CN114402805B - Finger-surface collaborative bionic chilli picking roller and harvester - Google Patents
Finger-surface collaborative bionic chilli picking roller and harvester Download PDFInfo
- Publication number
- CN114402805B CN114402805B CN202210107669.5A CN202210107669A CN114402805B CN 114402805 B CN114402805 B CN 114402805B CN 202210107669 A CN202210107669 A CN 202210107669A CN 114402805 B CN114402805 B CN 114402805B
- Authority
- CN
- China
- Prior art keywords
- bionic
- finger
- comb
- picking roller
- phalanx
- 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.)
- Active
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 131
- 240000004160 Capsicum annuum Species 0.000 title abstract 2
- 235000002566 Capsicum Nutrition 0.000 claims abstract description 124
- 239000006002 Pepper Substances 0.000 claims abstract description 63
- 241000722363 Piper Species 0.000 claims abstract description 63
- 235000016761 Piper aduncum Nutrition 0.000 claims abstract description 62
- 235000017804 Piper guineense Nutrition 0.000 claims abstract description 62
- 235000008184 Piper nigrum Nutrition 0.000 claims abstract description 62
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 13
- 210000003491 skin Anatomy 0.000 claims abstract description 13
- 210000002615 epidermis Anatomy 0.000 claims abstract description 12
- 240000008574 Capsicum frutescens Species 0.000 claims description 51
- 239000001390 capsicum minimum Substances 0.000 claims description 32
- 229920002379 silicone rubber Polymers 0.000 claims description 7
- 239000004945 silicone rubber Substances 0.000 claims description 5
- 230000003592 biomimetic effect Effects 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 241000758706 Piperaceae Species 0.000 abstract description 30
- 238000003306 harvesting Methods 0.000 abstract description 29
- 238000013461 design Methods 0.000 abstract description 6
- 230000005089 fruit drop Effects 0.000 abstract description 4
- 210000003811 finger Anatomy 0.000 description 101
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 14
- 238000005452 bending Methods 0.000 description 9
- 235000013399 edible fruits Nutrition 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 239000002344 surface layer Substances 0.000 description 6
- 230000001680 brushing effect Effects 0.000 description 5
- 210000001519 tissue Anatomy 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 235000002568 Capsicum frutescens Nutrition 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 210000003813 thumb Anatomy 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000004553 finger phalanx Anatomy 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 238000007788 roughening Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000002195 synergetic effect Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000011194 food seasoning agent Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- 238000004073 vulcanization Methods 0.000 description 1
- 238000003466 welding 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to a finger-surface collaborative bionic chilli picking roller and a harvester, which comprise a plurality of bionic comb fingers, a bionic spiral conveying surface and a central shaft; the bionic spiral conveying surface is arranged on the central shaft, and a plurality of bionic comb fingers are arranged on the central shaft according to spiral lines. The bionic comb comprises a comb skeleton and a flexible epidermis; the comb finger frame comprises a far-end finger bone, a middle finger bone and a near-end finger bone; the flexible skin is sleeved outside the far-end phalanx, the middle phalanx and the near-end phalanx, the far-end phalanx and the middle phalanx are connected through a first elastic component, and the middle phalanx and the near-end phalanx are connected through a second elastic component. The invention designs the pepper picking roller with the cooperation of the bionic comb fingers and the bionic spiral surface, which can reduce the damage rate and the fruit drop rate of the peppers during pepper harvesting and greatly improve the harvesting quality of the peppers.
Description
Technical Field
The invention belongs to the technical field of engineering bionics, and particularly relates to a finger-surface collaborative bionical chilli picking roller and a harvester.
Background
The life of the capsicum as a seasoning for people has been long, but the capsicum is widely used along with the development of technology, and the planting area is increased. Market research shows that the capsicum is always popular with peasants as a main cash crop, and the planting area of the capsicum in China is about 81.4 ten thousand hectares in recent years, the total yield reaches 1960 ten thousand tons, and small-area planters can not be counted. The capsicum harvesting is divided into mechanical harvesting and manual harvesting: manual harvesting generally depends on different regional labor force, and the manual harvesting cost of the capsicum is 600-1000 yuan as a whole along with the difference; the efficiency of mechanical harvesting is high, the cost is low and is only 50% of the labor cost. The capsicum harvesting machinery greatly influences the planting area of capsicum, and further influences the development of the whole capsicum industry chain.
The picking parts of the pepper harvester used at home at present comprise spring fingers, comb fingers, spiral type and the like, and the parts are used as working parts which are in direct contact with the peppers on the pepper harvester, and the structural, surface layer material, surface layer roughening and the like of the parts can obviously influence the working quality of pepper picking. The currently commonly used comb fingers or spring fingers mainly comprise steel bars with certain bending degree at the middle upper part, the bottom is directly and rigidly connected with a picking roller, the buffer effect on the peppers cannot be achieved, and the higher pepper breakage rate can be generally achieved when the comb fingers or spring fingers are used for harvesting the peppers; the spiral picking roller has the advantages of simple curved surface design, low picking rate, high breakage rate and low overall capsicum harvesting quality in capsicum picking. The mechanized use has improved the efficiency of picking of hot pepper, but the high damage rate of hot pepper harvesting in-process and low scheduling problem have hindered the popularization of hot pepper harvester to a certain extent. And the domestic pepper picking rollers have fewer forms, which hinders the transverse development of the pepper harvester, so sustainable innovation of the domestic pepper picking device still needs continuous effort.
Disclosure of Invention
According to the technical problems, the finger-surface collaborative bionic pepper picking roller and the harvester are designed, and the bionic comb fingers and the bionic spiral surface collaborative matched pepper picking roller are designed, so that the pepper breakage rate and the fruit dropping rate can be reduced when pepper harvesting is carried out, and the pepper harvesting quality is greatly improved.
The technical scheme of the invention is as follows: a finger-surface collaborative bionic pepper picking roller comprises a plurality of bionic comb fingers, a bionic spiral conveying surface and a central shaft; the bionic spiral conveying surface is arranged on the central shaft, and a plurality of bionic comb fingers are arranged on the central shaft according to spiral lines.
In the scheme, the angle beta between the bionic comb fingers and the starting point of the bionic spiral conveying surface on the central shaft is 180 degrees.
In the scheme, the bionic comb finger comprises a comb finger skeleton and a flexible epidermis; the comb finger frame comprises a far-end finger bone, a middle finger bone and a near-end finger bone; the flexible skin is sleeved outside the far-end phalanx, the middle phalanx and the near-end phalanx, the far-end phalanx and the middle phalanx are connected through a first elastic component, and the middle phalanx and the near-end phalanx are connected through a second elastic component.
Further, the first elastic component is a distal leaf spring; the second elastic member is a proximal plate spring.
In the above scheme, the central lines of the proximal phalanx, the distal phalanx, the middle phalanx, the first elastic component and the second elastic component are first curves, and the first curves satisfy the following first equation:
y＝0.003706x 2 +0.003577x+0.288730, wherein x is 0.ltoreq.70, goodness of fit R 2 ＝0.997683。
In the above scheme, the spiral line of the bionic spiral conveying surface is the same as the spiral line of the bionic comb finger arrangement, the center line of the section of the bionic spiral conveying surface is a second curve, and the second curve satisfies the following second equation:
y＝-0.0106x 2 -0.5784x-8.5947, wherein x is more than or equal to 25 and less than or equal to 85, and the goodness of fit R 2 ＝0.9965。
In the above scheme, the flexible skin is silicon rubber.
In the above scheme, the surface of the flexible epidermis is roughened.
In the scheme, liquid is filled between the flexible fingerstall and the comb finger skeleton.
A harvester comprises the finger-surface collaborative bionic pepper picking roller.
Compared with the prior art, the invention has the beneficial effects that: the bionic comb finger and the bionic spiral surface are cooperated with each other to form the pepper picking roller, so that the damage rate and the fruit drop rate of the peppers can be reduced when the peppers are harvested, and the harvesting quality of the peppers is greatly improved.
