CN110149906B - Fruit picker capable of self-positioning fruit stalks - Google Patents
Fruit picker capable of self-positioning fruit stalks Download PDFInfo
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- CN110149906B CN110149906B CN201910543972.8A CN201910543972A CN110149906B CN 110149906 B CN110149906 B CN 110149906B CN 201910543972 A CN201910543972 A CN 201910543972A CN 110149906 B CN110149906 B CN 110149906B
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- fruit
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- telescopic rod
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 126
- 238000010008 shearing Methods 0.000 claims abstract description 64
- 238000005381 potential energy Methods 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/22—Baskets or bags attachable to the picker
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The application discloses a fruit picker capable of self-positioning fruit stalks, which comprises a shearing device, a fruit holding device, a supporting device, a wire storage device, a telescopic rod, a handle and a net bag. When picking fruits, the fruit stalks to be picked are ensured to enter the shearing device through the cooperation of the shearing device, the fruit containing device and the supporting device, so that automatic and accurate positioning of the fruit stalks is realized. By adjusting the elasticity of the springs in each part, the elastic potential energy is stored and released, the purpose of automatic reset of the component is achieved, the design is reasonable, and the reasonable and effective utilization of energy is realized. Before picking, the length of the telescopic rod is adjusted to pick fruits with corresponding heights, and the fruits at different positions can be picked by adjusting the angle between the fruit holding device and the supporting device, so that the application range is wider.
Description
Technical Field
The application belongs to the field of fruit picking, and particularly relates to a fruit picker capable of self-positioning fruit stalks.
Background
With the development of agricultural machinery, a large number of fruit pickers are correspondingly emerging. The appearance of the fruit picker saves the physical ability of workers, improves the efficiency of picking fruits, ensures that the pickers do not need to climb to high to pick fruits in person when picking fruits at higher positions, and ensures the personal safety of the pickers. The document of application number 201810422871.0 discloses a circumferential multistation shearing fruit picking robot, which needs to find fruit stalks manually during picking, but the fruit stalks are generally above the fruits to be picked, and cannot be directly seen on the ground by people, so that the fruit picking robot is difficult to position to an accurate position, and the picking efficiency is reduced. The document of application No. 201810138812.0 discloses a picker and picking apparatus which acts directly on the surface of the picked fruit when it is picked, possibly causing damage to the surface of the picked fruit and unnecessary losses.
Disclosure of Invention
Aiming at the defects of the prior art, the application aims to provide a fruit picker capable of self-positioning fruit stalks.
The technical scheme for solving the technical problems is that the fruit picker capable of self-positioning fruit handles comprises a telescopic rod, a handle and a net bag; the picking device is characterized by further comprising a shearing device, a fruit holding device, a supporting device and a wire storage device;
the shearing device comprises a cover plate, a cutter box, a clamping piece, a cutter blade, a connecting rod, a sliding block, a first spring, a first rope body, a shearing device frame, a connecting part and a second spring; two knife boxes are arranged on the left side and the right side of the top of the shearing device frame, and two connecting parts are arranged on the left side and the right side of the bottom of the shearing device frame; a cover plate is fixed at the top of the knife box, a knife blade is placed in the formed inner space, and the knife blade can move in the inner space; the end part of the cutter box is provided with an oblique angle, so that the fruit handle can slide into an effective shearing space formed by the cutter blades conveniently; the opposite positions of the two knife boxes are provided with knife blade outlets which are used for extending the knife blades and realizing cutting by matching the two knife blades; the connecting rod is positioned in the cutter box, one end of the connecting rod is hinged with the end part of the blade, and the other end of the connecting rod is hinged with the sliding block; the sliding block is arranged in a sliding groove in the cutter box and can move along the sliding groove; the first spring is placed in the sliding groove, one end of the first spring is fixedly connected with the end part of the sliding groove, and the other end of the first spring is fixedly connected with one end of the sliding block; the other end of the sliding block is fixedly connected with one end of the first rope body; the other ends of the two first rope bodies are connected with a second rope body of the wire storage device; the connecting part is internally provided with an opening for placing a second spring; the clamping piece is connected to the side surface of the connecting part, and the end part of the clamping piece stretches into the opening in the connecting part and is matched with the guide rail groove of the fruit holding device to limit the connecting block of the fruit holding device; a long plate hole is formed in the rear end of the shearing device frame and is matched with the long plate of the fruit holding device;
