CN206491016U - A kind of portable apple-picking device based on negative-pressure sucking - Google Patents
A kind of portable apple-picking device based on negative-pressure sucking Download PDFInfo
- Publication number
- CN206491016U CN206491016U CN201720170039.7U CN201720170039U CN206491016U CN 206491016 U CN206491016 U CN 206491016U CN 201720170039 U CN201720170039 U CN 201720170039U CN 206491016 U CN206491016 U CN 206491016U
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- cambered
- apple
- housing
- rotary table
- annular rotary
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Abstract
The utility model belongs to agricultural machinery technological field, more particularly to a kind of portable apple-picking device based on negative-pressure sucking, including annulus cutterhead (1), cambered blade (2), annular rotary table (3), housing (4), controlling switch (9), expansion link (10), direct current generator (11) and little gear (12)；Cambered blade group is provided between annular rotary table (3) and annulus cutterhead (1)；Cambered blade group includes three cambered blades (2), and annulus cutterhead (1) is provided with three holes along along its circumference；Annular rotary table (3) radially inside provided with three radial slots；The bearing pin of one end of three cambered blades (2) is rotated with a hole on annulus cutterhead (1) and is connected, and the bearing pin of the other end is located in a radial slot of annular rotary table (3)；So that the blade of three cambered blades (2) is relative, three cambered blades (2) form the opening that a size moves with it change；Apple collecting bag (8) is set below housing (4).
Description
Technical field
The utility model belongs to agricultural machinery technological field, and more particularly to a kind of portable apple based on negative-pressure sucking is adopted
Device and picking.
Background technology
In apple production operation, the harvesting operation of apple is a most laborious, time-consuming link.Pluck operation quality
Quality, directly influences the storage, processing and sale of apple, final the influence market price and economic benefit.Due to harvesting operation
Complexity, harvesting automaticity it is very low, apple-picking operation substantially still has been manually done.It is quick with global economy
Development and the aggravation of aging population, apple harvest cost are improved constantly.Therefore, the mechanized harvest skill of apple is eaten in development raw
Art, research and development apple-picking machinery, has great importance.
Research about apple Mechaniaed harvest starts from the U.S. of 1960s, and the harvesting approach of use is mainly machine
Tool shakes formula and pneumatic shaking formula, and it has the disadvantage fruit rapid wear, inefficient, particularly can not carry out selective harvest.From
1980s mid-term starts, and with the development of electronic technology and computer technology, particularly Industrial Robot Technology, calculates
Machine image processing techniques and artificial intelligence technology it is increasingly mature, countries in the world have been done big in the research of harvest picking robot
The work of amount, has tested a variety of harvest picking robots with artificial intelligence successfully.But in actual tests, harvest picking machine
The service behaviour of device people is unsatisfactory.Occur that claw type cutter scratches fruit surface, influence during such as apple picking robot harvesting
Fresh preservation effect and sale condition.
The significant challenge that the research and development of current apple picking robot are present is how rapidly and accurately to recognize and position fruit.
Close with fruit branch pattern because the carpopodium of apple is shorter, not easy to identify and positioning, the workload of NI Vision Builder for Automated Inspection is big.Utilize
Air negative pressure attracts a range of apple in front, with " identification fruit " replacement " identification carpopodium ", and target size is big, with environment
Difference is obvious, the difficulty of reduction identification and positioning, can effectively reduce the workload of NI Vision Builder for Automated Inspection, improve efficiency.By air
Application of sub-atmospheric pressure recognizes and positioned fruit on terminal executor of picking robot with the mode of " identification fruit ", will promote fruit
With the quick separating of fruit branch, efficiency and quality that picking robot plucks operation are improved.
The content of the invention
The purpose of this utility model is that propose that a kind of damage to apple is lower, pluck effect is preferably inhaled based on negative pressure
The portable apple-picking device of power.