Drawings
FIG. 1 is an isometric view of a finger-surface collaborative biomimetic pepper picking roller according to an embodiment of the present invention;
FIG. 2 is a bionic comb finger front view of a finger-surface collaborative bionic pepper picking roller according to an embodiment of the present invention;
FIG. 3 is a bionic spiral side view of a finger-surface collaborative bionic pepper picking roller according to an embodiment of the present invention;
FIG. 4 is a partial enlarged view of a bionic spiral surface of a finger-surface collaborative bionic pepper picking roller according to an embodiment of the present invention;
FIG. 5 is a front view of a flexible skin in a finger-surface collaborative biomimetic pepper picking roller in accordance with one embodiment of the present invention;
fig. 6 is a schematic diagram of the starting point angles of a bionic comb finger and a bionic spiral conveying surface of a finger-surface collaborative bionic chilli picking roller according to an embodiment of the invention.
Wherein: 1-bionic comb fingers; 2-bionic comb finger bases; 3-a central axis; 4-bionic spiral conveying surface; 5-bionic comb finger mounting grooves; 6-distal phalanges; 7-distal leaf springs; 8-middle phalanges; 9-a proximal plate spring; 10-proximal phalanges; 11-a first curve; 12-second curve; 13 flexible skin.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
FIG. 1 shows a preferred embodiment of the finger-surface collaborative bionic pepper picking roller, which comprises a plurality of bionic comb fingers 1, a bionic spiral conveying surface 4 and a central shaft 3; the bionic spiral conveying surface 4 is arranged on the central shaft 3, and a plurality of bionic comb fingers 1 are arranged on the central shaft 3 according to spiral lines. The angle β between the bionic comb finger 1 and the starting point of the bionic spiral conveying surface 4 on the central axis 3 is 180 °, as shown in fig. 6. Different from the traditional pepper picking roller, the bionic comb finger 1 and the bionic spiral conveying surface 4 are matched for use, so that the damage of peppers can be effectively reduced, the net rate of pepper picking is improved, the fruit dropping rate of peppers is reduced, and the pepper harvesting rate is greatly improved.
According to the present embodiment, as shown in fig. 2 and 5, preferably, the bionic comb finger 1 includes a comb skeleton and a flexible skin 13; the comb finger frame comprises a distal finger bone 6, a middle finger bone 8 and a proximal finger bone 10; the flexible epidermis 13 is sleeved outside the distal phalange 6, the middle phalange 8 and the proximal phalange 10, the distal phalange 6 and the middle phalange 8 are connected through a first elastic component, and the middle phalange 8 and the proximal phalange 10 are connected through a second elastic component.
According to the present embodiment, preferably, the first elastic member is a distal leaf spring 7; the second elastic member is a proximal plate spring 9.
According to this embodiment, preferably, the curvature of the center curve of the overall structure of the bionic comb finger 1 satisfies a first equation when the components are assembled, and the length ratio of the distal phalanx 6, the middle phalanx 8 and the proximal phalanx 10 is 1:1:0.5. the finger bones are connected by the plate spring, the structure is a flexible connection between finger-like finger bones, the structure can play a good role in buffering and damping when the finger is impacted externally, and the damage rate of the pepper can be effectively reduced by applying the structure in pepper harvesting; the surface of the comb finger is added with a flexible skin 13, the skin material is heat-vulcanized silicone rubber with the elastic modulus similar to that of the flexible tissue of the finger, and the surface of the skin material is subjected to fingerprint treatment to improve the contact force with the pepper.
As shown in fig. 2, according to the present embodiment, preferably, the proximal phalange 10, the distal phalange 6 and the middle phalange 8 are scanned and generated according to a first curve 11, the first curve 11 is a comb finger center curve, and the cross-sectional structure is contoured by approximating the cross-section of a finger; the first elastic component and the second elastic component are generated by scanning by taking the first curve 11 as a guide line, and the first curve 11 meets the following first equation:
y＝0.003706x 2 +0.003577x+0.288730, wherein x is 0.ltoreq.70, goodness of fit R 2 ＝0.997683。
The flexible epidermis 13 is generated by using a first equation as a guide line, the section of the proximal phalanx 10, and the section of the distal phalanx 6 as loft surfaces.
In the connection of the structures, the distal phalanges 6, the middle phalanges 8, the proximal phalanges 10, the proximal plate springs 9 and the distal plate springs 7 are preferably connected by laser welding, and the connection of the flexible finger cuff 13 and the comb finger skeleton is filled with liquid. When the bionic comb finger 1 carries out the brushing action on the peppers, the flexible epidermis 13, the proximal plate spring 9 and the distal plate spring 7 all have the action of reducing the impact on the peppers, thereby reducing the damage rate of the peppers; and the flexible surface skin 13 can increase the contact force with the surface of the chilli in the process of brushing the chilli after roughening treatment, so that the brushing effect of the bionic comb finger is effectively improved.
The bionic comb finger 1 surface layer in the finger-surface collaborative bionic chilli picking roller is subjected to flexible treatment, and the surface layer of the flexible surface 13 is roughened by selecting heat-vulcanized silicone rubber as a material of the flexible surface 13 by simulating a human finger flexible tissue; characteristics of the bionic comb finger 1 after surface layer flexible treatment: the running speed of the pepper harvester and the rotating speed of the picking roller can cause the comb fingers to generate impact force on the peppers when brushing the peppers, so that the peppers are damaged; the bionic comb finger surface layer can effectively reduce the impact force on the peppers after being subjected to flexible treatment, so that the breakage rate of the pepper harvester when picking the peppers is reduced.
The bionic spiral conveying surface 4 is formed by researching the process that a finger acts on the capsicum through a middle finger to a palm after picking the capsicum, and analyzing the whole process by combining with bionic knowledge: the middle finger transports the chilli to the palm through a certain bending action, and the bending of the middle finger can be approximated to a rotary motion in the process; then bionic is carried out on the final structure of the middle finger bending process, and a second equation is extracted by taking the center curve of the middle finger as a bionic prototype; the working surface of the bionic spiral conveying surface 4 is obtained by extending along the spiral line direction through a second equation; the bionic spiral conveying surface 4 can perform a conveying function similar to that of a middle finger after applying an angular velocity, and has high stability and less loss in the pepper conveying process.
As shown in fig. 3 and 4, according to this embodiment, preferably, the spiral line of the bionic spiral conveying surface 4 is the same as the spiral line of the bionic comb finger 1, so that the comb finger and the spiral surface can cooperate together. The bionic spiral conveying surface 4 is a curved surface generated by scanning the second curve 12, a finger bending central line is extracted when a person picks the peppers, the second curve 12 is generated by fitting, and the surface generated by the second curve 12 can better contact the peppers, so that the conveying efficiency is improved, the fruit dropping rate of the peppers is reduced, and the peppers are well conveyed to the feed box. The second curve 12 satisfies the following second equation:
y＝-0.0106x 2 -0.5784x-8.5947, wherein x is more than or equal to 25 and less than or equal to 85, and the goodness of fit R 2 ＝0.9965。
The finger bending center line when picking the chilli is extracted, the second curve 12 is generated by fitting, and the bionic spiral conveying surface 4 generated by the second curve 12 is used for jointly completing the conveying of the chilli on the two chilli picking rollers in the actual chilli harvesting process, and the two bionic spiral conveying surfaces 4 can also comb the chilli under the synergistic effect.
Engineering bionic principle of finger-surface collaborative bionic pepper picking roller:
at present, part of pepper growers also adopt manual work to pick peppers, and the main reason is that the peppers flow into vegetable markets and supermarket shelves or are used for scientific research, so that the peppers to be picked are not damaged or less damaged, and the manual pepper picking is better than the mechanical picking in other aspects except low efficiency and high cost. The invention performs bionic study on the hand structure form and the motion process when the pepper is manually picked, wherein a worker picks the pepper with an index finger and a thumb, the thumb mainly provides a pressure, when the arm applies picking force, the index finger and the pepper epidermis generate static friction force, when the static friction force is larger than the connection force between pepper fruits and pepper plants, the pepper is picked, the structure form of the index finger is taken as a bionic model in the whole process, a first equation is extracted, and the flexible epidermis 13 is designed in a bionic way according to the flexible tissue of the finger and the friction coefficient of the epidermis; after the capsicum is picked off by the index finger and the thumb, the middle finger is contacted with the capsicum, the capsicum is transported to the palm for temporary storage by bending motion under the assistance of the ring finger, the bending action of the middle finger in the process is the main motion process of transporting the capsicum to the palm center, the process is bionic, the structural form of the initial bending process of the middle finger is taken as a bionic prototype, the central curve of the middle finger is extracted as a second equation, the working surface in the bionic spiral transporting surface 4 is generated by the second equation, the transporting stability of the working surface in the capsicum picking process is high, and the fruit dropping rate in the capsicum harvesting process is reduced.
By studying the fingers of the perennial pepper picking workers: picking off the chilli under the condition that the index finger plays a main role, conveying the chilli to the palm center for temporary storage under the bending action of the index finger, performing bionic study on the finger based on the chilli, respectively extracting a first equation and a second equation, applying the first equation to the comb finger to design a bionic comb finger 1, and applying the second equation to the bionic spiral conveying surface 4 to design a bionic working surface; wherein, a pepper picking roller which is matched with the bionic comb finger 1 and the bionic conveying surface 4 is designed according to the synergistic effect of the fingers of the human body on pepper picking; wherein, in order to simulate the flexible tissue of the human finger, the heat vulcanized silicone rubber is also selected as the flexible skin 13 of the bionic comb finger. The invention can reduce the damage rate and the fruit drop rate of the capsicum when the capsicum is harvested, and greatly improves the harvesting quality of the capsicum.
The working principle of the bionic comb finger 1 is that the comb finger brushes the capsicum from plants, and the surface of the bionic comb finger 1 is subjected to flexible treatment by using heat-vulcanized silicone rubber to generate a flexible epidermis 13; the bionic spiral conveying surface 4 is cooperated with the bionic comb fingers 1, the bionic spiral conveying surface 4 is generated through a second equation, the bionic spiral conveying surface 4 conveys the peppers brushed by the bionic comb fingers 1 to a material box, and the bionic spiral conveying surface 4 can also play a role in picking the peppers when a pair of picking rollers operate; the connection of the bionic spiral conveying surface 4 and the bionic comb finger 1 on the central shaft 3 is respectively realized by: the bionic comb finger 1 is connected with a bionic comb finger mounting groove 5 on a central shaft 3 through interference fit through a bionic comb finger base 2, and the connection of a bionic spiral conveying surface 4 is welded to the central shaft 3 through laser. The finger-surface collaborative bionic pepper picking rollers are used in pairs in an actual pepper harvester, and the spiral lines on the two picking rollers are opposite in rotation direction.
According to the invention, the bionic comb finger 1 and the bionic spiral conveying surface 4 are applied to a pepper picking roller to carry out the collaborative operation of pepper picking; the space between the bionic comb fingers 1 is obtained by analyzing the maximum diameter of the capsicum, and the preferable space is 20mm; because the bionic comb finger 1 mainly plays a role in brushing the peppers and the bionic spiral conveying surface 4 mainly plays a role in conveying, the angle between the bionic comb finger 1 and the starting point of the bionic spiral conveying surface 4 on the picking roller is 180 degrees in consideration of the angular speed of the picking roller, and preferably, the pitch of the bionic comb finger 1 and the bionic spiral conveying surface 4 is 585mm and the number of turns is 2. The structural design of the picking roller can well reduce the damage rate of pepper harvesting, improve the net rate of pepper harvesting and reduce the fruit drop rate, and well improve the harvesting quality of peppers.
The invention is characterized in that the harvesting quality of the capsicum is improved: through the research of the manual pepper picking process, the middle finger and the index finger play a main role in pepper picking, and the middle finger and the index finger work cooperatively in pepper picking; through the findings, the finger-surface collaborative bionic pepper picking roller is designed by applying the related knowledge of bionics, materiallogy and mechanics. Structurally, a bionic comb finger 1 and a bionic spiral conveying surface 4 are designed, and the bionic comb finger 1 and the bionic spiral conveying surface 4 are combined together by applying bionic knowledge, and the bionic comb finger 1 plays a role in conveying a part of a pepper comb during a pepper harvesting process, and then the peppers brushed off by the comb are conveyed to a feed box by the bionic spiral conveying surface 4; the design has high net picking rate and low fruit dropping rate in the pepper harvesting process, and promotes the mechanization of pepper harvesting. In order to simulate the flexible tissue of the human finger, the thermal vulcanization type silicon rubber is used as the material of the flexible skin 13, and after the flexible skin 13 is added to the bionic comb finger 1, the damage rate of the capsicum can be greatly reduced in the capsicum harvesting process, and the capsicum harvesting quality is improved. The invention has great application prospect in the market and plays a promotion role in the development of the capsicum industry.
Example 2
A harvester comprising the finger-surface collaborative biomimetic pepper picking roller of embodiment 1. Therefore, the beneficial effects described in embodiment 1 are provided, and will not be described here.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (9)
1. The finger-surface collaborative bionic pepper picking roller is characterized by comprising a plurality of bionic comb fingers (1), a bionic spiral conveying surface (4) and a central shaft (3);
the bionic spiral conveying surface (4) is arranged on the central shaft (3), and a plurality of bionic comb fingers (1) are arranged on the central shaft (3) according to spiral lines;
the bionic comb finger (1) comprises a comb finger skeleton and a flexible epidermis (13); the comb finger bone frame comprises a distal finger bone (6), a middle finger bone (8) and a proximal finger bone (10); the flexible epidermis (13) is sleeved outside the far-end phalanx (6), the middle phalanx (8) and the near-end phalanx (10), the far-end phalanx (6) is connected with the middle phalanx (8) through a first elastic component, and the middle phalanx (8) is connected with the near-end phalanx (10) through a second elastic component.
2. Finger-surface collaborative bio-pepper picking roller according to claim 1 is characterized in that the angle β between the start points of the bio-comb finger (1) and the bio-spiral conveying surface (4) on the central axis (3) is 180 °.
3. Finger-surface collaborative bionic pepper picking roller according to claim 1, characterized in that the first elastic means is a distal leaf spring (7); the second elastic component is a proximal plate spring (9).
4. Finger-surface collaborative bionic capsicum picking roller according to claim 1, characterized in that the centreline of the proximal phalange (10), distal phalange (6), middle phalange (8), first elastic element and second elastic element is a first curve (11), the first curve (11) satisfying the following first equation:
y＝0.003706x 2 +0.003577x+0.288730, wherein x is 0.ltoreq.70, goodness of fit R 2 ＝0.997683。
5. Finger-surface collaborative bionic pepper picking roller according to claim 1, characterized in that the spiral line of the bionic spiral conveying surface (4) is the same as the spiral line of the bionic comb finger (1) arrangement, the center line of the section of the bionic spiral conveying surface (4) is a second curve (12), and the second curve (12) satisfies the following second equation:
y＝-0.0106x 2 -0.5784x-8.5947, wherein x is more than or equal to 25 and less than or equal to 85, and the goodness of fit R 2 ＝0.9965。
6. Finger-surface collaborative bionic capsicum picking roller according to claim 1, characterized in that the flexible skin (13) is silicone rubber.
7. Finger-surface collaborative biomimetic chilli picking roller according to claim 1, characterized in that the flexible skin (13) is surface roughened.
8. Finger-surface collaborative bionic capsicum picking roller according to claim 1, characterized in that between the flexible finger cuff (13) and the comb skeleton is filled with liquid.
9. A harvester comprising the finger-surface collaborative bionic pepper picking roller as claimed in any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210107669.5A CN114402805B (en) | 2022-01-28 | 2022-01-28 | Finger-surface collaborative bionic chilli picking roller and harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210107669.5A CN114402805B (en) | 2022-01-28 | 2022-01-28 | Finger-surface collaborative bionic chilli picking roller and harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114402805A CN114402805A (en) | 2022-04-29 |
| CN114402805B true CN114402805B (en) | 2024-03-19 |
Family
ID=81279487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210107669.5A Active CN114402805B (en) | 2022-01-28 | 2022-01-28 | Finger-surface collaborative bionic chilli picking roller and harvester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114402805B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115069558B (en) * | 2022-06-02 | 2024-03-19 | 江苏大学 | Human finger-like star wheel and chilli cleaning device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203814210U (en) * | 2014-04-17 | 2014-09-10 | 河北雷肯农业机械有限公司 | Header of three-row pepper picking harvester |
| CN212344555U (en) * | 2020-10-09 | 2021-01-15 | 河北农业大学 | Picking part for pepper harvester |
| CN213784232U (en) * | 2020-11-26 | 2021-07-27 | 新疆天研种子机械工程技术研究中心（有限公司） | Harvesting assembly for harvesting peppers and harvesting table |
| CN113519267A (en) * | 2021-07-12 | 2021-10-22 | 江苏大学 | Hand self-propelled small-size hot pepper harvester |
-
2022
- 2022-01-28 CN CN202210107669.5A patent/CN114402805B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203814210U (en) * | 2014-04-17 | 2014-09-10 | 河北雷肯农业机械有限公司 | Header of three-row pepper picking harvester |
| CN212344555U (en) * | 2020-10-09 | 2021-01-15 | 河北农业大学 | Picking part for pepper harvester |
| CN213784232U (en) * | 2020-11-26 | 2021-07-27 | 新疆天研种子机械工程技术研究中心（有限公司） | Harvesting assembly for harvesting peppers and harvesting table |
| CN113519267A (en) * | 2021-07-12 | 2021-10-22 | 江苏大学 | Hand self-propelled small-size hot pepper harvester |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114402805A (en) | 2022-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114402805B (en) | Finger-surface collaborative bionic chilli picking roller and harvester | |
| CN106310645A (en) | Intelligent basketball assisting training glove and training data monitoring method | |
| CN104813805A (en) | Silica gel rolling wheel used for Chinese wolfberry picking machine | |
| CN109849574A (en) | A kind of comprehensive peeling removal of impurities desinsection protection climbing car of text object for appreciation walnut picking | |
| CN106818055B (en) | Black fruit matrimony vine fruit picker | |
| US4774727A (en) | Fruit picking glove | |
| CN204518508U (en) | Combing formula medlar-picking machine | |
| CN115069558B (en) | Human finger-like star wheel and chilli cleaning device | |
| CN104686069A (en) | Combing type wolfberry picking machine | |
| CN209120851U (en) | A kind of hickory chick recovering device | |
| CN204157298U (en) | Matrimony vine plucks electric manipulator | |
| CN109041785A (en) | Chilli picker | |
| CN213784232U (en) | Harvesting assembly for harvesting peppers and harvesting table | |
| CN212487346U (en) | Header for harvesting peppers | |
| KR101719796B1 (en) | Personal wearable-type fruit harvesting device | |
| CN104247608B (en) | Matrimony vine is plucked electric manipulator | |
| CN209170926U (en) | Chilli picker | |
| CN2479791Y (en) | Finger brush | |
| CN107551509A (en) | A kind of shuttlecock with VELCRO | |
| CN207573962U (en) | Peento device for picking | |
| CN210016999U (en) | Gloves are picked to matrimony vine | |
| CN208113655U (en) | A kind of Multifunctional potato stem apex stripping needle | |
| CN205830392U (en) | A kind of for picking pericarpium zanthoxyli with the finger-stall of Folium Camelliae sinensis | |
| CN207383622U (en) | A kind of gloves for pet bristle | |
| CN113519268A (en) | Rigid-flexible-liquid coupling loss-reducing bionic picking spring tooth and pepper harvester |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |