 and a frame 5. The double-acting rocker-slide bar mechanism 1 is connected with the upper part of the telescopic rod mechanism 2 and is fixedly connected with the frame 5. The upper part of the telescopic rod mechanism 2 is connected with the double-acting rocker-slide rod mechanism 1 through a telescopic wire, and the handle mechanism 3 is positioned at the lower part of the telescopic rod mechanism 2.

As shown in fig. 2 and fig. 3, the double-action rocker-sliding rod mechanism 1 mainly comprises a double-action rocker 11, a shearing connecting rod 12, a clamping connecting rod 13, a shearing mechanism 14 and a clamping mechanism 15. The double-acting rocker 11 has three end portions 111, two end portions 111 are respectively connected with one end of the cutting connecting rod 12 and one end of the clamping connecting rod 13, and the third end portion 111 is connected with the telescopic wire through a convex point 16. The cutting mechanism 14 and the clamping mechanism 15 are connected to the cutting link 12 and the clamping link 13, respectively, and can perform the operations of clamping and cutting the fruit stem well.

Specifically, the shearing mechanism 14 mainly comprises a shearing slide rod 141, a blade 142 and a tool holder 143. One end of the shearing sliding rod 141 is hinged with the shearing connecting rod 12, the other end of the shearing sliding rod is provided with the blade 142, and the tool apron 143 is opposite to the blade 142 and is fixedly arranged on the rack 5; when picking fruits, the double-action rocker 11 drives the blade 142 to insert or withdraw from the tool apron 143 through the shearing connecting rod 12 and the shearing sliding rod 141 in sequence. The blade 142 is fixed at the front part of the cutting slide rod 141 and is used for cutting the fruit stalks.

Specifically, the clamping mechanism 15 mainly comprises a rotating clamping arm 153, a push rod 152 and a connecting slide block 151. One end of the connecting slide block 151 is hinged with the clamping connecting rod 13, the other end is connected with the push rod 152, the rotating clamping arm 153 is fixed on the frame 5 and connected with the push rod 152, and the rotating clamping arm 153 is provided with hard rubber for clamping a fruit handle. When picking fruit, the double-action rocker 11 makes the rotating clamping arm 153 rotate to close or open through the clamping connecting rod 13, the connecting slide block 151 and the push rod 152 in sequence.

As shown in fig. 4, the telescopic rod mechanism 2 includes a telescopic rod 21, a buckle 22, an anti-slip sleeve 23 and a fixing rod 24, the telescopic rod 21 is disposed inside the fixing rod 24, can slide inside the fixing rod and is fixed on the fixing rod 24 through the buckle 22, the telescopic rod 21 is provided with at least three notches, the buckle 22 is shifted to enable the telescopic rod 21 to slide and be matched and fixed with different notches, telescopic adjustment of different lengths is achieved, the anti-slip sleeve 23 is disposed on the fixing rod 24, and a longitudinal notch 25 is formed below the fixing rod.

As shown in fig. 5, the handle mechanism 3 is mainly composed of a trigger 31, a spring 32, a handle 33 and a wire-rewinding device 34. The trigger 31 has a hole at its upper portion, which is coaxially connected to the wire-rewinding device 34 so that the trigger 31 can be rotated around the axis. The rod end of the upper left part of the trigger 31 is provided with a roller, and one side of the roller is propped against the telescopic line. When the trigger is held to rotate by the fixed shaft, one side of the roller moving outwards towards the telescopic rod mechanism 2 pushes against the telescopic wire to move outwards towards the telescopic rod mechanism 2, so that the telescopic wire in the telescopic rod is pulled to move downwards. The return spring 32 is located between the trigger 31 and the handle 33 for resetting the trigger 31. The wire rewinding device 34 is fixed outside the handle 33 and used for contracting and expanding the telescopic wire.

When the double-action rocker-sliding rod mechanism 1 is in an initial state, the openings of the clamping mechanism 15 and the shearing mechanism 14 are opened, and the double-action rocker 4 keeps an opened state. When the fruit handle of the fruit is moved to the clamping and cutting opening, the trigger 31 is held, and the handle 33 rotates in a fixed axis manner at the moment, so that the contraction line is driven to move downwards. The contraction wire moves downwards, so that the double-action rocker 11 rotates clockwise and is fixed in axis, the double-action rocker-sliding rod mechanism 1 moves integrally, and finally the clamping shearing opening is closed.

A control method of a telescopic fruit picker comprises the following steps: the trigger 31 is held by hand to rotate around the fixed axis, thereby dragging the telescopic line to move towards the outside of the telescopic rod mechanism 2. The double-action rocker-sliding rod mechanism 1 is connected with the telescopic wire through the convex points 16, when the telescopic wire moves downwards, the double-action rocker 11 is pulled to rotate clockwise and fixed, at the moment, the connecting sliding block 151 is pushed forwards by the clamping connecting rod 13, the push rod 152 is pushed, the rotating clamping arms 153 are rotated and closed, and therefore the clamping action of the clamping mechanism 15 is completed. Then, the cutting link 12 moves upward and rightward, pulling the cutting mechanism 14 to cut, so that the blade of the cutting mechanism 14 is moved inward to close the blade holder 143 of the frame 5, and the cutting operation is completed.

Thus, when the stem is cut, it is already clamped. Under the condition that the handle 33 is not loosened, the fruit stem can be always clamped without falling, so that the aim of clamping the fruit stem without falling by the mechanism after the fruit stem is cut can be smoothly fulfilled, the action of clamping and then cutting is carried out, the phenomenon of idle cutting is avoided, and the higher picking efficiency can be ensured. The spring 32 is used for resetting the trigger 31 and keeping the trigger in an open state, so that the contraction wire after moving downwards automatically moves upwards and resets, and the requirements of clamping and shearing the fruit handle when the next fruit is picked are met.

In light of the foregoing description of preferred embodiments in accordance with the invention, it is to be understood that numerous changes and modifications may be made by those skilled in the art without departing from the scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides a retractable fruit picker which characterized in that: the double-action rocker-slide rod mechanism comprises a double-action rocker-slide rod mechanism (1), a telescopic rod mechanism (2), a handle mechanism (3) and a rack (5), wherein the double-action rocker-slide rod mechanism (1) is positioned at the upper part of the telescopic rod mechanism (2) and is fixedly connected with the rack (5), the upper part of the telescopic rod mechanism (2) is connected with the double-action rocker-slide rod mechanism (1) through a telescopic wire, and the handle mechanism (3) is positioned at the lower part of the telescopic rod mechanism (2);

the double-action rocker-sliding rod mechanism (1) comprises a double-action rocker (11), a connecting rod (12) for shearing, a connecting rod (13) for clamping, a shearing mechanism (14) and a clamping mechanism (15), wherein the double-action rocker (11) is provided with three end parts (111), two end parts (111) are respectively connected with one end of the connecting rod (12) for shearing and one end of the connecting rod (13) for clamping, the other end of the connecting rod (12) for shearing is hinged with the shearing mechanism (14), the other end of the connecting rod (13) for clamping is hinged with the clamping mechanism (15), and a salient point (16) is arranged on the third end part (111) and is connected with a telescopic line through the salient point (16);

telescopic link mechanism (2) include telescopic link (21), buckle (22), antiskid cover (23) and dead lever (24), telescopic link (21) set up in the inside of dead lever (24), can slide in its inside to fix on dead lever (24) through buckle (22), be equipped with at least three notch on telescopic link (21), stir buckle (22) and make telescopic link (21) slide and different notch cooperations are fixed, realize the flexible regulation of different length, antiskid cover (23) are equipped with on dead lever (24), and it has vertical notch (25) to open its below.

2. The retractable fruit picker as claimed in claim 1, wherein: the shearing mechanism (14) comprises a shearing sliding rod (141), a blade (142) and a tool apron (143), one end of the shearing sliding rod (141) is hinged with the shearing connecting rod (12), the other end of the shearing sliding rod is provided with the blade (142), and the tool apron (143) and the blade (142) are arranged oppositely and fixedly arranged on the rack (5); when picking fruits, the double-action rocker (11) drives the blade (142) to insert or withdraw from the tool apron (143) through the connecting rod (12) for shearing and the sliding rod (141) for shearing in sequence;

the clamping mechanism (15) comprises a connecting slide block (151), a push rod (152) and a rotating clamping arm (153), one end of the connecting slide block (151) is hinged with the clamping connecting rod (13), the other end of the connecting slide block is connected with the push rod (152), and the rotating clamping arm (153) is fixed on the rack (5) and connected with the push rod (152); when picking fruits, the double-action rocker (11) sequentially passes through the clamping connecting rod (13), the connecting slide block (151) and the push rod (152) to enable the rotating clamping arm (153) to rotate to close or open;

handle mechanism (3) include trigger (31), spring (32), handle (33) and spooler (34), the pole body of trigger (31) left upper portion is opened there is the dead slot, the rod end of the left upper portion of trigger (31) is equipped with the gyro wheel, the gyro wheel left side supports the telescopic line, and the telescopic line passes through from the dead slot, and introduces in spooler (34), the other one end of telescopic line with bump (16) are connected, spooler (34) are fixed in the outside of handle (33), trigger (31) top is equipped with the hole, the hole with spooler (34) are through axle coaxial coupling, axle and handle (33) are together fixed in telescopic link mechanism (2) below, spring (32) are located between trigger (31) and handle (33), are used for the restoration of trigger (31).

3. A method of controlling the telescopic fruit picker as claimed in claim 2, wherein: the method comprises the following steps: a hand is used for holding a trigger (31) to do fixed-axis rotation, so that the telescopic line is shifted to move outwards towards the telescopic rod mechanism (2), the double-action rocker-slide rod mechanism (1) is connected with the telescopic line through a convex point (16), when the telescopic line moves downwards, the double-action rocker (11) is pulled to do clockwise fixed-axis rotation, at the moment, the connecting rod (13) for clamping pushes the connecting slide block (151) forwards, and then the push rod (152) is pushed, so that the rotating clamping arm (153) is rotated and closed, and the clamping action of the clamping mechanism (15) is finished; then, the cutting connecting rod (12) moves towards the right upper side, the cutting mechanism (14) is pulled to cut, the blade on the cutting mechanism (14) is driven to move inwards in a closed mode, and finally the blade is closed with the blade seat (143) on the machine frame (5), and the cutting action is completed.