CN109479523B - Arm shearing mechanism is picked to driving lever fruit - Google Patents
Arm shearing mechanism is picked to driving lever fruit Download PDFInfo
- Publication number
- CN109479523B CN109479523B CN201910006886.3A CN201910006886A CN109479523B CN 109479523 B CN109479523 B CN 109479523B CN 201910006886 A CN201910006886 A CN 201910006886A CN 109479523 B CN109479523 B CN 109479523B
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- CN
- China
- Prior art keywords
- double
- bottom plate
- crankshaft
- connecting rod
- movable blade
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 23
- 238000010008 shearing Methods 0.000 title claims abstract description 16
- 238000003756 stirring Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 2
- 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
- 238000010408 sweeping Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction 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 invention relates to a fruit picking device, in particular to a shearing device of a picking arm for high-branch fruits. The device comprises a bottom plate, a connecting rod, a crankshaft, a Hall sensor, a permanent magnet, a movable blade connecting rod with a groove, a miniature bearing, a double-side arc-shaped fixed blade, a double-side arc-shaped movable blade, a gear motor and a poking arm; the bottom plate is a bottom plate with V-shaped guide-in notch, and a speed reducing motor for lifting arch power is arranged on the back surface of the bottom plate; the two poking arms and the double-side arc-shaped fixed blades are arranged on the front surface of the bottom plate; a crankshaft is arranged on an output shaft of the speed reducing motor, an eccentric crankshaft is connected with a movable blade connecting rod with a groove, a shifting arm and an eccentric shaft of the crankshaft are connected through a connecting rod, and a miniature bearing and a bearing are used at the joint; a permanent magnet is embedded at the outer edge of the crankshaft, and a Hall sensor is arranged at the fixed position of the bottom plate and the rotating edge of the crankshaft.
Description
Technical Field
The invention relates to a fruit picking device, in particular to a shearing device of a picking arm for high-branch fruits.
Background
The common scissors type high branch scissors are operated manually by pure mechanical force, are laborious to use, are difficult to align fruit branches in high altitude, and have no safety protection measures.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the invention aims to solve the problems that in the prior art, the operation of a purely mechanical high branch shears is laborious, the efficiency is low, the high-altitude picking alignment of fruit branches is difficult, and the operation safety cannot be guaranteed.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a deflector rod fruit picking arm shearing device comprises a bottom plate, a connecting rod, a crankshaft, a Hall sensor, a permanent magnet, a movable blade connecting rod with a groove, a miniature bearing, a double-side arc fixed blade, a double-side arc movable blade, a gear motor and a deflector arm;
the bottom plate is a bottom plate with V-shaped guide-in notch, and a speed reducing motor for lifting arch power is arranged on the back surface of the bottom plate;
the two poking arms and the double-side arc-shaped fixed blades are arranged on the front surface of the bottom plate;
a crankshaft is arranged on an output shaft of the gear motor, the crankshaft is connected with a movable blade connecting rod with a groove, the movable blade connecting rod is connected with a shifting arm and the crankshaft through a connecting rod, and a miniature bearing and a bearing are used at the joint;
a permanent magnet is embedded at the outer edge of the crankshaft, and a Hall sensor is arranged at the fixed position of the bottom plate and the rotating edge of the crankshaft.
Further, the double-sided arc fixed blade is a double-sided arc concave blade, the double-sided arc movable blade is a double-sided arc convex blade, and the double-sided arc movable blade is used for preventing branches from sliding out of the cutting edge in the shearing process, and the movement realization mode is a swinging guide rod mechanism.
The poking arm is an auxiliary mechanism for sweeping the fruit branches in the sweeping range of the poking arm into the blade. The crank drives the connecting rod and then drives the poking arm to do swinging motion, and the motion implementation mode is a crank rocker mechanism.
Further, the movement of the poking arm and the double-sided arc-shaped movable blade is provided by the same motor.
Furthermore, the initial position searching and the judgment of the starting and ending positions of shearing are realized by the Hall sensing element fixed on the bottom plate and the permanent magnet embedded on the crank.
A crankshaft is arranged on an output shaft of the gear motor, an eccentric crankshaft is connected with a movable blade connecting rod with a groove, a shifting arm and a crankshaft eccentric shaft are connected through a connecting rod, and sliding and rotating friction is reduced by using a bearing at the joint.
