CN109479523A - A kind of driving lever fruit picking arm shear - Google Patents
A kind of driving lever fruit picking arm shear Download PDFInfo
- Publication number
- CN109479523A CN109479523A CN201910006886.3A CN201910006886A CN109479523A CN 109479523 A CN109479523 A CN 109479523A CN 201910006886 A CN201910006886 A CN 201910006886A CN 109479523 A CN109479523 A CN 109479523A
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- crankshaft
- connecting rod
- cutting blade
- bilateral arc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 23
- 230000002146 bilateral effect Effects 0.000 claims abstract description 35
- 230000008676 import Effects 0.000 claims abstract description 3
- 238000010008 shearing Methods 0.000 description 4
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The present invention relates to fruit pickers, specially high-branch fruit Picker arm shear.Including bottom plate, connecting rod, crankshaft, Hall sensor, permanent magnet, trough of belt cutting blade connecting rod, miniature bearing, bearing, bilateral arc ledger-plate, bilateral arc cutting blade, decelerating motor and toggle arm；The bottom plate is that a kind of band V-arrangement imports notch bottom plate, is equipped at the bottom plate back side and mentions the decelerating motor for arching power；Two toggle arms and bilateral arc ledger-plate are mounted on bottom plate front；Crankshaft is installed, eccentric crankshaft connects trough of belt cutting blade connecting rod, connects toggle arm and crankshaft eccentric shaft by connecting rod, junction uses miniature bearing and bearing in geared motor output shaft；Crankshaft outer edge inlays a permanent magnet, and a Hall sensor is installed at the fixed position of bottom plate and crank rotation edge.
Description
Technical field
The present invention relates to fruit pickers, specially high-branch fruit Picker arm shear.
Background technique
Common scissor averruncator is manually operated using Purely mechanical, laborious to use, and high-altitude is directed at fruit branch difficulty, no safety
Safeguard measure.
Summary of the invention
The technical problem to be solved in the invention is: overcome hard purely mechanic averruncator operation in the prior art, low efficiency,
High-altitude picking alignment fruit branch is not easy, safe operation not can guarantee problem, it is an object of that present invention to provide one kind, behaviour accurate to branch
Make simplicity, use safe high-branch fruit Picker arm shear.
The present invention to achieve the goals above, adopts the following technical scheme that
A kind of driving lever fruit picking arm shear, including bottom plate, connecting rod, crankshaft, Hall sensor, permanent magnet, trough of belt moving knife
Piece connecting rod, miniature bearing, bearing, bilateral arc ledger-plate, bilateral arc cutting blade, decelerating motor and toggle arm；
The bottom plate is that a kind of band V-arrangement imports notch bottom plate, is equipped at the bottom plate back side and mentions the decelerating motor for arching power；
Two toggle arms and bilateral arc ledger-plate are mounted on bottom plate front；
Crankshaft is installed, eccentric crankshaft connects trough of belt cutting blade connecting rod, stirs by connecting rod connection in geared motor output shaft
Arm and crankshaft eccentric shaft, junction use miniature bearing and bearing；
Crankshaft outer edge inlays a permanent magnet, and a Hall sensor is installed at the fixed position of bottom plate and crank rotation edge.
Further, bilateral arc ledger-plate is bilateral arc concave shape blade, and bilateral arc cutting blade is outside bilateral arc
Convex blade, to prevent shear history limb from skidding off cutting edge, movement way of realization is oscillating guidebar mechanism.
Toggle arm is that the fruit branch swept in range in toggle arm is swept into the auxiliary body of blade.Crank handle turns connecting rod is again
Toggle arm is driven to do pendulum motion, movement way of realization is crank and rocker mechanism.
Further, toggle arm and the movement of bilateral arc cutting blade are provided by same motor.
Further, initial position is realized by the hall sensing element for being fixed on bottom plate and the permanent magnet being embedded on crank
Searching with shearing start and end position judgement.
One crankshaft is installed, eccentric crankshaft connects trough of belt cutting blade connecting rod, connects by connecting rod in geared motor output shaft
Toggle arm and crankshaft eccentric shaft are connect, sliding and pivoting friction are reduced using bearing in junction.
Crankshaft outer edge inlays a permanent magnet, and the fixed position of bottom plate and crank rotation edge are installed a Hall sensor, used
To detect toggle arm and cutting blade movement position.
Electrical power motor movement finds permanent magnet and Hall element contact point, and reset to initial position waits work
Make signal；
Fruit branch enters in bottom plate V-shaped groove and toggle arm motion envelope area, sends working signal, motor operating, toggle arm will be the bottom of at
Plate V-shaped groove position but the fruit branch for not entering blade edge region are swept between bilateral arc cutting blade and bilateral arc ledger-plate, are cut
Fruit branch.Subsequent mechanism automatically resets to permanent magnet and Hall contact position.
Excessive foreign matter really up to the mark is clipped to, it is automatic to terminate shearing, and recoil movement starting point.
Beneficial effects of the present invention:
Low manufacture cost of the present invention, it is simple and reasonable, it is laborsaving；Solve the problems, such as that high-altitude alignment fruit branch is difficult；It can guarantee reality user
It is the innovation to traditional picker with the safety of machine itself.
Detailed description of the invention:
Fig. 1 is the main view of the embodiment of the present invention；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the exploded view of Fig. 1；
Fig. 4 is mechanism initial position schematic diagram；
Fig. 5 is to sweep branch to move schematic diagram；
Fig. 6 is shearing schematic diagram
In figure: 1. bottom plates, 2. connecting rods, 3. crankshafts, 4. Hall sensors, 5. permanent magnet, 6. trough of belt cutting blade connecting rod, 7. miniature
Bearing, 8. bearings, 9. bilateral arc ledger-plates, 10. bilateral arc cutting blades, 11. toggle arms, 12. decelerating motors.
Specific embodiment
1,2,3,4,4,5,6 pair of the present embodiment is described in detail with reference to the accompanying drawing:
A kind of high-branch fruit Picker arm shear, including bottom plate 1, connecting rod 2, crankshaft 3, Hall sensor 4, permanent magnet 5, trough of belt
Cutting blade connecting rod 6, bearing 8, bilateral arc ledger-plate 9, bilateral arc cutting blade 10, toggle arm 11, is slowed down at miniature bearing 7
Motor 12.
There is a bottom plate 1 on the shear, there is V-arrangement to lead a slot among bottom plate, is equipped with to mention at the bottom plate back side and arches power
Decelerating motor 12；
There are two toggle arms 11 to be mounted on 1 front of bottom plate, has bilateral arc ledger-plate 10 to be mounted on bottom plate front；
One crankshaft 3 is installed, eccentric crankshaft 3 connects trough of belt cutting blade connecting rod 6, connects by connecting rod 2 in geared motor output shaft
Toggle arm 11 and crankshaft eccentric shaft 3 are connect, sliding and pivoting friction are reduced using miniature bearing 7 and bearing 8 in junction.
3 outer edge of crankshaft inlays a permanent magnet 5, and the fixed position of bottom plate 1 and 3 rotational edges of crankshaft install a Hall sensor
4, to detect 10 movement position of toggle arm 11 and bilateral arc cutting blade.
Enter excessive foreign matter really up to the mark between bilateral arc cutting blade 10 and bilateral arc ledger-plate 9, mechanism terminates movement simultaneously
Return to initial position.
Working principle:
Decelerating motor 12 is powered, and decelerating motor 12 moves, Automatic-searching permanent magnet 5 and the specific contact position of Hall sensor 4, machine
Structure is reset to initial position, waits working signal；
Fruit branch, which enters in bottom plate 1V shape slot and 11 motion envelope area of toggle arm but do not enter the fruit branch of blade edge region, is swept into bilateral arc
Between shape cutting blade 10 and bilateral arc ledger-plate 9, working signal is sent, decelerating motor 12 operates, and crank 3 drives connecting rod 2 again
Toggle arm 11 is driven to do pendulum motion, movement way of realization is crank and rocker mechanism, and fruit branch is swept into bilateral arc by toggle arm 11
Between cutting blade 10 and bilateral arc ledger-plate 9.Crank 3 drives trough of belt cutting blade connecting rod 6 and bilateral arc cutting blade 10 simultaneously
Movement, way of realization is oscillating guidebar mechanism, cuts fruit branch.Mechanism automatically resets to permanent magnet and Hall contact position, waits
Next round operation.
Enter excessive foreign matter really up to the mark, decelerating motor revolving speed mistake between bilateral arc cutting blade 10 and bilateral arc ledger-plate 9
It is small, it is judged as foreign matter, terminates shearing manipulation and retract initial position.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (3)
1. a kind of driving lever fruit picking arm shear, it is characterised in that: including bottom plate (1), connecting rod (2), crankshaft (3), Hall
Sensor (4), permanent magnet (5), trough of belt cutting blade connecting rod (6), miniature bearing (7), bearing (8), bilateral arc ledger-plate
(9), bilateral arc cutting blade (10), decelerating motor (12) and toggle arm (11)；
The bottom plate (1) is that a kind of band V-arrangement imports notch bottom plate, is equipped at the bottom plate back side and mentions the decelerating motor for arching power
(12)；
Two toggle arms (11) and bilateral arc ledger-plate (10) are mounted on bottom plate (1) front；
It is equipped in geared motor output shaft crankshaft (3), eccentric crankshaft (3) connects trough of belt cutting blade connecting rod (6), passes through connecting rod
(2) toggle arm (11) and crankshaft eccentric shaft (3) are connected, junction uses miniature bearing (7) and bearing (8)；
Crankshaft (3) outer edge is inlayed a permanent magnet (5), and the fixed position of bottom plate (1) and crankshaft (3) rotational edges are installed a Hall and passed
Sensor (4).
2. a kind of driving lever fruit picking arm shear according to claim 1, it is characterised in that: bilateral arc ledger-plate
It (9) is bilateral arc concave shape blade, bilateral arc cutting blade (10) is bilateral arc evagination blade, to prevent shear history branch
Dry to skid off cutting edge, movement way of realization is oscillating guidebar mechanism.
3. a kind of driving lever fruit picking arm shear according to claim 1, it is characterised in that: toggle arm (11) and double
The movement of side arc cutting blade (10) is provided by same motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910006886.3A CN109479523B (en) | 2019-01-04 | 2019-01-04 | Arm shearing mechanism is picked to driving lever fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910006886.3A CN109479523B (en) | 2019-01-04 | 2019-01-04 | Arm shearing mechanism is picked to driving lever fruit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109479523A true CN109479523A (en) | 2019-03-19 |
| CN109479523B CN109479523B (en) | 2024-04-09 |
Family
ID=65713953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910006886.3A Active CN109479523B (en) | 2019-01-04 | 2019-01-04 | Arm shearing mechanism is picked to driving lever fruit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109479523B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110431994A (en) * | 2019-08-26 | 2019-11-12 | 上海大学 | Citrus picking mechanism |
| JP2021093969A (en) * | 2019-12-18 | 2021-06-24 | 株式会社デンソー | End effector |
| JP2021093968A (en) * | 2019-12-18 | 2021-06-24 | 株式会社デンソー | End effector |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120131802A1 (en) * | 2010-11-30 | 2012-05-31 | Ho Cheng Garden Tools Co., Ltd. | Extended reach garden shears |
| CN203575109U (en) * | 2013-11-20 | 2014-05-07 | 朱胜娃 | Electric Chinese prickly ash picking device |
| US20160270299A1 (en) * | 2015-03-17 | 2016-09-22 | Thomas Lin | Gardening shears with improved shearing efficiency |
| CN107371613A (en) * | 2017-08-08 | 2017-11-24 | 华南农业大学 | A kind of fruit comb cuts picking end performs device |
| CN210900431U (en) * | 2019-01-04 | 2020-07-03 | 东华理工大学 | Arm shearing mechanism is picked to driving lever fruit |
-
2019
- 2019-01-04 CN CN201910006886.3A patent/CN109479523B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120131802A1 (en) * | 2010-11-30 | 2012-05-31 | Ho Cheng Garden Tools Co., Ltd. | Extended reach garden shears |
| CN203575109U (en) * | 2013-11-20 | 2014-05-07 | 朱胜娃 | Electric Chinese prickly ash picking device |
| US20160270299A1 (en) * | 2015-03-17 | 2016-09-22 | Thomas Lin | Gardening shears with improved shearing efficiency |
| CN107371613A (en) * | 2017-08-08 | 2017-11-24 | 华南农业大学 | A kind of fruit comb cuts picking end performs device |
| CN210900431U (en) * | 2019-01-04 | 2020-07-03 | 东华理工大学 | Arm shearing mechanism is picked to driving lever fruit |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110431994A (en) * | 2019-08-26 | 2019-11-12 | 上海大学 | Citrus picking mechanism |
| JP2021093969A (en) * | 2019-12-18 | 2021-06-24 | 株式会社デンソー | End effector |
| JP2021093968A (en) * | 2019-12-18 | 2021-06-24 | 株式会社デンソー | End effector |
| JP7226295B2 (en) | 2019-12-18 | 2023-02-21 | 株式会社デンソー | end effector |
| JP7234915B2 (en) | 2019-12-18 | 2023-03-08 | 株式会社デンソー | end effector |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109479523B (en) | 2024-04-09 |
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