CN210157665U

CN210157665U - Waist-assisted fruit picking assistor

Info

Publication number: CN210157665U
Application number: CN201920608795.2U
Authority: CN
Inventors: 韩晨辉; 张龙; 杨杰; 刘恩光; 陈壮; 王祥; 李春蕾; 董振乐; 梁坤峰
Original assignee: Henan University of Science and Technology
Current assignee: Henan University of Science and Technology
Priority date: 2019-04-29
Filing date: 2019-04-29
Publication date: 2020-03-20
Anticipated expiration: 2029-04-29

Abstract

The utility model provides an assistor is picked to fruit based on waist helping hand, is including wearing device, manual control device, fruit grabbing device, shearing mechanism. Dress the device and be fixed in between the waist and provide the effort point for whole harvesting device, manual control device gets and two action control fruit grabbing device and shearing mechanism work through drawing, but fruit grabbing device adopts the size of underactuated structure self-adaptation fruit, shearing mechanism is located fruit grabbing device top, adopts the annular blade structure can realize accurate shearing. The utility model has the characteristics of below, whole device integration, easy operation is easy to go up the hand, is applicable to the harvesting of multiple arbor class fruit, solves the accurate problem of snatching and accurate shearing, has improved and has picked efficiency, has brought very big facility for the fruit grower.

Description

Waist-assisted fruit picking assistor

Technical Field

The utility model relates to a fruit picking equipment technical field, what specifically say is a fruit picking assistor based on waist helping hand.

Background

In recent years, with the development of fruit industry, China has become the first world with great fruit production and consumption, and fruit farmers want to seek more convenient picking modes.

Currently, fruit picking generally has three modes: 1. picking by pure hands; 2. picking manually with mechanical assistance; 3. compared with the foreign countries, China mainly adopts decentralized cultivation and household management, large-scale machinery cannot be completely implemented, the cost is high, and the degree of mechanization in China is relatively low. The manual picking accounts for 33-50% of the labor force used in the whole production process. Traditional manual picking mainly has the following disadvantages: 1. the efficiency is low, the labor capacity is large, and fruit growers are easy to be injured; 2. fruit trees are easy to be damaged; 3. the influence of manual picking on the fruits is irregular, and the taste and the quality of the fruits are easily influenced.

The trend of modern agriculture is to improve the resource utilization rate and agricultural productivity, reduce labor intensity and improve economic benefits. Is also the development trend of orchard picking machines. Under this background, the situation that the small-sized machine is difficult to meet various picking requirements and the cost of a large-sized picking device is too high is solved. The market needs more economical, and the more simple humanized fruit picking auxiliary device reduces the production cost of fruit growers, reduces labor intensity, improves the operating efficiency of fruit picking.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides an assistor is picked to fruit based on waist helping hand has the self-adaptation function, and is portable laborsaving, not fragile fruit, easy operation.

In order to realize the technical purpose, the adopted technical scheme is as follows: a fruit picking assistor based on waist assistance comprises a wearing device, a manual control device, a fruit grabbing device and a shearing device, wherein the wearing device is fixed between the waist, one end of the manual control device is connected with the fruit grabbing device, the other end of the manual control device is connected with the fruit grabbing device and the shearing device, and the shearing device is arranged above the fruit grabbing device; the shearing device is provided with a picking port, and a shearing cutter head is arranged at the picking port;

the fruit grabbing device comprises an under-actuated structure mechanical arm, and the grabbing position of the under-actuated structure mechanical arm is arranged corresponding to the picking opening;

the manual control device include pick the pole, snatch pulling mechanism and shear driving mechanism, the one end and the wearing device fixed connection of picking the pole, fruit grabbing device and shearing mechanism are connected to the other end of picking the pole, be equipped with on the picking pole and snatch pulling mechanism and shear driving mechanism, it is connected with the drive end of underactuated structure manipulator to snatch pulling mechanism, the motion is snatched in the drive underactuated structure manipulator, shear driving mechanism is connected with the drive end of shearing blade disc, shearing motion is done to the drive shearing blade disc.