A permanent magnet is embedded on the outer edge of the crankshaft, and Hall sensors are arranged on the fixed position of the bottom plate and the rotating edge of the crankshaft and used for detecting the movement positions of the poking arm and the moving blade.
The motor is electrified to move to find the contact point of the permanent magnet and the Hall element, the mechanism is reset to the initial position, and a working signal is waited;
the fruit branch enters the V-shaped groove of the bottom plate and the movement envelope area of the poking arm, a working signal is sent, the motor is operated, the poking arm sweeps the fruit branch which is positioned at the V-shaped groove of the bottom plate but does not enter the cutting edge area into the space between the double-side arc movable blade and the double-side arc fixed blade, and the fruit branch is sheared. The mechanism is then automatically reset to the position where the permanent magnet contacts the hall.
Shearing to the excessive hard foreign matter, automatically stopping shearing, and returning to the movement starting point.
The invention has the beneficial effects that:
the invention has low manufacturing cost, simple and reasonable structure and labor saving; solving the problem of difficult alignment of fruit branches in high altitude; can ensure the safety of the practicality and the machine, and is an innovation of the traditional picking device.
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is an exploded view of FIG. 1;
FIG. 4 is a schematic view of the initial position of the mechanism;
FIG. 5 is a schematic view of a sweeping motion;
FIG. 6 is a schematic view of shearing
In the figure: 1. the device comprises a bottom plate, a connecting rod, a crank shaft, a Hall sensor, a permanent magnet, a grooved moving blade connecting rod, a miniature bearing, a double-sided arc fixed blade, a double-sided arc moving blade, a shifting arm and a reducing motor, wherein the bottom plate, the connecting rod, the crank shaft, the Hall sensor, the permanent magnet, the grooved moving blade connecting rod, the miniature bearing, the double-sided arc fixed blade, the double-sided arc moving blade, the shifting arm and the reducing motor are arranged in sequence, and the reducing motor is arranged in sequence.
Detailed Description
This embodiment is described in detail below with reference to fig. 1, 2, 3, 4, 5, and 6:
a shearing device for a high branch fruit picking arm comprises a bottom plate 1, a connecting rod 2, a crankshaft 3, a Hall sensor 4, a permanent magnet 5, a movable blade connecting rod 6 with a groove, a miniature bearing 7, a bearing 8, a double-side arc fixed blade 9, a double-side arc movable blade 10, a poking arm 11 and a reducing motor 12.
The shearing device is provided with a bottom plate 1, a V-shaped branch guide groove is arranged in the middle of the bottom plate, and a speed reducing motor 12 for lifting arch power is arranged on the back surface of the bottom plate;
two poking arms 11 are arranged on the front surface of the bottom plate 1, and two arc-shaped fixed blades 10 on two sides are arranged on the front surface of the bottom plate;
a crankshaft 3 is arranged on an output shaft of the gear motor, the crankshaft 3 is connected with a movable blade connecting rod 6 with a groove, a poking arm 11 and the crankshaft 3 are connected through a connecting rod 2, and sliding and rotating friction is reduced by using a miniature bearing 7 and a bearing 8 at the joint.
A permanent magnet 5 is embedded on the outer edge of the crankshaft 3, a Hall sensor 4 is arranged on the fixed position of the bottom plate 1 and the rotating edge of the crankshaft 3, and the Hall sensor is used for detecting the movement positions of the poking arm 11 and the double-side arc-shaped movable blades 10.
An excessively large hard foreign matter enters between the double-sided arc movable blade 10 and the double-sided arc fixed blade 9, and the mechanism stops moving and returns to the initial position.
Working principle:
the gear motor 12 is electrified, the gear motor 12 moves, the specific contact position of the permanent magnet 5 and the Hall sensor 4 is automatically found, the mechanism is reset to the initial position, and a working signal is waited;
fruit branches enter the V-shaped groove of the bottom plate 1 and the stirring arm 11 moves in the enveloping area, but the fruit branches which do not enter the cutting edge area are swept into the space between the double-side arc-shaped movable blade 10 and the double-side arc-shaped fixed blade 9, a working signal is sent, the gear motor 12 runs, the crankshaft 3 drives the connecting rod 2 to drive the stirring arm 11 to do swinging motion, the motion implementation mode is a crank rocker mechanism, and the stirring arm 11 sweeps the fruit branches into the space between the double-side arc-shaped movable blade 10 and the double-side arc-shaped fixed blade 9. Simultaneously, the crank 3 drives the movable blade connecting rod 6 with the grooves and the double-side arc-shaped movable blades 10 to move, and the implementation mode is a swinging guide rod mechanism, so that fruit branches are cut off. The mechanism automatically resets to the contact position of the permanent magnet and the Hall, and waits for the next round of operation.
And excessive hard foreign matters enter between the double-sided arc movable blade 10 and the double-sided arc fixed blade 9, the rotating speed of the speed reducing motor is too small, the foreign matters are judged, the shearing operation is stopped, and the shearing operation is returned to the initial position.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides a arm shearing mechanism is picked to driving lever fruit which characterized in that: the device comprises a bottom plate (1), a connecting rod (2), a crankshaft (3), a Hall sensor (4), a permanent magnet (5), a movable blade connecting rod (6) with a groove, a miniature bearing (7), a bearing (8), a double-side arc fixed blade (9), a double-side arc movable blade (10), a gear motor (12) and a toggle arm (11);
the bottom plate (1) is a bottom plate with V-shaped guide-in notch, and a speed reducing motor (12) for lifting arch power is arranged on the back surface of the bottom plate;
the two poking arms (11) and the double-side arc fixed blades (9) are arranged on the front surface of the bottom plate (1);
a crankshaft (3) is arranged on an output shaft of the gear motor, a groove is formed in the grooved movable blade connecting rod (6), one ends of the two connecting rods (2) are connected with the crankshaft (3) through the groove on the grooved movable blade connecting rod (6), the other ends of the two connecting rods (2) are connected with a toggle arm (11), and double-side arc movable blades (10) are arranged at one ends of the grooved movable blade connecting rod (6);
the miniature bearing (7) and the bearing (8) are used at the joint;
a permanent magnet (5) is embedded at the outer edge of the crankshaft (3), and a Hall sensor (4) is arranged at the fixed position of the bottom plate (1) and the rotating edge of the crankshaft (3);
the double-sided arc fixed blade (9) is a double-sided arc concave blade, the double-sided arc movable blade (10) is a double-sided arc convex blade, and is used for preventing the branches from sliding out of the blade in the shearing process, and the movement realization mode is a swinging guide rod mechanism;
the fruit branches enter the V-shaped groove of the bottom plate (1) and the stirring arm (11) to move an envelope area, but the fruit branches which do not enter the cutting edge area are scanned between the double-side arc-shaped movable blade (10) and the double-side arc-shaped fixed blade (9), a working signal is sent, the speed reducing motor (12) operates, the crankshaft (3) drives the connecting rod (2) to drive the stirring arm (11) to do swinging movement, the movement implementation mode is a crank rocker mechanism, and the stirring arm (11) scans the fruit branches between the double-side arc-shaped movable blade (10) and the double-side arc-shaped fixed blade (9);
the movement of the poking arm (11) and the double-sided arc-shaped movable blade (10) is provided by the 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 CN109479523A (en) | 2019-03-19 |
| CN109479523B true 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) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110431994B (en) * | 2019-08-26 | 2022-12-23 | 上海大学 | Citrus picking mechanism |
| 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203575109U (en) * | 2013-11-20 | 2014-05-07 | 朱胜娃 | Electric Chinese prickly ash picking device |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8590165B2 (en) * | 2010-11-30 | 2013-11-26 | Ho Cheng Garden Tools Co., Ltd. | Extended reach garden shears |
| TWI595830B (en) * | 2015-03-17 | 2017-08-21 | You-Tang Lin | Horticultural shears that increase shearing efficiency |
-
2019
- 2019-01-04 CN CN201910006886.3A patent/CN109479523B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203575109U (en) * | 2013-11-20 | 2014-05-07 | 朱胜娃 | Electric Chinese prickly ash picking device |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109479523A (en) | 2019-03-19 |
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