the fruit holding device comprises a baffle, a fruit holding plate, a limit switch, a long plate, a connecting block, a first supporting plate, a motor, a rotating shaft, rollers and a third rope body; the left end and the right end of the fruit containing plate are respectively fixed with a connecting block, one end of the fruit containing plate is fixed with a long plate, and the bottom of the fruit containing plate is fixed with a first supporting plate; the side surface of one end of the connecting block, which is fixed on the fruit holding plate, is provided with a guide rail groove, and the end of the guide rail groove is inserted into the opening of the connecting part and is contacted with the end part of the second spring, so that the guide rail groove can slide along the opening of the connecting part; the guide rail groove is matched with a clamping piece of the shearing device to realize clamping; baffle plates are uniformly distributed on the connecting blocks; the long plate is inserted into a long plate hole of the shearing device, and a limit switch is arranged at the end part of the long plate; the limit switch is matched with a shearing device frame of the shearing device; the motor support plate is fixed on the first support plate; the motor is fixed on the motor supporting plate, and the output end of the motor is fixed with a rotating shaft; two ends of the rotating shaft are rotatably connected with the first supporting plate, and idler wheels are fixed on the rotating shaft; one end of the third rope body is fixed on the roller, and the other end of the third rope body is fixed on a shearing device frame of the shearing device; the first supporting plate is provided with a non-circular guide groove; the net bag is arranged on the fruit holding device;
the supporting device comprises a third spring, a fourth spring, a connecting plate, a supporting piece, an adjusting piece and a second supporting plate; the connecting plate passes through the non-circular guide groove of the fruit holding device, the connecting plate and the non-circular guide groove are matched with each other, the connecting plate can linearly slide along the non-circular guide groove in one degree of freedom, and the connecting plate and the non-circular guide groove cannot rotate relatively; the two ends of the connecting plate are fixed in the second supporting plate; the fourth spring is nested outside the connecting plate, one end of the fourth spring is fixedly connected with the first supporting plate of the fruit holding device, and the other end of the fourth spring is fixedly connected with the second supporting plate; the third spring is nested outside the connecting plate, one end of the third spring is fixedly connected with the first supporting plate of the fruit holding device, and the other end of the third spring is fixedly connected with the second supporting plate; the end part of the second supporting plate is hinged with one end of the supporting piece through an adjusting piece; the adjusting piece is inserted into the connecting hole of the second supporting plate and the supporting piece to adjust the tightness of the second supporting plate and the supporting piece, so that the angle between the second supporting plate and the supporting piece is adjusted; the other end of the supporting piece is detachably connected with one end of the telescopic rod;
the wire storage device comprises a wire box, a baffle plate, a plane scroll spring, a spool, a shaft cap, a wire barrel, a large gear, an operating handle, a sector gear, a support rod, a torsion spring and a second rope body; one end of the wire box is detachably connected with the other end of the telescopic rod, and the other end of the wire box is detachably connected with the handle; the supporting rod is fixed on one side of the wire box; the operating handle is rotatably connected with the supporting rod, and the end part of the operating handle is provided with a sector gear; the torsion spring is sleeved on the outer side of the supporting rod, one end of the torsion spring is fixedly connected with the wire box, and the other end of the torsion spring is fixedly connected with the operating handle; the spool is positioned in the wire box and is rotatably connected with the wire box, and one end of the spool extends out of the wire box; the shaft cap is fixed at one end of the spool and is positioned outside the wire box; one end of the baffle is hinged on the wire box and is positioned on the same side of the wire box with the shaft cap; the baffle is matched with the shaft cap to control the rotation of the spool; the wire cylinder is positioned in the wire box and sleeved outside the wire spool and is rotatably connected with the wire spool; the large gear is fixed outside the wire barrel and meshed with the sector gear when in operation; one end of the second rope body is fixed outside the wire barrel, and the other end of the second rope body sequentially penetrates through the wire box, the telescopic rod and the through hole of the supporting piece and is fixedly connected with the other ends of the two first rope bodies of the shearing device; a part of the second rope body is wound on the outer side of the wire cylinder, so that the second rope body is in a straightening state when the telescopic rod is in an initial state; the plane scroll spring is positioned in the wire box, one end of the plane scroll spring is fixedly connected with the outer surface of the wire spool, and the other end of the plane scroll spring is fixedly connected with the wire barrel.
Compared with the prior art, the application has the beneficial effects that:
1. when picking fruits, the fruit stalks to be picked are ensured to enter the shearing device through the cooperation of the shearing device, the fruit containing device and the supporting device, so that automatic and accurate positioning of the fruit stalks is realized.
2. By adjusting the elasticity of each spring, the elastic potential energy is stored and released, the purpose of automatic reset of the component is achieved, the design is reasonable, and the reasonable and effective utilization of energy is realized.
3. Through the cooperation of the separation blade and the axle cap of wire storage device, the spring force of plane scroll spring can be rationally stored and released, and the spring force of plane scroll spring can be leveled for the telescopic link does not influence the blade and goes out the sword when reaching the length height requirement, guarantees the stationarity of device.
4. Before picking, fruit with corresponding height is picked through the length of the telescopic rod of the locking piece, and fruits at different positions can be picked through the angle between the fruit containing device and the supporting device of the adjusting piece, so that the application range is wider.
5. When picking, an operator only needs to put fruits into the fruit containing device, then the operation handle is operated to cut off the fruit stalks, so that the picking purpose is realized, the time is not wasted to find the fruit stalks, and the picking efficiency is improved.
6. When picking, the picking force does not directly act on the surface of the fruit, but directly shears the fruit stalks to achieve the picking purpose, so that the picking device is prevented from damaging the fruit.
Drawings
FIG. 1 is a perspective view of the overall structure of the present application;
FIG. 2 is a schematic perspective view of the shearing device, fruit holding device, support device and net bag of the present application;
FIG. 3 is a schematic top view of the shearing device, fruit holding device, support device and net bag assembly of the present application;
FIG. 4 is a schematic view of the structure of the shearing device of the present application;
FIG. 5 is a schematic view of the fruit holding device of the present application;
FIG. 6 is a schematic view of the support structure of the present application;
FIG. 7 is a schematic view of the telescopic rod, wire storage device and grip of the present application installed;
FIG. 8 is a schematic cross-sectional view taken along line A-A of FIG. 7 in accordance with the present application;
fig. 9 is a schematic cross-sectional view of the wire storage device of the present application.
In the figure: 1. a shearing device; 1-1, a cover plate; 1-2, a knife box; 1-3, clamping pieces; 1-4, blades; 1-5, connecting rod; 1-6, a sliding block; 1-7, a first spring; 1-8, a first rope body; 1-9, a chute; 1-10, oblique angle; 1-11, blade outlet; 1-12, shearing device frame; 1-13, a connecting part; 1-14, rope body connecting piece; 1-15, a second spring; 1-16, long plate holes; 1-17, rope fixing pieces;
2. fruit holding device; 2-1, baffle plates; 2-2, fruit containing plates; 2-3, limit switch; 2-4, long plates; 2-5, connecting blocks; 2-6, a non-circular guide slot; 2-7, a first supporting plate; 2-8, a motor supporting plate; 2-9, a motor; 2-10, a rotating shaft; 2-11, idler wheels; 2-12, a third rope body; 2-13, a guide rail groove;
3. a support device; 3-1, a third spring; 3-2, a fourth spring; 3-3, connecting the plates; 3-4, a supporting piece; 3-5, a first threaded hole; 3-6, through holes; 3-7, an adjusting piece; 3-8, a second supporting plate;
4. a telescopic rod; 4-1, an upper hollow telescopic rod; 4-2, a lower hollow telescopic rod; 4-3, locking piece; 4-4, locking ring; 4-5, nuts; 4-6, bolts; 4-7, locking the handle;
5. a wire storage device; 5-1, wire box; 5-2, a baffle; 5-3, plane scroll spring; 5-4, spool; 5-5, a shaft cap; 5-6, a wire cylinder; 5-7, a large gear; 5-8, operating a handle; 5-9, sector gears; 5-10, supporting rods; 5-11, torsion springs; 5-12, a second rope body; 5-13, a second threaded hole; 5-14, a third threaded hole;
6. a grip; 7. a net bag.
Detailed Description
Specific examples of the present application are given below. The specific examples are provided only for further details of the present application and do not limit the scope of the claims.
The application provides a fruit picker capable of self-positioning fruit stalks (referred to as picking devices for short, see fig. 1-9), which comprises a telescopic rod 4, a grip 6 and a string bag 7; the picking device is characterized by further comprising a shearing device 1, a fruit containing device 2, a supporting device 3 and a wire storage device 5;
the shearing device 1 comprises a cover plate 1-1, a cutter box 1-2, a clamping piece 1-3, a cutter blade 1-4, a connecting rod 1-5, a sliding block 1-6, a first spring 1-7, a first rope body 1-8, a shearing device frame 1-12, a connecting part 1-13 and a second spring 1-15; two symmetrical cutter boxes 1-2 are arranged on the left and right sides of the top of the shearing device frame 1-12, and two symmetrical connecting parts 1-13 are arranged on the left and right sides of the bottom; the top of the knife box 1-2 is fixed with a cover plate 1-1, a formed inner space is provided with a knife blade 1-4, and the knife blade 1-4 can move in the inner space; the end part of the cutter box 1-2 is provided with an oblique angle 1-10, so that a fruit handle can conveniently slide into an effective shearing space formed by the cutter blades 1-4; blade outlets 1-11 are formed in the side opposite positions of the two blade boxes 1-2 and are used for extending the blades 1-4 and matching the two blades 1-4 to realize cutting; the connecting rod 1-5 is positioned in the cutter box 1-2, one end of the connecting rod 1-5 is hinged with the end part of the blade 1-4, and the other end is hinged with the middle part of the sliding block 1-6; the sliding block 1-6 is arranged in a sliding groove 1-9 in the knife box 1-2 and can move along the sliding groove 1-9; the first spring 1-7 is placed in the sliding groove 1-9, one end of the first spring is fixedly connected with the end part of the sliding groove 1-9, and the other end of the first spring is fixedly connected with one end of the sliding block 1-6; the other end of the sliding block 1-6 is fixedly connected with one end of the first rope body 1-8; the other ends of the two first rope bodies 1-8 are connected with the second rope bodies 5-12 of the wire storage device 5; the connecting part 1-13 is internally provided with holes for placing the second springs 1-15; the clamping piece 1-3 is in threaded connection with the side surface of the connecting part 1-13, and the end part of the clamping piece extends into an opening in the connecting part 1-13 and is matched with the guide rail groove 2-13 of the fruit holding device 2, so that the clamping limit of the connecting block 2-5 of the fruit holding device 2 is realized; the rear end of the shearing device frame 1-12 is provided with a long plate hole 1-16 which is matched with a long plate 2-4 of the fruit holding device 2;
the fruit holding device 2 comprises a baffle plate 2-1, a fruit holding plate 2-2, a limit switch 2-3, a long plate 2-4, a connecting block 2-5, a first supporting plate 2-7, a motor supporting plate 2-8, a motor 2-9, a rotating shaft 2-10, a roller 2-11 and a third rope body 2-12; the left end and the right end of the fruit holding plate 2-2 are respectively fixed with a connecting block 2-5, one end is fixed with a long plate 2-4, and the bottom is vertically fixed with a first supporting plate 2-7; the connecting blocks 2-5 are arc-shaped structures; the side surface of one end of the connecting block 2-5 fixed on the fruit holding plate 2-2 is provided with a guide rail groove 2-13, and the end is inserted into an opening of the connecting part 1-13 and contacted with the end part of the second spring 1-15, so that the connecting block can slide along the opening of the connecting part 1-13; the guide rail groove 2-13 is matched with the clamping piece 1-3 of the shearing device 1 to realize clamping; baffle plates 2-1 are uniformly distributed on the connecting blocks 2-5 and are used for placing picked fruits; the long plate 2-4 is inserted into a long plate hole 1-16 of the shearing device 1, and the end part of the long plate is provided with a limit switch 2-3; the limit switch 2-3 is matched with the shearing device frame 1-12 of the shearing device 1, and is used for stopping the motor 2-9 when the limit switch 2-3 contacts the shearing device frame 1-12; the motor support plate 2-8 is fixed on the first support plate 2-7; the motor 2-9 is fixed on the motor support plate 2-8, and the output end of the motor is fixed with a rotating shaft 2-10; two ends of the rotating shaft 2-10 are rotatably connected with the first supporting plate 2-7 through rolling bearings, and idler wheels 2-11 are fixed on the rotating shaft; one end of the third rope body 2-12 is fixed on the roller 2-11, and the other end is fixed on the shearing device frame 1-12 of the shearing device 1; the first supporting plate 2-7 is provided with a non-circular guide groove 2-6; the net bag 7 is arranged on the fruit containing plate 2-2 and the connecting block 2-5 of the fruit containing device 2; when the motor 2-9 works, the rotating shaft 2-10 is driven to rotate, the idler wheel 2-11 rotates along with the rotating shaft 2-10, meanwhile, the third rope body 2-12 is driven to be shortened, the shearing device 1 is pulled to move, meanwhile, the second spring 1-15 stores elastic force and is used for pushing the shearing device 1 to return to the initial position when the pulling force of the third rope body 2-12 disappears;
the supporting device 3 comprises a third spring 3-1, a fourth spring 3-2, a connecting plate 3-3, a supporting piece 3-4, an adjusting piece 3-7 and a second supporting plate 3-8; the connecting plate 3-3 passes through the non-circular guide groove 2-6 of the fruit containing device 2, the shape and the size of the connecting plate are the same, the connecting plate 3-3 can linearly slide along the non-circular guide groove 2-6 in one degree of freedom, and the connecting plate and the non-circular guide groove cannot relatively rotate; two ends of the connecting plate 3-3 are fixed in the second supporting plate 3-8; the fourth spring 3-2 is nested outside the connecting plate 3-3, one end of the fourth spring is fixedly connected with the first supporting plate 2-7 of the fruit holding device 2, and the other end of the fourth spring is fixedly connected with the second supporting plate 3-8; the third spring 3-1 is nested outside the connecting plate 3-3, one end of the third spring is fixedly connected with the first supporting plate 2-7 of the fruit holding device 2, and the other end of the third spring is fixedly connected with the second supporting plate 3-8; the fourth spring 3-2 and the third spring 3-1 are used for returning to the initial position after the fruit holding device 2 moves left and right along the connecting plate 3-3; the end part of the second supporting plate 3-8 is hinged with one end of the supporting piece 3-4 through the adjusting piece 3-7; the adjusting piece 3-7 is inserted into the connecting hole of the second supporting plate 3-8 and the supporting piece 3-4, and the tightness of the second supporting plate 3-8 and the supporting piece 3-4 is adjusted by threads or other modes, so that the angle between the second supporting plate 3-8 and the supporting piece 3-4 is adjusted; the other end of the supporting piece 3-4 is detachably connected with one end of the telescopic rod 4;
the wire storage device 5 comprises a wire box 5-1, a baffle 5-2, a plane scroll spring 5-3, a spool 5-4, a shaft cap 5-5, a wire cylinder 5-6, a large gear 5-7, an operating handle 5-8, a sector gear 5-9, a support rod 5-10, a torsion spring 5-11 and a second rope body 5-12; one end of the wire box 5-1 is detachably connected with the other end of the telescopic rod 4, and the other end of the wire box is detachably connected with the handle 6; the supporting rod 5-10 is fixed on one side of the wire box 5-1; the operating handle 5-8 is rotatably connected with the supporting rod 5-10 through a rolling bearing, and the end part of the operating handle is provided with a sector gear 5-9; the torsion spring 5-11 is sleeved outside the supporting rod 5-10, one end of the torsion spring is fixedly connected with the wire box 5-1, and the other end of the torsion spring is fixedly connected with the operating handle 5-8; the spool 5-4 is positioned in the wire box 5-1 and is rotatably connected with the wire box 5-1 through a rolling bearing, and one end of the spool extends out of the wire box 5-1; the shaft cap 5-5 is fixed at one end of the spool 5-4 and is positioned outside the wire box 5-1; one end of the baffle 5-2 is hinged on the wire box 5-1 and is positioned on the same side of the wire box 5-1 with the shaft cap 5-5; the baffle 5-2 is matched with the shaft cap 5-5 to control the rotation of the spool 5-4, and the baffle rotates to be in contact with the shaft cap 5-5 to realize the fixed locking of the spool 5-4; the wire cylinder 5-6 is positioned in the wire box 5-1, sleeved outside the wire spool 5-4 and rotatably connected with the wire spool 5-4 through a rolling bearing; the large gear 5-7 is fixed outside the wire barrel 5-6 and meshed with the sector gear 5-9 when in operation; one end of the second rope body 5-12 is fixed outside the wire barrel 5-6, and the other end sequentially passes through the wire box 5-1, the telescopic rod 4 and the through hole 3-6 of the supporting piece 3-4 and is fixedly connected with the other ends of the two first rope bodies 1-8 of the shearing device 1; part of the second rope body 5-12 is wound on the outer side of the wire barrel 5-6, so that the second rope body 5-12 is in a straightening state when the telescopic rod 4 is in an initial state; the plane scroll spring 5-3 is positioned in the wire box 5-1, one end of the plane scroll spring is fixedly connected with the outer surface of the wire spool 5-4, and the other end of the plane scroll spring is fixedly connected with the wire spool 5-6.
Preferably, the shearing device 1 further comprises a rope connector 1-14 and a rope fixing member 1-17; the other ends of the two first rope bodies 1-8 are fixedly connected with rope body connecting pieces 1-14, and the rope body connecting pieces 1-14 are fixedly connected with the other ends of the second rope bodies 5-12 of the wire storage device 5; the rope fixing piece 1-17 is fixed below the shearing device frame 1-12 and is used for being fixedly connected with one end of the third rope 2-12 of the fruit containing device 2.
Preferably, the non-circular guide grooves 2-6 are square, and the connecting plates 3-3 are square which has the same shape as the non-circular guide grooves 2-6 and can be matched with each other in size.
Preferably, the support piece 3-4 is provided with a first threaded hole 3-5 which is in threaded connection with one end of the telescopic rod 4; the wire box 5-1 is provided with a second threaded hole 5-13 and a third threaded hole 5-14 which are respectively in threaded connection with the other end of the telescopic rod 4 and the handle 6;
preferably, the telescopic rod 4 comprises an upper hollow telescopic rod 4-1, a lower hollow telescopic rod 4-2 and a locking piece 4-3; one end of the upper hollow telescopic rod 4-1 is provided with external threads which are in threaded connection with a first threaded hole 3-5 of the supporting rod 3-4; the lower hollow telescopic rod 4-2 is sleeved outside the upper hollow telescopic rod 4-1 to form a drawable connection; one end of the lower hollow telescopic rod 4-2 is provided with external threads which are in threaded connection with a second threaded hole 5-13 of the wire box 5-1; the locking piece 4-3 is nested outside the lower hollow telescopic rod 4-2 and the upper hollow telescopic rod 4-1 and is used for fastening after adjusting the connection length of the lower hollow telescopic rod 4-2 and the upper hollow telescopic rod 4-1;
preferably, the locking member 4-3 comprises a locking ring 4-4, a nut 4-5, a bolt 4-6 and a locking handle 4-7; the locking ring 4-4 is nested outside the lower hollow telescopic rod 4-2; after the bolts 4-6 pass through the through holes at the two ends of the locking ring 4-4, one end of each bolt is in threaded connection with the nut 4-5, and the other end of each bolt is hinged with one end of the locking handle 4-7; the hinged end of the locking handle 4-7 adopts an eccentric wheel or a cam, the other end of the locking handle 4-7 is pressed, the locking handle 4-7 rotates around the bolt 4-6, the locking ring 4-4 is contracted through the hinged end, and the length of the telescopic rod 4 is locked.
The limit switch 2-3 can adopt the positive YBLX-19/001.
The working principle and the working flow of the application are as follows:
before picking fruits, the length of the telescopic rod 4 is adjusted through the locking piece 4-3 to pick fruits with corresponding heights, and the angle between the fruit containing device 2 and the supporting device 3 is adjusted through the adjusting piece 3-7 to pick fruits at different positions. When the rod length of the telescopic rod 4 in the initial state is increased, the baffle 5-2 is contacted with the shaft cap 5-5, the telescopic rod 4 is increased, the second rope body 5-12 is pulled, the wire cylinder 5-6 and the wire shaft 5-4 relatively rotate, and the plane scroll spring 5-3 and the first spring 1-7 store spring force; the telescopic rod 4 is locked by the locking piece 4-3 after being adjusted to a proper length; when the length of the rod needs to be shortened, the locking piece 4-3 is released, and the second rope body 5-12 is automatically retracted by releasing elastic potential energy through the plane scroll spring 5-3. When the length of the telescopic rod 4 is increased so that the elastic force of the first spring 1-7 is increased to push the blade 1-4 to extend from the blade outlet 1-11, the contact between the baffle 5-2 and the shaft cap 5-5 is disconnected, the spool 5-4 rotates freely, and part of the spring force of the plane scroll spring 5-3 and the first spring 1-7 is released, so that the blade 1-4 can be retracted.
Picking begins, and the sector gear 5-9 is not meshed with the large gear 5-7. The fruit containing plate 2-2 is placed below the fruits to be picked, the motor 2-9 is started to drive the roller 2-11 to rotate, so that the third rope body 2-12 is driven to shorten, the shearing device 1 is pulled to move along the connecting block 2-5, and the second spring 1-15 stores elastic force. If the fruit stalks to be picked do not face the blade outlets 1-11, the fruit stalks move along the oblique angles 1-10 while the shearing device 1 moves along the connecting blocks 2-5, meanwhile, the shearing device 1 and the fruit containing device 2 are pushed to move along the connecting plates 3-3 together, the third springs 3-1 or the fourth springs 3-2 are compressed, the fruit stalks to be picked are ensured to slide into the effective shearing space formed by the blade outlets 1-11, accurate positioning of the fruit stalks is achieved, and then the fruit containing device 2 returns to the initial position through the third springs 3-1 and the fourth springs 3-2. When the shear device frame 1-12 is in contact with the limit switch 2-3, the motor 2-9 stops moving.
Then, an operator operates the operation handle 5-8 to enable the operation handle 5-8 to rotate around the supporting rod 5-10, meanwhile, the torsion spring 5-11 is driven to rotate together to store spring force, at the moment, the sector gear 5-9 is meshed and matched with the large gear 5-7 to drive the large gear 5-7 to rotate, the wire barrel 5-6 rotates around the wire barrel 5-4, the second rope body 5-12 is wound on the wire barrel 5-6 to drive the first rope body 1-8 to move, the sliding block 1-6 is driven to move, the connecting rod 1-5 is driven to move, the first spring 1-7 is stretched to store spring force, the connecting rod 1-5 pushes the blade 1-4 to extend out of the blade outlet 1-11 to cut off fruit handles, and fruits drop into the fruit containing device 2. When the operating handle 5-8 is loosened, the spring force stored by the torsion spring 5-11 when the pulling force of the third rope body 2-12 is eliminated enables the operating handle 5-8 to reset, meanwhile, the first spring 1-7 is stretched by the stored spring force to enable the blade 1-4 to return to the initial position, the second spring 1-15 is acted to enable the shearing device 1 to return to the initial position, and the fruit picking process is completed once.
The application is applicable to the prior art where it is not described.
Claims (6)
1. A fruit picker capable of self-positioning fruit stalks, which comprises a telescopic rod, a grip and a net bag; the picking device is characterized by further comprising a shearing device, a fruit holding device, a supporting device and a wire storage device;
the shearing device comprises a cover plate, a cutter box, a clamping piece, a cutter blade, a connecting rod, a sliding block, a first spring, a first rope body, a shearing device frame, a connecting part and a second spring; two knife boxes are arranged on the left side and the right side of the top of the shearing device frame, and two connecting parts are arranged on the left side and the right side of the bottom of the shearing device frame; a cover plate is fixed at the top of the knife box, a knife blade is placed in the formed inner space, and the knife blade can move in the inner space; the end part of the cutter box is provided with an oblique angle, so that the fruit handle can slide into an effective shearing space formed by the cutter blades conveniently; the opposite positions of the two knife boxes are provided with knife blade outlets which are used for extending the knife blades and realizing cutting by matching the two knife blades; the connecting rod is positioned in the cutter box, one end of the connecting rod is hinged with the end part of the blade, and the other end of the connecting rod is hinged with the sliding block; the sliding block is arranged in a sliding groove in the cutter box and can move along the sliding groove; the first spring is placed in the sliding groove, one end of the first spring is fixedly connected with the end part of the sliding groove, and the other end of the first spring is fixedly connected with one end of the sliding block; the other end of the sliding block is fixedly connected with one end of the first rope body; the other ends of the two first rope bodies are connected with a second rope body of the wire storage device; the connecting part is internally provided with an opening for placing a second spring; the clamping piece is connected to the side surface of the connecting part, and the end part of the clamping piece stretches into the opening in the connecting part and is matched with the guide rail groove of the fruit holding device to limit the connecting block of the fruit holding device; a long plate hole is formed in the rear end of the shearing device frame and is matched with the long plate of the fruit holding device;
the fruit holding device comprises a baffle, a fruit holding plate, a limit switch, a long plate, a connecting block, a first supporting plate, a motor, a rotating shaft, rollers and a third rope body; the left end and the right end of the fruit containing plate are respectively fixed with a connecting block, one end of the fruit containing plate is fixed with a long plate, and the bottom of the fruit containing plate is fixed with a first supporting plate; the side surface of one end of the connecting block, which is fixed on the fruit holding plate, is provided with a guide rail groove, and the end of the guide rail groove is inserted into the opening of the connecting part and is contacted with the end part of the second spring, so that the guide rail groove can slide along the opening of the connecting part; the guide rail groove is matched with a clamping piece of the shearing device to realize clamping; baffle plates are uniformly distributed on the connecting blocks; the long plate is inserted into a long plate hole of the shearing device, and a limit switch is arranged at the end part of the long plate; the limit switch is matched with a shearing device frame of the shearing device; the motor support plate is fixed on the first support plate; the motor is fixed on the motor supporting plate, and the output end of the motor is fixed with a rotating shaft; two ends of the rotating shaft are rotatably connected with the first supporting plate, and idler wheels are fixed on the rotating shaft; one end of the third rope body is fixed on the roller, and the other end of the third rope body is fixed on a shearing device frame of the shearing device; the first supporting plate is provided with a non-circular guide groove; the net bag is arranged on the fruit holding device;
the supporting device comprises a third spring, a fourth spring, a connecting plate, a supporting piece, an adjusting piece and a second supporting plate; the connecting plate passes through the non-circular guide groove of the fruit holding device, the connecting plate and the non-circular guide groove are matched with each other, the connecting plate can linearly slide along the non-circular guide groove in one degree of freedom, and the connecting plate and the non-circular guide groove cannot rotate relatively; the two ends of the connecting plate are fixed in the second supporting plate; the fourth spring is nested outside the connecting plate, one end of the fourth spring is fixedly connected with the first supporting plate of the fruit holding device, and the other end of the fourth spring is fixedly connected with the second supporting plate; the third spring is nested outside the connecting plate, one end of the third spring is fixedly connected with the first supporting plate of the fruit holding device, and the other end of the third spring is fixedly connected with the second supporting plate; the end part of the second supporting plate is hinged with one end of the supporting piece through an adjusting piece; the adjusting piece is inserted into the connecting hole of the second supporting plate and the supporting piece to adjust the tightness of the second supporting plate and the supporting piece, so that the angle between the second supporting plate and the supporting piece is adjusted; the other end of the supporting piece is detachably connected with one end of the telescopic rod;
the wire storage device comprises a wire box, a baffle plate, a plane scroll spring, a spool, a shaft cap, a wire barrel, a large gear, an operating handle, a sector gear, a support rod, a torsion spring and a second rope body; one end of the wire box is detachably connected with the other end of the telescopic rod, and the other end of the wire box is detachably connected with the handle; the supporting rod is fixed on one side of the wire box; the operating handle is rotatably connected with the supporting rod, and the end part of the operating handle is provided with a sector gear; the torsion spring is sleeved on the outer side of the supporting rod, one end of the torsion spring is fixedly connected with the wire box, and the other end of the torsion spring is fixedly connected with the operating handle; the spool is positioned in the wire box and is rotatably connected with the wire box, and one end of the spool extends out of the wire box; the shaft cap is fixed at one end of the spool and is positioned outside the wire box; one end of the baffle is hinged on the wire box and is positioned on the same side of the wire box with the shaft cap; the baffle is matched with the shaft cap to control the rotation of the spool; the wire cylinder is positioned in the wire box and sleeved outside the wire spool and is rotatably connected with the wire spool; the large gear is fixed outside the wire barrel and meshed with the sector gear when in operation; one end of the second rope body is fixed outside the wire barrel, and the other end of the second rope body sequentially penetrates through the wire box, the telescopic rod and the through hole of the supporting piece and is fixedly connected with the other ends of the two first rope bodies of the shearing device; a part of the second rope body is wound on the outer side of the wire cylinder, so that the second rope body is in a straightening state when the telescopic rod is in an initial state; the plane scroll spring is positioned in the wire box, one end of the plane scroll spring is fixedly connected with the outer surface of the wire spool, and the other end of the plane scroll spring is fixedly connected with the wire barrel.
2. The self-positionable fruit picker of claim 1 wherein the shearing device further comprises a rope connector and a rope fastener; the other ends of the two first ropes are fixedly connected with rope connecting pieces, and the rope connecting pieces are fixedly connected with the other ends of the second ropes of the wire storage device; the rope body fixing piece is fixed below the shearing device frame and is used for being fixedly connected with one end of a third rope body of the fruit containing device.
3. The self-positionable fruit picker of claim 1 wherein the non-circular channel is square and the web is square of the same shape as the non-circular channel and of a size to fit.
4. The fruit picker capable of self-positioning fruit stalks as claimed in claim 1, wherein the support member is provided with a first threaded hole in threaded connection with one end of the telescopic rod; the wire box is provided with a second threaded hole and a third threaded hole which are respectively in threaded connection with the other end of the telescopic rod and the handle.
5. The self-positionable fruit picker of claim 4 wherein said telescoping rod comprises an upper hollow telescoping rod, a lower hollow telescoping rod and a locking member; one end of the upper hollow telescopic rod is provided with an external thread which is in threaded connection with a first threaded hole of the supporting rod; the lower hollow telescopic rod is sleeved on the outer side of the upper hollow telescopic rod to form a drawable connection; one end of the lower hollow telescopic rod is provided with an external thread which is in threaded connection with a second threaded hole of the wire box; the locking piece is nested in the outer sides of the lower hollow telescopic rod and the upper hollow telescopic rod and used for fastening after adjusting the connection length of the lower hollow telescopic rod and the upper hollow telescopic rod.
6. The self-positionable fruit picker of claim 5 wherein said locking member comprises a locking ring, nut, bolt and locking handle; the locking ring is nested outside the lower hollow telescopic rod; after the bolts pass through the through holes at the two ends of the locking ring, one end of each bolt is in threaded connection with the nut, and the other end of each bolt is hinged with one end of the locking handle; the hinged end of the locking handle adopts an eccentric wheel or a cam, the other end of the locking handle is pressed, the locking handle rotates around the bolt, the locking ring is contracted through the hinged end, and the length of the telescopic rod is locked.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910543972.8A CN110149906B (en) | 2019-06-21 | 2019-06-21 | Fruit picker capable of self-positioning fruit stalks |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910543972.8A CN110149906B (en) | 2019-06-21 | 2019-06-21 | Fruit picker capable of self-positioning fruit stalks |
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| CN110149906A CN110149906A (en) | 2019-08-23 |
| CN110149906B true CN110149906B (en) | 2023-11-24 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110558037B (en) * | 2019-09-11 | 2022-04-12 | 安徽省中日农业环保科技有限公司 | Agricultural product picking device convenient to save labor |
| CN110972706B (en) * | 2019-12-26 | 2023-12-22 | 江苏农林职业技术学院 | Blueberry picking tool |
| CN112640655B (en) * | 2020-12-23 | 2021-12-17 | 台州市黄岩日隆模具厂(普通合伙) | Device is picked to jackfruit |
| CN114451144B (en) * | 2022-03-17 | 2023-07-25 | 河北省科学院应用数学研究所 | Fruit picking end effector |
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|---|---|
| CN110149906A (en) | 2019-08-23 |
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