The wearing device of the utility model is an adjustable waistband, one end of the waistband is connected with one end of the manual control device.

Dress device on still be equipped with adjustment manual control device inclination's waist helping hand group device.

The utility model discloses a set casing, press screens mechanism, the carousel, compression spring B, offered in the side of set casing and be used for manual control device pivoted slot hole, the side of set casing is equipped with the gear groove that the card established manual control device and is linked together with the slot hole, press screens mechanism, carousel and compression spring B are connected and are set up in the set casing, press the end of pressing of screens machinery and stretch out from set casing one end, the one side setting that the screens terminal of its other end corresponds the carousel, the other side pressure of carousel is established on compression spring B.

Snatch pulling mechanism include handle and inside transmission shaft, the handle setting is in picking the sliding tray that the pole axial was seted up, the handle is connected with the one end that sets up the inside transmission shaft in picking the pole, the other end of inside transmission shaft is connected with the drive end of underactuated structure manipulator.

Shearing actuating mechanism establish holding cover and drive screw on picking the pole including the cover, the lateral wall of holding the cover and drive screw's one end fixed connection, drive screw's the other end is connected with the drive end of shearing blade disc, it is rotatory to rotate the drive end that the holding cover passes through drive screw to drive the shearing blade disc, realizes shearing movement.

The fruit gripping device of the fruit gripping device is provided with a plurality of under-actuated fingers, the lower part of each under-actuated finger is connected with one end of the near-finger inner side connecting rod and one end of the near-finger outer side connecting rod through under-actuated finger joints, and the other end of the near-finger inner side connecting rod and the other end of the near-finger outer side connecting rod form a revolute pair with the picking finger base and the claw bottom pull base through the claw bottom cross rod; the picking finger base is fixed on the rod end fixing base, the rod end fixing base is fixed on the picking rod, and the claw bottom pulling base is connected with the grabbing pulling mechanism.

The inboard of underactuated finger connect and go up arc rim plate, nearly indicate inboard connecting rod to connect down arc rim plate, the top of claw end pull seat is equipped with the circular rim plate in bottom.

Shearing mechanism include the blade apron, the wedge blade, shearing blade dish and tray down, be equipped with shearing blade dish and wedge blade between blade apron and tray down, the blade apron, the center of tray and shearing blade dish all is equipped with the through-hole of corresponding matching down, this through-hole is plucking mouthful, be equipped with a plurality of evenly distributed's sword groove on the circumference of shearing blade dish, install a wedge blade at every sword inslot, the one end of wedge blade has two cylindrical protrusion and the smooth connection in sword groove, the other end of wedge blade is the cutting edge, it is connected with shearing actuating mechanism to shear the blade dish outside, the center of the following tray of actuating mechanism drive shearing blade dish is the dot rotation, make a plurality of wedge blades at with the sword inslot slip rotatory cutting edge closure.

The utility model discloses beneficial effect:

1. waist helping hand part is dressed at picker's waist, and the effort of picking most shifts to the waist, and the waistband adopts like the girdle width of soft material and device and human contact, can not causing the discomfort, and both hands only need bear the effort of a small part when picking, just so can vacate strength and operate handle and grip respectively, very big reduction human tired sense. Effectively improve operating time work efficiency.

2. Fruit grabbing device adopts the under-actuated gripper simulation people to point the theory of operation, and the automatic adaptation fruit size accomplishes accurate centre gripping. The fruit is not damaged, and the economic value is improved.

3. Shearing mechanism borrows for reference single anti-lens light ring control light quantity principle, improves into wedge blade with the light ring blade, realizes the closure of wedge blade group, opens through the rotation of shearing blade dish, and six used blade equipartitions of cutting fruit handle are circular row in shearing blade dish, and the function has improved shearing efficiency simultaneously, and simultaneously, the blade is hidden inside the device, only just can stretch out when the pulling sleeve pipe, reduces the risk of cutting fruit.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic view of the whole wearing device of the present invention;

FIG. 3 is a schematic structural view of the waist assisting set of the present invention;

fig. 4 is a schematic structural view of the picking rod of the present invention;

FIG. 5 is a schematic view of a shearing apparatus of the present invention;

fig. 6 is a schematic structural view of a shear cutter head according to the present invention;

fig. 7 is a schematic view of the fruit gripping device of the present invention;

fig. 8 is a connection diagram of the gripping and pulling mechanism and the shearing driving mechanism inside the picking rod of the utility model;

fig. 9 is an assembly schematic view of the shearing device and the fruit gripping device of the present invention;

fig. 10 is a schematic structural view of the pressure lever of the present invention;

in the figure: 1. a wearing device, 2, a manual control device, 3, a fruit grabbing device, 4, a shearing device, 5, a pressure rod, 6, a push rod, 7, a rotary table, 8, a compression spring A, 9, a fixed shell, 10, a picking rod, 11, a middle lantern ring, 12, a waistband, 13, a handle, 14, a holding sleeve, 15, an internal transmission shaft, 16, under-actuated fingers, 17, an upper external transmission lead screw, 18, a shearing cutterhead, 19, a wedge-shaped blade, 20, a blade cover plate, 21, a lower tray, 22, a reset spring, 23, a bottom circular pad, 24, a lower arc pad, 25, an upper arc pad, 26, an under-actuated finger joint, 27, a knife slot, 28, a sleeve, 29, an arc shell, 30, a picking finger base, 31, a claw base, 32, a claw base cross rod, 33, a near-finger inner side connecting rod, 34, a near-finger outer side connecting rod, 35, a middle external joint, 36, a middle internal joint, 37. the device comprises a rod end fixing seat 38, an arched supporting plate 39, fasteners A and 40, fasteners B and 41, a lower external transmission screw rod 42, a picking opening 43, an under-actuated structure manipulator 44, a sliding groove 45, compression springs B and 46, a long hole 47 and a blocking groove.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, a fruit picking aid based on waist assistance comprises a wearing device, a manual control device 2, a fruit gripping device 3 and a shearing device 4, wherein the wearing device 1 is fixed at the waist, one end of the manual control device 2 is connected with the fruit gripping device 3, the other end of the manual control device 2 is connected with the fruit gripping device 3 and the shearing device 4, and the shearing device 4 is arranged above the fruit gripping device 3; the shearing device 4 is provided with a picking opening 42, and a shearing cutter disc 18 is arranged at the picking opening 42.

Fruit grabbing device: by using the finger driving principle for reference and using the underactuated principle, the tightening and the loosening of the fruits are realized.

The fruit gripping device 3 comprises an under-actuated structure manipulator 43, and the gripping position of the under-actuated structure manipulator 43 is arranged corresponding to the picking opening 42.

As shown in fig. 7 and 9, the concrete structural form that can be adopted is: the fruit gripping device 3 is provided with a plurality of under-actuated fingers 16, the lower part of each under-actuated finger 16 is connected with one end of a near-finger inner side connecting rod 33 and one end of a near-finger outer side connecting rod 34 through under-actuated finger joints 26, and the other ends of the near-finger inner side connecting rod 33 and the near-finger outer side connecting rod form a revolute pair with a picking finger base 30 and a claw bottom pull seat 31 through a claw bottom cross rod 32; picking finger base 30 is fixed on rod end fixing base 37, rod end fixing base 37 is fixed on picking rod 10, and claw bottom pulling base 31 is connected with grabbing pulling mechanism.

The inner side of the under-actuated finger 16 is connected with an upper arc-shaped pad 25, the inner side of the near-finger inner connecting rod 33 is connected with a lower arc-shaped pad 24, and a bottom circular pad 23 is arranged above the claw bottom pulling seat 31.

When the internal transmission shaft 15 is pulled downwards, the claw bottom pulling seat 31 is driven to move downwards, so that the claw bottom cross rod 32 is driven to rotate around the picking finger base 30, the near finger inner side connecting rod 33 is driven, the near finger outer side connecting rod 34 is closed inwards and passes through the underactuated finger joint 26 consisting of the middle outer joint 35 and the middle inner joint 36, the underactuated finger 16 is pulled to be closed inwards, so that the upper arc-shaped pad disc 25 can be driven to grab fruits, in the continuous pulling process, the underactuated finger 16 continues to rotate downwards to send the fruits grabbed by the upper arc-shaped pad disc 25 to the lower arc-shaped pad disc 24, the fruits are finally sent to the bottom circular pad disc 23, and the fruit picking process is completed.

As shown in fig. 4 and 8, the manual control device 2 includes a picking rod 10, a grabbing pulling mechanism and a shearing driving mechanism, one end of the picking rod 10 is fixedly connected to the wearing device 1, the other end of the picking rod 10 is connected to the fruit grabbing device 3 and the shearing device 4, the picking rod 10 is provided with the grabbing pulling mechanism and the shearing driving mechanism, the grabbing pulling mechanism is connected to the driving end of the under-actuated mechanical arm 43, the under-actuated mechanical arm is driven to do grabbing motion, the shearing driving mechanism is connected to the driving end of the shearing cutter head 18, and the shearing cutter head 18 is driven to do shearing motion.

The grabbing and pulling mechanism comprises a handle 13 and an internal transmission shaft 15, the handle 13 is arranged in a sliding groove 44 formed in the picking rod in the axial direction, the handle 13 is connected with one end of the internal transmission shaft 15 arranged in the picking rod 10, and the other end of the internal transmission shaft 15 is connected with the driving end of the under-actuated structure manipulator 43. A return spring can be added on the internal transmission shaft 15, the return spring is compressed when the handle is pulled, and the return spring automatically returns when the handle 13 is released.

For example, the shear driving mechanism can provide a force for pulling shear or a force for rotating shear, and the specific structure is as follows: the shearing driving mechanism comprises a holding sleeve 14 and a transmission screw rod, the holding sleeve 14 is sleeved on the picking rod 10, the side wall of the holding sleeve 14 is fixedly connected with one end of the transmission screw rod, the other end of the transmission screw rod is connected with the driving end of the shearing cutter head 18, and the holding sleeve 14 is rotated to drive the driving end of the shearing cutter head 18 to rotate through the transmission screw rod, so that shearing movement is realized. The transmission screw rod can adopt a mode of combining a lower external transmission screw rod 41, a middle lantern ring 11 and an upper external transmission screw rod 17 to carry out rotation transmission, one end of the lower external transmission screw rod 41 is connected with the holding sleeve, the other end of the lower external transmission screw rod is connected with the middle lantern ring 11, one end of the upper external transmission screw rod 17 is connected with the middle lantern ring 11, and the other end of the upper external transmission screw rod is connected with the shearing cutter head.

The specific operation process is as follows: the manual control device comprises a picking rod 10, a middle lantern ring 11, a handle 13, a holding sleeve 14, an inner transmission shaft 15, an upper outer transmission lead screw 17, a return spring 22, a fastener B40 and a lower outer transmission lead screw 41, wherein the handle 13 in the sliding groove 41 is pulled to drive the inner transmission shaft 15 to move downwards so as to pull the jaw bottom pull seat 31 to move downwards, an under-actuated finger 16 is driven to grab a fruit, after a fruit handle is cut by the cutting device 4, the handle 13 is loosened, the inner transmission shaft 15 is connected with the return spring 22 through the fastener 10, the return spring 22 releases elastic potential energy to reset the handle 13, so that the inner transmission shaft 15 moves upwards to drive the bottom pull seat 31 to reset, and the under-actuated finger 16 releases the fruit. The external transmission screw is driven to rotate by rotating the holding sleeve 14, so that the shearing cutter disc 18 is driven to rotate to close and open the wedge-shaped blade 19, and the fruit stem is sheared. The picking rod 10 is fixed on the rod end fixing seat 37 through a fastener A39, so that the picking rod 10, the shearing device 4 and the fruit grabbing device 3 are fixed together.

As shown in figure 2, the wearing device is fixed on the waist of a human body, one side of the wearing device 1 is connected with a picking rod 10 and bears the acting force of a part of picking rods on the human body during picking work; the wearing device 1 is an adjustable waistband, and one end of the waistband is connected with one end of the manual control device 2.

The wearing device 1 is also provided with a waist assisting set device for adjusting the inclination angle of the manual control device 2.

As shown in fig. 3, the waist assisting group device comprises an inner gear 5, an outer gear 6, a rotary disk 7, a spring 8, a baffle plate 9, a sleeve 28 and an arc-shaped shell 29, wherein the sleeve 28 and the arc-shaped shell 29 play a role of protecting the internal device, the arc-shaped shell 29 is fixedly connected with the baffle plate 9 through thread fit, the sleeve 28 is connected with the arc-shaped shell 29 through thread, a picking rod 10 and the rotary disk 7 form clearance fit, the picking rod 10 can be fixed on the wearing device 1, the rotary disk 7 can rotate in the baffle plate 9 so as to drive the picking rod 10 to rotate, when picking is accumulated, the picking rod 10 can be removed without pressing the picking rod 10, the spring 8 is compressed and meshed with the inner gear 5 by pressing the outer gear 6 to be propped against the rotary disk 7, so that the rotary disk 7 is blocked, the picking rod 10 is fixed at a certain position, when the outer gear 6 is pressed, the, the dial 7 is unlocked and rotation is resumed.

As shown in fig. 3 and 10, the waist assisting group device provides an assisting bottom point to provide assisting force for the manual hand-holding of the picking rod for operation. This structure carries out certain degree's improvement on the basis of the structure of pressing the spring pen, makes it can realize the dead function of card to the carousel that the pole is connected of picking to carry out angle regulation through gear groove 47. Waist helping hand group device is including set casing 9, press the screens mechanism, carousel 7, compression spring B45, set up the slot hole 46 that is used for picking pole device 2 pivoted in the side of set casing 9, the side of set casing 9 is equipped with the gear groove 47 that the card was established and is picked pole device 2 and is linked together with slot hole 46, press the screens mechanism, carousel 7 and compression spring B45 are connected and are set up in set casing 9, press the pressing end of screens machinery and stretch out from set casing 9 one end, the screens terminal of its other end corresponds one side setting of carousel 7, the other side pressure of carousel 7 is established on compression spring B45.

Pressing clamping mechanism and spring pen presses clamping mechanism the same, presses the end and is pressed down, and the tight carousel of screens end forward thrust pushes up, presses the end once more, and the screens end rolls back, relaxs carousel 7, presses clamping mechanism and includes depression bar 5, compression spring A8, ejector pin 6, sleeve 28, the ejector pin is the part that manual operation directly pressed, and the ejector pin is located inside the sleeve, and its one end design has bellied awl tooth, and circumference array direction design has the slot to separate the awl tooth apart. One end of the pressure lever is also provided with bevel teeth, and grooves are designed in the circumferential array direction of the pressure lever to separate the bevel teeth. The transmission is matched with the ejector rod. The reset spring includes two: one is used for resetting the pressure lever, and the other is used for ejecting and resetting the rotary disc after the rotary disc is clamped into the gear groove. The inside design of sleeve has protruding arris piece, and protruding arris piece end is the awl profile of tooth form, and this protruding arris piece is used for changing the distance between ejector pin and the depression bar. The rotary table is externally provided with a boss for realizing insertion connection with a picking rod (the rod body of the picking rod is a hollow aluminum tube), the number of grooves formed in the circumferential direction of the conical teeth of the ejector rod and the projection of the pressure rod is three, and the number of the projection ribs formed in the circumferential direction of the sleeve is also three.

Before the waist power assisting group device is operated:

the ejector rod and the pressure rod are matched with the convex edge block on the inner side of the sleeve through the grooves respectively arranged on the ejector rod and the pressure rod.

In the mechanism in the non-working state, no pressure exists between the rotary disc and the pressure rod, namely, no contact is generated. Before the ejector rod is pressed, the rotating disc needs to be manually adjusted to align with a gear groove designed on the fixed shell, then the ejector rod is pressed, and the rotating disc is pushed into the gear groove through the axial movement of the pressing rod to realize the locking function.

During the operation process of the waist power assisting device:

when the push rod is pressed to enable the mechanism to be in a working state, the groove of the press rod is matched with the convex edge block inside the sleeve, and downward linear motion is firstly carried out along the convex edge block under the action of pressing force. In the process, the ejector rod and the pressure rod are matched through the bevel gear all the time, and the groove designed on the pressure rod is also in downward linear motion through the convex edge block in the matching sleeve under the thrust of the ejector rod. When the groove of the pressure lever is pushed out of the convex edge block at the inner side of the sleeve by the ejector rod to be disengaged with the groove, the pressure lever does not only do axial linear motion any more. Because the depression bar is through the awl tooth meshing contact when contacting with the ejector pin, the contact surface is not the horizontal plane promptly for the inclined plane, the event produces vertical decurrent power and two power of horizontal force, one promotes depression bar downstream, one makes the depression bar do circumferential rotary motion, thereby make the slot of depression bar rotate break away from with the protruding arris piece of sleeve inside in the ascending cooperation of axial, loosen the ejector pin and can provide elasticity under the compression spring's of depression bar downside and make the depression bar do the reverse motion this moment, but because the depression bar slot breaks away from the cooperation with the protruding arris piece of sleeve inside, the protruding awl tooth of event depression bar end can withstand the protruding arris piece of sleeve inside, and then realize that axial card is dead and the operating condition of the lower extreme of depression bar this moment is for withstanding the carousel just, be about to the carousel card die in the gear groove of fixed casing.

After the waist power assisting group device is operated:

the ejector pin is pressed once more, the axial component force and the circumferential component force on the bevel gear inclined plane are also used, the compression rod continues to extrude the spring to do the circumferential rotary motion while doing the linear motion, and the pressing angle of one-time rotation just can enable the groove designed in the bevel gear circumferential direction of the compression rod end to be matched with the raised edge block inside the sleeve once again after rotating, the compression rod can do upward linear motion along the raised edge block through the matching under the action of the compression spring on the lower side of the compression rod at the moment, further, the reset is realized, the reset is carried out due to the fact that the compression rod is separated from the contact with the turntable, and the turntable can realize the reset under the action of the compression spring.

As shown in fig. 5 and 6, the shearing apparatus: by using the principle of a mechanical aperture of a camera for reference, the cutting blade disc 18 is rotated to drive the blade group consisting of the wedge-shaped blades 19 in the blade groove to realize the action of rotating and closing, so that the fruit stem is accurately cut.

The shearing device 4 comprises a blade cover plate 20, wedge-shaped blades 19, a shearing blade disc 18 and a lower tray 21, the shearing blade disc 18 and the wedge-shaped blades 19 are arranged between the blade cover plate 20 and the lower tray 21, the centers of the blade cover plate 20, the lower tray 21 and the shearing blade disc 18 are respectively provided with a through hole which is correspondingly matched with each other and is a picking port 42, a plurality of cutter grooves 27 which are uniformly distributed are formed in the circumference of the shearing blade disc 18, one wedge-shaped blade 19 is installed in each cutter groove 27, two cylindrical bulges are arranged at one end of each wedge-shaped blade 19 and are smoothly connected with the corresponding cutter groove 27, the other end of each wedge-shaped blade 19 is a cutting edge, the outer part of the shearing blade disc 18 is connected with a shearing driving mechanism, the center of the tray 21 below the shearing blade disc 18 is driven by the shearing driving mechanism to rotate by a circular point.

As shown in fig. 8 and 9, the specific movement process of the shearing device is as follows: the outside of the shearing cutter head 18 is connected with the upper external transmission lead screw 17, the upper external transmission lead screw 17 is connected with the middle lantern ring 11 on the picking rod, the middle lantern ring 11 is connected with the lower external transmission lead screw 41, the lower external transmission lead screw 41 is connected with the holding sleeve 14, the holding sleeve 14 is rotated clockwise to drive the lower external transmission lead screw 41 to rotate so as to drive the middle lantern ring 11 and the upper external transmission lead screw 17 to rotate, so that the shearing cutter head 18 rotates clockwise, the wedge-shaped blade 19 is rotated and closed under the interaction with the cutter groove 27, and the fruit handle is sheared. The tool groove 27 is a relevant parameter of a groove designed in advance according to the feed route of the wedge-shaped blade 19, and plays a role in restraining the blade. When the handle 14 is rotated counterclockwise, the device rotates in the opposite direction, and the wedge-shaped blade 19 is reset. Blade apron 20 plays the closing cap effect, prevents to cut other carpopodium, and lower tray 21 plays the effect of supporting the wedge blade, and whole shearing mechanism links to each other with rod end fixing base 37 through arch backup pad 38, makes shearing mechanism 4 fix on 37 rod end fixing base. When mounting, a diversion guide groove and column are arranged between the shearing cutter disc 18 and the blade cover plate 20 and the lower tray.

A fruit picking assistor based on waist helping hand, as shown in figure 1, comprises a wearing device 1, a manual control device 2, a fruit grabbing device 3 and a shearing device 4. The operator ties the entire device to the waist by wearing the device 1 to provide a point of force application for the entire device. The degree of tightness can be adjusted by the waist belt 12 to accommodate different waists. The tilt angle of the picking rod 10 is supported and controlled by the turntable 7. When the operator aligns the rods to the fruit, the picking rod is provided with a manual control device 2, and the fruit grabbing and grabbing device 3 and the cutting device 4 are controlled through a grip 13 and a grip sleeve 14. The specific operation is as follows: the person pulls the handle 13 downwards by hand to drive the inner transmission shaft 15 to control the fruit gripping device 3 to drive the under-actuated fingers 16 to close to complete the fruit gripping process, and the number of the under-actuated fingers is 4. After the fruit is grabbed, the outer transmission screw 17 is driven by clockwise rotating the holding sleeve 14, so that the shearing device 4 is driven to rotate the shearing cutter disc 18, and further the wedge-shaped blade 19 is driven to rotate and close, so that the fruit branches are sheared. The picking process is now completed and the operator simply releases the handle 13, the return spring 22 will return the handle 13 and then rotate the grip sleeve 14 in the counter-clockwise direction to return the wedge-shaped blade 19 to its original position in preparation for the next picking. When an operator needs to have a short rest, the whole picking rod picking device does not need to be taken down, as shown in fig. 9, the spring 8 is driven by pressing the outer gear 6, the inner gear 5 is driven to rotate, the meshing of the inner gear and the outer gear is realized, and then the picking rod picking device is clamped and fixed to enable the picking rod 10 to be fixed at different angles.

The above description is only exemplary of the invention and should not be taken as limiting the invention, as any modifications, equivalents, and improvements made within the spirit and principles of the invention should be included for protection.

Claims

1. The utility model provides an assistor is picked to fruit based on waist helping hand which characterized in that: the fruit picking device comprises a wearing device (1), a manual control device (2), a fruit picking device (3) and a shearing device (4), wherein the wearing device (1) is fixed at the waist, one end of the manual control device (2) is connected with the fruit picking device (3), the other end of the manual control device (2) is connected with the fruit picking device (3) and the shearing device (4), and the shearing device (4) is arranged above the fruit picking device (3); a picking opening (42) is arranged on the shearing device (4), and a shearing cutter head (18) is arranged at the picking opening (42);

the fruit gripping device (3) comprises an under-actuated structure mechanical arm (43), and the gripping position of the under-actuated structure mechanical arm (43) is arranged corresponding to the picking opening (42);

manual control device (2) including picking pole (10), snatch pulling mechanism and shearing actuating mechanism, the one end and the wearing device (1) fixed connection of picking pole (10), fruit grabbing device (3) and shearing mechanism (4) are connected to the other end of picking pole (10), it snatchs pulling mechanism and cuts actuating mechanism to be equipped with on pole (10) to pick, it is connected with the drive end of underactuated structure manipulator (43) to snatch pulling mechanism, the motion is snatched in the drive of underactuated structure manipulator, it is connected with the drive end of shearing blade disc (18) to cut actuating mechanism, the motion is sheared in drive shearing blade disc (18).

2. A waist assist based fruit picking aid as claimed in claim 1 wherein: the wearable device (1) is an adjustable waistband, and one end of the waistband is connected with one end of the manual control device (2).

3. A waist assist based fruit picking aid as claimed in claim 1 wherein: the wearing device (1) is also provided with a waist assisting set device for adjusting the inclination angle of the manual control device (2).

4. A waist assist based fruit picking aid as claimed in claim 1 wherein: waist helping hand group device including set casing (9), press screens mechanism, carousel (7), compression spring B (45), set up in the side of set casing (9) and be used for manual control device (2) pivoted slot hole (46), the side of set casing (9) is equipped with the card and establishes manual control device (2) and gear groove (47) that are linked together with slot hole (46), press screens mechanism, carousel (7) and compression spring B (45) are connected and are set up in set casing (9), press the pressing end of screens machinery and stretch out from set casing (9) one end, the screens position of its other end corresponds the one side setting of carousel (7), the other side pressure of carousel (7) is established on compression spring B (45).

5. A waist assist based fruit picking aid as claimed in claim 1 wherein: snatch pulling mechanism include handle (13) and inside transmission shaft (15), handle (13) set up in the sliding tray (44) that the picking pole axial was seted up, handle (13) and the one end of setting inside transmission shaft (15) in picking pole (10) are connected, the other end of inside transmission shaft (15) is connected with the drive end of underactuated structure manipulator (43).

6. A waist assist based fruit picking aid as claimed in claim 1 wherein: shearing actuating mechanism establish holding cover (14) and drive screw on picking pole (10) including the cover, the lateral wall of holding cover (14) and drive screw's one end fixed connection, the other end of drive screw is connected with the drive end of shearing blade disc (18), it is rotatory to rotate the drive end that holds cover (14) and drive shearing blade disc (18) through the drive screw, realizes shearing movement.

7. A waist assist based fruit picking aid as claimed in claim 1 wherein: the fruit grabbing device of the fruit grabbing device (3) is provided with a plurality of under-actuated fingers (16), the lower part of each under-actuated finger (16) is connected with one end of a near-finger inner side connecting rod (33) and one end of a near-finger outer side connecting rod (34) through an under-actuated finger joint (26), and the other end of the near-finger inner side connecting rod (33) and the other end of the near-finger outer side connecting rod form a revolute pair with a picking finger base (30) and a claw bottom pull base (31) through a claw bottom cross rod (32); the picking finger base (30) is fixed on the rod end fixing seat (37), the rod end fixing seat (37) is fixed on the picking rod (10), and the claw bottom pulling seat (31) is connected with the grabbing pulling mechanism.

8. The waist assist-based fruit picking aid of claim 7, wherein: the inner side of the under-actuated finger (16) is connected with an upper arc-shaped pad (25), the inner side of the near-finger inner side connecting rod (33) is connected with a lower arc-shaped pad (24), and a bottom circular pad (23) is arranged above the claw bottom pull seat (31).

9. A waist assist based fruit picking aid as claimed in claim 1 wherein: the shearing device (4) comprises a blade cover plate (20), wedge-shaped blades (19), a shearing cutter head (18) and a lower tray (21), wherein the shearing cutter head (18) and the wedge-shaped blades (19) are arranged between the blade cover plate (20) and the lower tray (21), through holes which are correspondingly matched are formed in the centers of the blade cover plate (20), the lower tray (21) and the shearing cutter head (18), the through holes are picking openings (42), a plurality of cutter grooves (27) which are uniformly distributed are formed in the circumference of the shearing cutter head (18), one wedge-shaped blade (19) is installed in each cutter groove (27), two cylindrical bulges are arranged at one end of each wedge-shaped blade (19) and are smoothly connected with the cutter groove (27), the other end of each wedge-shaped blade (19) is a cutting edge, the outer part of the shearing cutter head (18) is connected with a shearing driving mechanism, the center of the lower tray (21) of the shearing cutter head (18) is driven by the shearing driving mechanism to, the plurality of wedge-shaped blades (19) are closed with the sliding rotary blade inside the knife groove (27).