The purpose of this utility model is achieved through the following technical solutions：
Portable apple-picking device based on negative-pressure sucking, it include annulus cutterhead 1, cambered blade 2, annular rotary table 3,
Housing 4, controlling switch 9, expansion link 10, direct current generator 11 and little gear 12；
Wherein, housing 4 is a hollow cavity；
Annulus cutterhead 1 is fixed in the front end of housing 4；
Direct current generator 11 is fixed in housing 4, and little gear 12 is cased with the output shaft of direct current generator 11；
The outer rim of the annular rotary table 3 is provided with cell body, and the cell body bottom is toothed around, and the gear teeth are nibbled with little gear 12
Close；
Cambered blade group is provided between annular rotary table 3 and annulus cutterhead 1；
The cambered blade group includes three cambered blades 2, and the blade of cambered blade 2 is arranged on arc inner edge, cambered blade 2
Two ends are provided with bearing pin；
It is 120 ° that annulus cutterhead 1, which is provided with angle between three holes, adjacent holes along along its circumference,；The inner side edge of annular rotary table 3
It is 120 ° to be radially provided with angle between three radial slots, adjacent radial groove；The bearing pin of one end of three cambered blades 2 and annulus knife
A hole on disk 1 rotates connection, and the bearing pin of the other end is located in a radial slot of annular rotary table 3；So that three curved knifes
The blade of piece 2 is relative, and three formation of cambered blade 2, one size moves with it the opening of change；
The lower section of housing 4 is provided with equal with the openings of sizes of apple collecting bag 8 and forms maximum not less than three cambered blades 2
Apple collecting bag 8 is set at the opening of the Internal tangential circular areas of opening, the opening；
Expansion link 10 is connected with housing 4, and expansion link 10 is provided with controlling switch 9；
Centrifugal blower 7 is connected by heavy caliber air hose 6 with the rear end of housing 4.
The two ends of cambered blade 2 are provided with the boss of different height so that three layered arrangements of cambered blade 2.
Be provided with the rear end of housing 4 and the junction of heavy caliber air hose 6 in protective sheet 5, protective sheet 5 be provided with it is equally distributed
Aperture.
The axis of expansion link 10 is vertical with the axis of housing 4, with the opening homonymy below housing 4 and at grade.
The length of the cell body set in the outer rim of annular rotary table 3 is the 20%~25% of the circumferential length of annular rotary table 3.
The radius of cambered blade 2 is more than the radius of annular rotary table 3, and the radian of cambered blade 2 is 92 °~98 °.
The radian of the cambered blade 2 is 94 °.
The beneficial effects of the utility model are：
(1) compared with artificial harvesting, the plucking height of the picker is higher, and harvesting scope is bigger；
(2) device attracts apple using air negative pressure, reduces the positioning difficulty of apple, can significantly reduce automation and adopt
Pluck the workload of NI Vision Builder for Automated Inspection during apple；
(3) device, from various sizes of cutterhead, can better adapt to difference according to different apple species
Apple-picking under environment, is easy to the popularization of product；
(4) compared with claw type harvesting cutter, damage of the picker to apple is lower, and harvesting effect is more preferable.
Brief description of the drawings
Fig. 1 is the portable apple-picking device structural representation of the present utility model based on negative-pressure sucking；
Fig. 2 is the portable apple-picking device structure decomposition figure of the present utility model based on negative-pressure sucking；
Fig. 3 (omits centrifugation wind for the portable apple-picking device critical piece of the present utility model based on negative-pressure sucking
Machine 7, apple collecting bag 8 and heavy caliber air hose 6) schematic diagram；
Fig. 4 (omits centrifugation wind for the portable apple-picking device critical piece of the present utility model based on negative-pressure sucking
Machine 7, apple collecting bag 8 and heavy caliber air hose 6) exploded view；
Fig. 5 a be the portable apple-picking device of the present utility model based on negative-pressure sucking in cambered blade structure
Schematic diagram；
Fig. 5 b be the portable apple-picking device of the present utility model based on negative-pressure sucking in cambered blade side view
Scheme (each cambered blade has the schematic diagram of different height boss)；
Fig. 6 a are that cambered blade group of the present utility model is in opening for the formation of the cambered blade of the first extreme position, i.e., three 2
When mouth is maximum, the front view of annulus cutterhead 1, cambered blade 2 and the installation relation of annular rotary table 3；
Fig. 6 b are that cambered blade group of the present utility model is in opening for the formation of the cambered blade of the first extreme position, i.e., three 2
When mouth is maximum, the rearview of annulus cutterhead 1, cambered blade 2 and the installation relation of annular rotary table 3；
Fig. 7 a are the cambered blade 2 arrangement schematic diagram of the present utility model provided with boss；
Fig. 7 b are the cambered blade 2 arrangement schematic diagram of the present utility model for being not provided with boss；
Fig. 8 a are that cambered blade group of the present utility model is screwed to the formation of the cambered blade of the second extreme position, i.e., three 2
Opening is reduced to front view during minimum；
Fig. 8 b are that cambered blade group of the present utility model is screwed to the formation of the cambered blade of the second extreme position, i.e., three 2
Opening is reduced to rearview during minimum.
Reference：
The annular rotary table of 1 annulus cutterhead, 2 cambered blade 3
The heavy caliber air hose of 4 housing, 5 protective sheet 6
The controlling switch of 7 centrifugal blower, 8 apple collecting bag 9
The little gear of 10 expansion link, 11 direct current generator 12
Embodiment
With reference to the accompanying drawings and examples, embodiment of the present utility model is described in further detail.
As shown in Fig. 1~Fig. 4, Fig. 5 a, the portable apple-picking device based on negative-pressure sucking, including annulus cutterhead 1, arc
Shape blade 2, annular rotary table 3, housing 4, protective sheet 5, controlling switch 9, expansion link 10, direct current generator 11 and little gear 12.
Wherein, housing 4 is a hollow cavity.
Annulus cutterhead 1 is fixed in the front end of housing 4.
Direct current generator 11 is fixed in housing 4, and the output shaft of direct current generator 11 is connected with little gear 12.
The outer rim of the annular rotary table 3 is provided with cell body, and the cell body bottom is toothed around, and the gear teeth are nibbled with little gear 12
Close.Preferably, the length of the cell body is the 20%~25% of the circumferential length of annular rotary table 3.
Cambered blade group is provided between annular rotary table 3 and annulus cutterhead 1.
Preferably, the cambered blade group includes three cambered blades 2, and the radius of cambered blade 2 is more than the half of annular rotary table 3
Footpath, the radian of cambered blade 2 is 92 °~98 °, in the present embodiment, it is preferable that the radian of cambered blade 2 is 94 °, cambered blade 2
Blade be arranged on arc inner edge, the two ends of cambered blade 2 are provided with bearing pin.
As shown in Fig. 6 a~Fig. 6 b, it is 120 ° that annulus cutterhead 1 is provided with angle between three holes, adjacent holes along its circumference,
The angle between three radial slots, adjacent radial groove that is radially inside provided with of annular rotary table 3 is 120 °.Three cambered blades 2
The bearing pin of one end is rotated with a hole on annulus cutterhead 1 and is connected, and the bearing pin of the other end is located at a radial slot of annular rotary table 3
It is interior so that the blade of three cambered blades 2 is relative, because the bearing pin of the one end of cambered blade 2 can turn around the hole on annulus cutterhead 1
It is dynamic, the bearing pin of the other end can with the reciprocating rotation of annular rotary table 3 reciprocating rotation, and can enter in the radial slot of annular rotary table 3
Row linear reciprocating motion so that three formation of cambered blade 2, one size moves with it the opening of change.Such as Fig. 8 a~Fig. 8 b institutes
Show, be that the opening that cambered blade group of the present utility model is screwed to the formation of the cambered blade of the second extreme position, i.e., three 2 is reduced to most
The state of hour.
As shown in Figure 7b, it is the arrangement schematic diagram of cambered blade 2 that the utility model is not provided with boss, in order to overcome nothing
The two ends of cambered blade 2 in the problem of cambered blade 2 of boss easily jumps up and down in motion, the utility model embodiment are provided with
The boss of different height, as shown in Fig. 5 b and Fig. 7 a so that three layered arrangements of cambered blade 2, three blade storied placements lead to
The boss that different height is set is crossed, is eliminated on the bearing pin at the two ends of cambered blade 2 and the hole of annulus cutterhead 1 or annular rotary table 3
Radial slot rotates gap during connection, it is to avoid cambered blade 2 jumps during motion.
The lower section of housing 4 is provided with equal with the openings of sizes of apple collecting bag 8 and forms maximum not less than three cambered blades 2
Apple collecting bag 8 is set at the opening of the Internal tangential circular areas of opening, the opening, for collecting the apple under harvesting.Apple falls
During, apple collecting bag 8 produces resistance to apple, reduces apple falling speed, reduces apple collsion damage.
Expansion link 10 is connected with housing 4.The length of expansion link 10 can be adjusted, the apple for plucking eminence, increase harvesting
Scope.Preferably, the axis of expansion link 10 is vertical with the axis of housing 4, with the opening homonymy below housing 4 and in same plane
On, increase harvesting scope makes simple operation.
Expansion link 10 is provided with controlling switch 9.Closure is preferably provided with controlling switch 9, open and stops three buttons, is used
In the operating of control direct current generator 11, wherein, close, open rotating forward by key control direct current generator 11, reversion, drive curved knife
Diminution, the expansion of the opening of piece 2, realize the cutting to carpopodium and the reset function of cambered blade 2；Press and stop key, direct current
Machine 11 stops immediately, for braking in emergency circumstances.
Centrifugal blower 7 is connected by heavy caliber air hose 6 with the rear end of housing 4, for the air in housing 4 to be detached, is made
With external environment formation draught head in housing 4, suction is produced to apple.
Be provided with the rear end of housing 4 and the junction of heavy caliber air hose 6 in protective sheet 5, protective sheet 5 be provided with it is equally distributed
Aperture, in the case of ensureing that air circulation is smooth, prevents the blade of apple from being entered centrifugal blower 7 by negative pressure, influences centrifugal blower 7
Normal work.
During the utility model operation, the portable apple-picking based on negative-pressure sucking is placed, and is adopted by the regulation of expansion link 10
Pluck height.Centrifugal blower 7 is opened, the inside of housing 4 is produced negative pressure.The front end of housing 4 is towards target apple, due to vacuum suction apple
Fruit enters housing 4.The closure button in controlling switch 9 is pressed, direct current generator 11 is rotated forward, annular rotary table is driven by little gear 12
3 rotations, the opening of three formation of cambered blade 2 constantly reduces, and cuts off carpopodium after closure completely；Press in controlling switch 9
Button is driven, direct current generator 11 is inverted, drive annular rotary table 3 to rotate by little gear 12, the opening of three formation of cambered blade 2 is not
It is disconnected to expand until resetting.The apple of harvest falls into apple collecting bag 8 by the lower opening of housing 4, complete harvesting to apple and
Collect.
The various embodiments described above are merely to illustrate the utility model, wherein the structure of each part, connected mode etc. are all can be with
It is varied from, every equivalents carried out on the basis of technical solutions of the utility model and improvement, should not discharges at this
Outside the protection domain of utility model.
Claims (7)
1. the portable apple-picking device based on negative-pressure sucking, it is characterised in that：It includes annulus cutterhead (1), cambered blade
(2), annular rotary table (3), housing (4), controlling switch (9), expansion link (10), direct current generator (11) and little gear (12)；
Wherein, housing (4) is a hollow cavity；
Annulus cutterhead (1) is fixed in housing (4) front end；
Direct current generator (11) is fixed in housing (4), and little gear (12) is cased with the output shaft of direct current generator (11)；
The outer rim of the annular rotary table (3) is provided with cell body, and the cell body bottom is toothed around, and the gear teeth are nibbled with little gear (12)
Close；
Cambered blade group is provided between annular rotary table (3) and annulus cutterhead (1)；
The cambered blade group includes three cambered blades (2), and the blade of cambered blade (2) is arranged on arc inner edge, cambered blade
(2) two ends are provided with bearing pin；
It is 120 ° that annulus cutterhead (1), which is provided with angle between three holes, adjacent holes along along its circumference,；The inner side edge of annular rotary table (3)
It is 120 ° to be radially provided with angle between three radial slots, adjacent radial groove；The bearing pin and annulus of one end of three cambered blades (2)
A hole on cutterhead (1) rotates connection, and the bearing pin of the other end is located in a radial slot of annular rotary table (3)；So that three
The blade of cambered blade (2) is relative, and three cambered blades (2) form the opening that a size moves with it change；
And not less than three cambered blades (2) equal with apple collecting bag (8) openings of sizes are provided with below housing (4) to be formed most
Apple collecting bag (8) is set at the opening of the Internal tangential circular areas of big opening, the opening；
Expansion link (10) is connected with housing (4), and expansion link (10) is provided with controlling switch (9)；
Centrifugal blower (7) is connected by heavy caliber air hose (6) with housing (4) rear end.
2. the portable apple-picking device according to claim 1 based on negative-pressure sucking, it is characterised in that：
Cambered blade (2) two ends are provided with the boss of different height so that three cambered blade (2) layered arrangements.
3. the portable apple-picking device according to claim 1 based on negative-pressure sucking, it is characterised in that：
It is provided with housing (4) rear end and heavy caliber air hose (6) junction in protective sheet (5), protective sheet (5) and is provided with uniform point
The aperture of cloth.
4. the portable apple-picking device according to claim 1 based on negative-pressure sucking, it is characterised in that：
Expansion link (10) axis is vertical with the axis of housing (4), with the opening homonymy below housing (4) and at grade.
5. the portable apple-picking device according to claim 1 based on negative-pressure sucking, it is characterised in that：
The length of the cell body set in the outer rim of annular rotary table (3) is the 20%~25% of annular rotary table (3) circumferential length.
6. the portable apple-picking device according to claim 1 based on negative-pressure sucking, it is characterised in that：
The radius of cambered blade (2) is more than the radius of annular rotary table (3), and the radian of cambered blade (2) is 92 °~98 °.
7. the portable apple-picking device according to claim 6 based on negative-pressure sucking, it is characterised in that：
The radian of the cambered blade (2) is 94 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720170039.7U CN206491016U (en) | 2017-02-24 | 2017-02-24 | A kind of portable apple-picking device based on negative-pressure sucking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720170039.7U CN206491016U (en) | 2017-02-24 | 2017-02-24 | A kind of portable apple-picking device based on negative-pressure sucking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206491016U true CN206491016U (en) | 2017-09-15 |
Family
ID=59805688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720170039.7U Withdrawn - After Issue CN206491016U (en) | 2017-02-24 | 2017-02-24 | A kind of portable apple-picking device based on negative-pressure sucking |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106664965A (en) * | 2017-02-24 | 2017-05-17 | 中国农业大学 | Portable apple pickup device based on negative pressure suction |
| CN107743766A (en) * | 2017-11-10 | 2018-03-02 | 延安大学 | Apple-picking device |
| CN107820854A (en) * | 2017-11-01 | 2018-03-23 | 巢湖学院 | A kind of aspiration assist type fruit picker |
| CN108200807A (en) * | 2018-03-28 | 2018-06-26 | 江西理工大学 | A kind of suction type strawberry picker |
| CN108243722A (en) * | 2018-03-07 | 2018-07-06 | 梁宇轩 | A kind of wheeled picking cutter and the fruit picker equipped with the cutter |
| CN108781736A (en) * | 2018-05-24 | 2018-11-13 | 仁怀市龙井葫芦种植专业合作社 | Capsicum recovering device |
| CN108834575A (en) * | 2018-05-27 | 2018-11-20 | 苏州花坞信息科技有限公司 | One kind plucking strawberry manipulator |
| CN108901361A (en) * | 2018-06-28 | 2018-11-30 | 浙江大学 | A kind of tea picking unmanned plane |
| CN108990548A (en) * | 2018-06-28 | 2018-12-14 | 浙江大学 | A kind of tea picking unmanned plane suitable for different terrain |
| CN109005897A (en) * | 2018-05-27 | 2018-12-18 | 苏州花坞信息科技有限公司 | A kind of rapid picking manipulator |
| CN109041795A (en) * | 2018-06-25 | 2018-12-21 | 杭州电子科技大学 | A kind of fruit and vegetable picking device |
| CN111512789A (en) * | 2020-04-27 | 2020-08-11 | 北京工业大学 | Swallowing type picking method |
| CN111727738A (en) * | 2020-06-08 | 2020-10-02 | 汪洵 | High-altitude fruit picking device |
| NO20210515A1 (en) * | 2021-04-27 | 2022-10-28 | Vestlandets Innovasjonsselskap As | Robotic plant crop picker end effector |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106664965B (en) * | 2017-02-24 | 2022-10-25 | 中国农业大学 | Portable apple picking device based on negative pressure suction |
| CN106664965A (en) * | 2017-02-24 | 2017-05-17 | 中国农业大学 | Portable apple pickup device based on negative pressure suction |
| CN107820854A (en) * | 2017-11-01 | 2018-03-23 | 巢湖学院 | A kind of aspiration assist type fruit picker |
| CN107743766A (en) * | 2017-11-10 | 2018-03-02 | 延安大学 | Apple-picking device |
| CN108243722A (en) * | 2018-03-07 | 2018-07-06 | 梁宇轩 | A kind of wheeled picking cutter and the fruit picker equipped with the cutter |
| CN108243722B (en) * | 2018-03-07 | 2023-08-01 | 梁宇轩 | Wheeled picking tool and fruit picking device with same |
| CN108200807A (en) * | 2018-03-28 | 2018-06-26 | 江西理工大学 | A kind of suction type strawberry picker |
| CN108781736A (en) * | 2018-05-24 | 2018-11-13 | 仁怀市龙井葫芦种植专业合作社 | Capsicum recovering device |
| CN108834575B (en) * | 2018-05-27 | 2021-08-20 | 苏州花坞信息科技有限公司 | Strawberry picking manipulator |
| CN108834575A (en) * | 2018-05-27 | 2018-11-20 | 苏州花坞信息科技有限公司 | One kind plucking strawberry manipulator |
| CN109005897A (en) * | 2018-05-27 | 2018-12-18 | 苏州花坞信息科技有限公司 | A kind of rapid picking manipulator |
| CN109041795A (en) * | 2018-06-25 | 2018-12-21 | 杭州电子科技大学 | A kind of fruit and vegetable picking device |
| CN109041795B (en) * | 2018-06-25 | 2021-03-12 | 杭州电子科技大学 | Fruit and vegetable picking device |
| CN108990548A (en) * | 2018-06-28 | 2018-12-14 | 浙江大学 | A kind of tea picking unmanned plane suitable for different terrain |
| CN108901361A (en) * | 2018-06-28 | 2018-11-30 | 浙江大学 | A kind of tea picking unmanned plane |
| CN111512789A (en) * | 2020-04-27 | 2020-08-11 | 北京工业大学 | Swallowing type picking method |
| CN111512789B (en) * | 2020-04-27 | 2022-02-08 | 北京工业大学 | Swallowing type picking method |
| CN111727738A (en) * | 2020-06-08 | 2020-10-02 | 汪洵 | High-altitude fruit picking device |
| NO20210515A1 (en) * | 2021-04-27 | 2022-10-28 | Vestlandets Innovasjonsselskap As | Robotic plant crop picker end effector |
| WO2022231434A1 (en) | 2021-04-27 | 2022-11-03 | Vestlandets Innovasjonsselskap As | Robotic plant crop picker end effector |
| NO347253B1 (en) * | 2021-04-27 | 2023-08-14 | Vestlandets Innovasjonsselskap As | Robotic plant crop picker end effector |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
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Legal Events
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170915 Effective date of abandoning: 20221025 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20170915 Effective date of abandoning: 20221025 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |