CN104255193B - Apple picking and method of operating thereof - Google Patents
Apple picking and method of operating thereof Download PDFInfo
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- CN104255193B CN104255193B CN201410419522.5A CN201410419522A CN104255193B CN 104255193 B CN104255193 B CN 104255193B CN 201410419522 A CN201410419522 A CN 201410419522A CN 104255193 B CN104255193 B CN 104255193B
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Abstract
The present invention discloses a kind of apple picking and method of operating thereof, and described apple picking comprises frame, cutting mechanism, governor motion, collection channel, placement mechanism and apple box. Governor motion comprises support column, column spinner and crank block; Support column bottom is enclosed within on pedestal, and one end of top and column spinner is hinged; Crank block comprises slide block and connecting rod, and slide block set is located on column spinner, and connecting rod one end and column spinner are hinged, and the other end and support column are hinged; Cutting mechanism is arranged on column spinner top; The present invention can control the height of scissors easily by slider-crank mechanism, by Electric Machine Control, simple to operate, labour intensity is low; The handle afterbody of scissors arranges electromagnet, facilitates manual operation, reduces labour intensity; When collection channel is set is convenient to collect apple, effectively placer is damaged; Be arranged at the placement mechanism that apple box matches, can automatically carry out apple and put, saved the artificial time.
Description
[technical field]
The present invention relates to fruit picking technical field, particularly a kind of apple picking and method of operating thereof.
[background technology]
Apple tree has dividing of height, and some higher apple tree highly exceedes 3 meters, and for the pinnacled fruit of growth, artificial harvesting is very difficult, often will be by ladder; But because apple tree branches and leaves are more, affect the placement of ladder, be difficult to equally pluck the fruit of eminence; The apple of eminence is due to illumination abundance, and quality is all relatively better, abandons harvesting meeting and brings larger loss to orchard worker.
Refer on October 30th, 2013 disclosed Chinese patent and disclose CN103371026A patent of invention, it discloses a kind of high fruit picking device that utilizes adjusting rod, hand shape to cut and make with mesh bag; Although its result is simple, staff is held heavier adjusting rod, and while working long hours, live load is larger; And while once plucking multiple apple, after the apple that falls in mesh bag can collide with the apple of plucking before, cause damage, impact is sold.
[summary of the invention]
The object of the present invention is to provide a kind of apple picking and method of operating thereof, to solve the problems of the technologies described above.
To achieve these goals, the present invention adopts following technical scheme:
A kind of apple picking, comprises frame, governor motion and cutting mechanism;
In frame, be fixed with rotating shaft fixed station, rotating shaft fixed station is a square block, and its top is fixed with cylindric pedestal;
Governor motion comprises support column, column spinner and crank block; Support column bottom is enclosed within on pedestal, and one end of top and column spinner is hinged; Crank block comprises slide block and connecting rod, and slide block set is located on column spinner, and connecting rod one end and column spinner are hinged, and the other end and support column are hinged; The top, outside of column spinner is provided with the first assembly pulley, closes on the lower end of support column hinged place and is provided with the 3rd assembly pulley, and the top of slide block is provided with the second assembly pulley; The outside of support column is provided with the 4th assembly pulley and the 5th assembly pulley from top to bottom successively; The inner side of support column is provided with the 8th assembly pulley and the 9th assembly pulley from top to bottom successively; The inside lower end of column spinner is closed on support column hinged place and is provided with the 7th assembly pulley; The outside of rotating shaft fixed station is provided with the 6th assembly pulley, and inner side is provided with the tenth assembly pulley; The outside of rotating shaft fixed station is fixed with the first mount pad, and inner side is fixed with the second mount pad, and the first cylinder is installed on the first mount pad, on the second mount pad, second tin roller is installed; First control line one end is wrapped on the first cylinder, and the other end is successively through the outer upper end that is fixed on slide block after the 6th assembly pulley, the 5th assembly pulley, the 4th assembly pulley, the 3rd assembly pulley, the second assembly pulley and the first assembly pulley; One end of the second control line is wrapped on second tin roller, and the other end is successively through the inside lower end that is fixed on slide block after the tenth assembly pulley, the 9th assembly pulley, the 8th assembly pulley and the 7th assembly pulley;
In frame, be fixed with the first motor and the second motor, the output shaft of the first motor is fixedly connected with the roller bearing of the first cylinder; The output shaft of the second motor is fixedly connected with the roller bearing of second tin roller;
Cutting mechanism comprises scissors and electromagnetism adhesive mechanism, and scissors comprises the first sword and second sword of cross-articulation; The top of column spinner is fixed with cutting mechanism installing plate, is fixed with telescopic drive motor on shear constitution installing plate, and shear constitution installing plate is provided with slide rail, and scissors slide block is installed on this slide rail, and the first sword of scissors is fixed on scissors slide block; Scissors slide block is provided with tapped through hole, and the output shaft of telescopic drive motor is provided with external screw thread, and the output shaft of telescopic drive motor and scissors slide block form screw-nut body; Between the handle of the first sword and the second sword, be provided with a stage clip; The handle end of the first sword is fixed with electromagnet, and the end of the second sword is fixed with adhesive iron block; In electromagnet when energising,, adhesive iron block, because electromagnetic attraction overcomes resistance and the electromagnetic actuation of stage clip, completes once scissors and shears; After electromagnet dead electricity, stage clip drives the first sword and the second sword to reset.
Preferably, also comprise collection channel; Collection channel comprises rubber collecting mouth, the first bellows, the second bellows, the first rubber tube and the second rubber tube; The rubber collecting mouth of cone-shaped be positioned at scissors under, it is with to be fixed on the fixed bar at column spinner top hinged; In frame, interval is fixed with the first support bar and the second support bar, and the top of the first support bar and the second support bar is semicircle, and it is hinged with the first rubber tube and the second rubber tube respectively; First bellows one end connects the outlet of rubber collecting mouth, and the other end connects the entrance of the first rubber tube, and the outlet of the first rubber tube connects the entrance of the second rubber tube by cloth cylinder, and the outlet of the second rubber tube connects the second bellows; The height of rubber collecting mouth, the first rubber tube and the second rubber tube reduces successively.
Preferably, also comprise placement mechanism and apple box;
Apple box is positioned in frame; Apple box comprises some apple compartments;
Placement mechanism comprises the column, horizontal columns and the manipulator that are fixed in frame; Column top is provided with first tooth bar vertical with column, and the bearing of trend of the first tooth bar is vertical with horizontal columns; Horizontal columns comprises the second tooth bar, the first guide pad and the first gear; The first guide pad is set on the first tooth bar, and can slidably reciprocate along the bearing of trend of the first tooth bar, the first gear is meshed with the first tooth bar, and the first gear rotates under the drive of the first gear drive motor, can drive horizontal columns to slide along the bearing of trend of the first tooth bar; Manipulator comprises the second guide pad and the second gear; The second guide pad is set on the second tooth bar, and can slidably reciprocate along the bearing of trend of the second tooth bar, the second gear is meshed with the second tooth bar, and the second gear rotates under the drive of the second gear drive motor, can slide along the bearing of trend of the second tooth bar by driving device hand; The first tooth bar and the second tooth bar are perpendicular; The bottom of the second guide pad is provided with apple placer, and this apple placer comprises placement bar, places bar below and is fixed with a direction apple accommodating cavity that does not have an end; The bottom that placement bar stretches into apple accommodating cavity is fixed with the first semi-ring, places in bar and is fixed with micromachine, is fixed with the second semi-ring on the output shaft of micromachine; When the first semi-ring and the second semi-ring are closed, the apple that the apple entrance from apple accommodating cavity can be entered is caught;
Placement mechanism also comprises controller and infrared inductor, and infrared inductor is installed on to be placed on bar, for responding to whether there is apple in apple accommodating cavity; Controller connects infrared inductor, micromachine, the first gear drive motor and the second gear drive motor.
Preferably, the first motor connects the first forward button and the first invert button, and the second motor connects the second forward button and the second invert button; Telescopic drive motor connects the 3rd forward button and the 3rd invert button; Electromagnet connects magnet control button; The first forward button and the second invert button are positioned at the both sides of left hand control lever, and the 3rd forward button and the 3rd invert button are positioned at the top of left hand control lever; The first invert button and the second forward button are positioned on right hand control lever, and magnet control button is positioned at the top of right hand control lever; Left hand control lever and right hand control lever are fixed in frame.
Preferably, frame bottom is provided with four universal wheels.
Preferably, the first assembly pulley, the second assembly pulley, the 3rd assembly pulley, the 4th assembly pulley, the 5th assembly pulley, the 6th assembly pulley, the 7th assembly pulley, the 8th assembly pulley, the 9th assembly pulley are identical with the tenth assembly pulley group structure, include U-shaped holder, adjacent and be installed in parallel in the first pulley and the second pulley on U-shaped holder, the first pulley and the second peripheral pulley are equipped with groove, and the first control line and the second control line all pass between the first pulley of corresponding assembly pulley and the second pulley.
Preferably, place bar periphery, the first semi-ring periphery, the second semi-ring periphery and apple accommodating cavity inner side and be equipped with rubber layer.
The method of operating of apple picking, comprise the following steps: operator presses the first forward button and the second invert button on left hand control lever simultaneously, when controlling the first motor forward, control the second motor reversal, by one of the first control line and the second control line put, receipts, drive slide block movement, and then the height that driving column spinner is rotated counterclockwise to raise cutting mechanism is to the apple height that needs to pluck; Then, the 3rd forward button that operator presses on left hand control lever drives telescopic drive motor forward, to drive scissors outwards to move and make the base of fruit of apple between the first sword and the second sword; Then operator presses the magnet control button at right hand control lever top, controls electromagnet energising, and iron block, because electromagnetic attraction overcomes resistance and the electromagnetic actuation of stage clip, completes once and shears; The apple cutting off enters apple accommodating cavity by collection channel; Infrared inductor sends a signal to controller time having apple to apple accommodating cavity, and controller drives micromachine Unscrew the second semi-ring that apple is put into corresponding apple compartment; Then controller is controlled the first gear drive motor and the second gear drive motor according to default path and is alignd with the apple compartment of next sky to adjust apple accommodating cavity, completes the process of once plucking.
Preferably, controller, according to default path, is controlled apple accommodating cavity and is rested on successively on empty apple compartment, reminds the artificial apple box of changing until whole apple box sends alarm signal after filling.
Compared with prior art, the present invention has following beneficial effect: the present invention can control the height of scissors easily by slider-crank mechanism, by Electric Machine Control, simple to operate, labour intensity is low; Many group assembly pulleys are set, and its position of reasonable Arrangement simultaneously, can be convenient to the path of the first bracing wire and the second bracing wire; The first motor and two a positive and a negative run-in synchronisms of the second motor, make the motion of slide block steady; The structure of assembly pulley makes the first bracing wire and the second bracing wire can not be from wherein departing from; The handle afterbody of scissors arranges electromagnet, facilitates manual operation, reduces labour intensity; Screw-nut structure is set, can finely tunes easily the position of scissors, make apple base of fruit between the two-edged of scissors; When collection channel is set is convenient to collect apple, effectively placer is damaged; Be arranged at the placement mechanism that apple box matches, can automatically carry out apple and put, saved the artificial time; Two pairs of pinion and racks that cooperatively interact are set between column, horizontal columns and the manipulator of placement mechanism, can planar regulate arbitrarily the position of manipulator, simple in structure.
[brief description of the drawings]
Fig. 1 is the lateral plan of apple-picking of the present invention;
Fig. 2 is the partial schematic diagram of placement mechanism;
Fig. 3 is the partial schematic diagram of placing bar;
Fig. 4 is the first semi-ring and the second semi-ring closure state schematic diagram;
Fig. 5 is the first semi-ring and the second semi-ring open mode schematic diagram;
Fig. 6 is the top view of apple box;
Fig. 7 is the schematic diagram of cutting mechanism;
Fig. 8 is the side view of assembly pulley;
Fig. 9 is the front view of assembly pulley shown in Fig. 8;
Structural representation of the present invention when Figure 10 increases column for arranging.
[detailed description of the invention]
Refer to shown in Fig. 1 to Figure 10, apple picking of the present invention comprises frame 1, cutting mechanism 6, governor motion, collection channel 7, placement mechanism 8 and apple box 9.
Frame 1 bottom is provided with four universal wheels, facilitates field to move freely. Apple box 9 is positioned in frame 1. Apple box 9 comprises some apple compartments 90.
In frame 1, be fixed with rotating shaft fixed station 2, rotating shaft fixed station 2 is a square block, and its top is fixed with cylindric pedestal 21.
Governor motion comprises support column 3, column spinner and crank block 5; Support column 3 bottoms are enclosed within on pedestal 21, and one end of top and column spinner is hinged. Crank block 5 comprises slide block 51 and connecting rod 52, and slide block 51 is set on column spinner, and connecting rod 52 one end and column spinner are hinged, and the other end and support column 3 are hinged. The top, outside of column spinner is provided with the first assembly pulley 101, closes on the lower end of support column 3 hinged places and is provided with the 3rd assembly pulley 103, and the top of slide block 51 is provided with the second assembly pulley 102. The outside of support column 3 is provided with the 4th assembly pulley 104 and the 5th assembly pulley 105 from top to bottom successively, the inner side of support column 3 is provided with the 8th assembly pulley 108 and the 9th assembly pulley 109 from top to bottom successively, and the inside lower end of column spinner is closed on support column 3 hinged places and is provided with the 7th assembly pulley 107. The outside of rotating shaft fixed station 2 is provided with the 6th assembly pulley 106, and inner side is provided with the tenth assembly pulley 110. The outside of rotating shaft fixed station 2 is fixed with the first mount pad 22, and inner side is fixed with on the second mount pad 23, the first mount pads 22 and is provided with on the first cylinder 221, the second mount pads 23 second tin roller 231 is installed. First control line 2210 one end are wrapped on the first cylinder 221, and the other end is successively through the outer upper end that is fixed on slide block 51 after the 6th assembly pulley 106, the 5th assembly pulley 105, the 4th assembly pulley 104, the 3rd assembly pulley 103, the second assembly pulley 102 and the first assembly pulley 101. One end of the second control line 2310 is wrapped on second tin roller 231, and the other end is successively through the inside lower end that is fixed on slide block 51 after the tenth assembly pulley 110, the 9th assembly pulley 109, the 8th assembly pulley 108 and the 7th assembly pulley 107. Ten groups of pulley block structures are identical, include U-shaped holder 1011, adjacent and be installed in parallel in the first pulley 1012 and the second pulley 1013 on U-shaped holder 1011, the first pulley 1012 and the second pulley 1013 peripheries are equipped with groove, the first control line 2210 and the second control line 2310 all pass between the first pulley 1012 and the second pulley 1013, prevent that control line from departing from assembly pulley.
In frame 1, be fixed with the first motor and the second motor, the output shaft of the first motor is fixedly connected with the roller bearing of the first cylinder 221; The output shaft of the second motor is fixedly connected with the roller bearing of second tin roller 231.
Cutting mechanism 6 comprises scissors and electromagnetism adhesive mechanism, and scissors comprises the first sword 61 and second sword 62 of cross-articulation. The top of column spinner is fixed with cutting mechanism installing plate, is fixed with telescopic drive motor on shear constitution installing plate, and shear constitution installing plate is provided with slide rail, and scissors slide block is installed on this slide rail, and the first sword 61 of scissors is fixed on scissors slide block; Scissors slide block is provided with tapped through hole, and the output shaft of telescopic drive motor is provided with external screw thread, and the output shaft of telescopic drive motor and scissors slide block form screw-nut body. The rotating of telescopic drive motor outwards can be controlled scissors slide block or move inward, so that the position of fine setting scissors. Between the first sword 61 and the handle of the second sword 62, be provided with a stage clip 63. The end that the handle end of the first sword 61 is fixed with electromagnet 611, the second swords 62 is fixed with adhesive iron block 621; When electromagnet 611 is switched on, adhesive iron block 621, because electromagnetic attraction overcomes resistance and electromagnet 611 adhesives of stage clip 63, completes once scissors and shears, and the base of fruit of apple can be cut short. After electromagnet 611 dead electricity, stage clip 63 drives the first sword 61 and the second sword 62 to reset.
Collection channel 7 comprises rubber collecting mouth 71, the first bellows 76, the second bellows 77, the first rubber tube 72 and the second rubber tube 73; The rubber collecting mouth 71 of cone-shaped be positioned at scissors under, its both sides are hinged with the fixed bar that is fixed on column spinner top, all can be parallel to the ground no matter to ensure what angle rubber collecting mouth 71 column spinner is positioned at, the apple dropping can accurately be fallen in collection channel 7. The top that in frame 1, interval is fixed with the first support bar 74 and the second support bar 75, the first support bars 74 and the second support bar 75 is semicircle, and it is hinged with the two ends of the first rubber tube 72 and the second rubber tube 73 respectively; First bellows 76 one end connect the outlet of rubber collecting mouth 71, the other end connects the entrance of the first rubber tube 72, the outlet of the first rubber tube 72 connects the entrance of the second rubber tube 73 by cloth cylinder, the outlet of the second rubber tube 73 connects the apple entrance of apple accommodating cavity 84 by the second bellows 77. The height of rubber collecting mouth 71, the first rubber tube 72 and the second rubber tube 73 reduces successively. Refer to shown in Figure 10, the present invention is also provided with multiple columns 31 that increase, and is installed between support column 3 and pedestal 21, and then can increases the height of scissors, uses the apple tree of differing heights. Column is increased in use to be made, and the first bellows 76 extends, so need not change.
Placement mechanism 8 comprises the column 81, horizontal columns 82 and the manipulator 83 that are fixed in frame 1. The bearing of trend that column 81 tops are provided with first tooth bar 810, the first tooth bars 810 vertical with column 81 is vertical with horizontal columns 82. Horizontal columns 82 comprises the second tooth bar 820, the first guide pad 821 and the first gear 822; The first guide pad 821 is set on the first tooth bar 810, and can slidably reciprocate along the bearing of trend of the first tooth bar 810, the first gear 822 is meshed with the first tooth bar 810, the first gear 822 rotates under the drive of the first gear drive motor, can drive horizontal columns 82 to slide along the bearing of trend of the first tooth bar 810. Manipulator 83 comprises the second guide pad 831 and the second gear 832; The second guide pad 831 is set on the second tooth bar 820, and can slidably reciprocate along the bearing of trend of the second tooth bar 820, the second gear 832 is meshed with the second tooth bar 820, the second gear 832 rotates under the drive of the second gear drive motor, can slide along the bearing of trend of the second tooth bar 820 by driving device hand 83. The first tooth bar 810 and the second tooth bar 820 are perpendicular. The bottom of the second guide pad 831 is provided with apple placer, and this apple placer comprises places bar 833, places bar 833 belows and is fixed with a direction apple accommodating cavity 84 that does not have an end. The bottom that placement bar 833 stretches into apple accommodating cavity 84 is fixed with the first semi-ring 835, places in bar 833 and is fixed with micromachine 834, is fixed with the second semi-ring 836 on the output shaft 8341 of micromachine 834. When the first semi-ring 835 and the second semi-ring 836 are closed, the apple 1000 that the apple entrance from apple accommodating cavity 84 can be entered is caught. Placement mechanism 8 comprises controller and infrared inductor (not shown), and controller is CPU or single-chip microcomputer; Infrared inductor is installed on to be placed on bar 833, and for responding in apple accommodating cavity 84 whether have apple, controller connects infrared inductor, micromachine 834, the first gear drive motor and the second gear drive motor. When thering is no apple in infrared inductor induction apple accommodating cavity 84, controller control micromachine 834 makes the second semi-ring 836 closures; When sensing apple, controller drives micromachine 834 Unscrew the second semi-rings 836 that apple is put into corresponding apple compartment 90; Then controller is controlled the first gear drive motor and the second gear drive motor according to default path and is alignd with the apple compartment 90 of next sky to adjust apple accommodating cavity 84. Controller, according to default path, is controlled apple accommodating cavity 84 and is rested on successively on empty apple compartment 90, reminds the artificial apple box 9 of changing until whole apple box 9 sends alarm signal after filling. Then, controller control apple accommodating cavity 84 restarts to place apple from the starting point in path. Apple accommodating cavity 84 is connected with the second bellows, can conveniently move. Place bar 833 peripheries, the first semi-ring 835 peripheries, the second semi-ring 836 peripheries and apple accommodating cavity 84 inner sides and be equipped with rubber layer, prevent that apple from damaging.
The first motor connects the first forward button and the first invert button, and the second motor connects the second forward button and the second invert button; Telescopic drive motor connects the 3rd forward button and the 3rd invert button; Electromagnet 611 connects magnet control button. The first forward button and the second invert button are positioned at the both sides of left hand control lever, and the 3rd forward button and the 3rd invert button are positioned at the top of left hand control lever; The first invert button and the second forward button are positioned on right hand control lever, and magnet control button is positioned at the top of right hand control lever. Left hand control lever and right hand control lever are fixed in frame 1. The present invention also comprises that this battery is arranged in frame to the battery of controller, the first motor, the second motor infrared ray sensor, telescopic drive motor, the first gear drive motor and the power supply of the second gear drive motor; This battery can adopt solar cell, and while just work, limit charging, effectively utilizes clean energy resource.
The method of operating of apple picking of the present invention comprises the following steps: operator presses the first forward button and the second invert button on left hand control lever simultaneously, when controlling the first motor forward, control the second motor reversal, by one of the first control line 2210 and the second control line 2310 put, receipts, drive slide block 51 to move, and then the height that driving column spinner is rotated counterclockwise to raise cutting mechanism 6 is to the apple height that needs to pluck; Then, the 3rd forward button that operator presses on left hand control lever drives telescopic drive motor forward, to drive scissors outwards to move and make the base of fruit of apple between the first sword 61 and the second sword 62; Then operator presses the magnet control button at right hand control lever top, controls electromagnet 611 and switches on, and iron block 621, because electromagnetic attraction overcomes resistance and electromagnet 611 adhesives of stage clip 63, completes once shearing; The apple cutting off enters apple accommodating cavity 84 by collection channel 7; Infrared inductor sends a signal to controller time having apple to apple accommodating cavity 84, and controller drives micromachine 834 Unscrew the second semi-rings 836 that apple is put into corresponding apple compartment 90; Then controller is controlled the first gear drive motor and the second gear drive motor according to default path and is alignd with the apple compartment 90 of next sky to adjust apple accommodating cavity 84; So complete and once pluck process; While harvesting, repeat same action next time. Just can complete easily apple-picking process by left hand control lever and right-hand operated bar. The first forward button of left hand control lever and the lifting of the second invert button control scissors, the second forward button of right hand control lever and the decline of the first invert button control scissors.
Claims (9)
1. an apple picking, is characterized in that, comprises frame (1), governor motion and cutting mechanism (6);
In frame (1), be fixed with rotating shaft fixed station (2), rotating shaft fixed station (2) is a square block, and its top is fixed with circleColumn pedestal (21);
Governor motion comprises support column (3), column spinner and crank block (5); It is upper that support column (3) bottom is enclosed within pedestal (21),One end of top and column spinner is hinged; Crank block (5) comprises slide block (51) and connecting rod (52), and slide block (51) is set in and revolvesOn rotary column, connecting rod (52) one end and column spinner are hinged, and the other end and support column (3) are hinged; The top, outside of column spinner is provided withThe first assembly pulley (101), closes on the lower end of support column (3) hinged place and is provided with the 3rd assembly pulley (103), slide block (51)Top is provided with the second assembly pulley (102); The outside of support column (3) is provided with the 4th assembly pulley (104) and the 5th from top to bottom successivelyAssembly pulley (105); The inner side of support column (3) is provided with the 8th assembly pulley (108) and the 9th assembly pulley (109) from top to bottom successively;The inside lower end of column spinner is closed on support column (3) hinged place and is provided with the 7th assembly pulley (107); The outside of rotating shaft fixed station (2)Be provided with the 6th assembly pulley (106), inner side is provided with the tenth assembly pulley (110); The outside of rotating shaft fixed station (2) is fixed with the first peaceDress seat (22), inner side is fixed with the second mount pad (23), the first cylinder (221) is installed, second on the first mount pad (22)Second tin roller (231) is installed on mount pad (23); It is upper that the first control line (2210) one end is wrapped in the first cylinder (221),The other end successively through the 6th assembly pulley (106), the 5th assembly pulley (105), the 4th assembly pulley (104), the 3rd assembly pulley (103),After the second assembly pulley (102) and the first assembly pulley (101), be fixed on the outer upper end of slide block (51); The second control line (2310)To be wrapped in second tin roller (231) upper in one end, the other end successively through the tenth assembly pulley (110), the 9th assembly pulley (109),After the 8th assembly pulley (108) and the 7th assembly pulley (107), be fixed on the inside lower end of slide block (51);
In frame (1), be fixed with the first motor and the second motor, the output shaft of the first motor is fixedly connected with the first cylinder (221)Roller bearing; The output shaft of the second motor is fixedly connected with the roller bearing of second tin roller (231);
Cutting mechanism (6) comprises scissors and electromagnetism adhesive mechanism, and scissors comprises the first sword (61) and second sword (62) of cross-articulation;The top of column spinner is fixed with cutting mechanism installing plate, is fixed with telescopic drive motor on shear constitution installing plate, and shear constitution is installedPlate is provided with slide rail, and scissors slide block is installed on this slide rail, and first sword (61) of scissors is fixed on scissors slide block; Scissors slide blockBe provided with tapped through hole, the output shaft of telescopic drive motor is provided with external screw thread, and the output shaft of telescopic drive motor and scissors slide block formScrew-nut body; Between the handle of the first sword (61) and the second sword (62), be provided with a stage clip (63); The first sword (61)Handle end be fixed with electromagnet (611), the end of the second sword (62) is fixed with adhesive iron block (621); Electromagnet (611)When energising, adhesive iron block (621), because electromagnetic attraction overcomes resistance and electromagnet (611) adhesive of stage clip (63), makes scissorsComplete once and shear; After electromagnet (611) dead electricity, stage clip (63) drives the first sword (61) and the second sword (62) to reset.
2. a kind of apple picking according to claim 1, is characterized in that, also comprises collection channel (7); Collect logicalRoad (7) comprises rubber collecting mouth (71), the first bellows (76), the second bellows (77), the first rubber tube (72) andTwo rubber tubes (73); The rubber collecting mouth (71) of cone-shaped be positioned at scissors under, its be fixed on consolidating of column spinner topFixed pole is hinged; The upper interval of frame (1) is fixed with the first support bar (74) and the second support bar (75), the first support bar (74)Be semicircle with the top of the second support bar (75), it is hinged with the first rubber tube (72) and the second rubber tube (73) respectively;The first bellows (76) one end connects the outlet of rubber collecting mouth (71), and the other end connects the entrance of the first rubber tube (72),The outlet of the first rubber tube (72) connects the entrance of the second rubber tube (73) by cloth cylinder, the outlet of the second rubber tube (73) connectsConnect the second bellows (77); The height of rubber collecting mouth (71), the first rubber tube (72) and the second rubber tube (73) falls successivelyLow.
3. a kind of apple picking according to claim 2, is characterized in that, also comprises placement mechanism (8) and apple box(9)；
Apple box (9) is positioned in frame (1); Apple box (9) comprises some apple compartments (90);
Placement mechanism (8) comprises the column (81), horizontal columns (82) and the manipulator (83) that are fixed in frame (1); Column(81) top is provided with first tooth bar (810) vertical with column (81), bearing of trend and the level of the first tooth bar (810)Post (82) is vertical; Horizontal columns (82) comprises the second tooth bar (820), the first guide pad (821) and the first gear (822);It is upper that the first guide pad (821) is set in the first tooth bar (810), and can be sliding back and forth along the bearing of trend of the first tooth bar (810)Moving, the first gear (822) is meshed with the first tooth bar (810), and the first gear (822) is at the band of the first gear drive motorMoving lower rotation, can drive horizontal columns (82) to slide along the bearing of trend of the first tooth bar (810); Manipulator (83) comprisesTwo guide pads (831) and the second gear (832); It is upper that the second guide pad (831) is set in the second tooth bar (820), and canBearing of trend along the second tooth bar (820) slidably reciprocates, and the second gear (832) is meshed with the second tooth bar (820), and secondGear (832) rotates under the drive of the second gear drive motor, can driving device hand (83) along the second tooth bar (820)Bearing of trend slides; The first tooth bar (810) and the second tooth bar (820) are perpendicular; Install the bottom of the second guide pad (831)Have apple placer, this apple placer comprises places bar (833), places bar (833) below and is fixed with a direction that does not have an endApple accommodating cavity (84); The bottom that placement bar (833) stretches into apple accommodating cavity (84) is fixed with the first semi-ring (835), placesIn bar (833), be fixed with micromachine (834), on the output shaft (8341) of micromachine (834), be fixed with the second semi-ring (836);When the first semi-ring (835) and the second semi-ring (836) are closed, can be by the apple entering from the apple entrance of apple accommodating cavity (84)Really (1000) are caught;
Placement mechanism (8) also comprises controller and infrared inductor, and infrared inductor is installed on places bar (833) above, for senseAnswer in apple accommodating cavity (84) and whether have apple; Controller connects infrared inductor, micromachine (834), the first gear driveMotor and the second gear drive motor.
4. a kind of apple picking according to claim 3, is characterized in that, the first motor connect the first forward button andThe first invert button, the second motor connects the second forward button and the second invert button; Telescopic drive motor connects the 3rd forward buttonWith the 3rd invert button; Electromagnet (611) connects magnet control button; The first forward button and the second invert button are positioned at a left sideThe both sides of hand control lever, the 3rd forward button and the 3rd invert button are positioned at the top of left hand control lever; The first invert button and secondForward button is positioned on right hand control lever, and magnet control button is positioned at the top of right hand control lever; Left hand control lever and right hand control leverBe fixed in frame (1); So arrange, handled easily person control.
5. a kind of apple picking according to claim 1, is characterized in that, frame (1) bottom be provided with four universalWheel.
6. a kind of apple picking according to claim 1, is characterized in that, the first assembly pulley, the second assembly pulley,Three assembly pulleys, the 4th assembly pulley, the 5th assembly pulley, the 6th assembly pulley, the 7th assembly pulley, the 8th assembly pulley, the 9th assembly pulley andThe tenth assembly pulley group structure is identical, includes U-shaped holder (1011), adjacent and be installed in parallel in U-shaped holder (1011)On the first pulley (1012) and the second pulley (1013), the first pulley (1012) and the second pulley (1013) periphery are all establishedFluted, the first control line (2210) and the second control line (2310) are all from first pulley (1012) and of corresponding assembly pulleyTwo pulleys pass between (1013).
7. a kind of apple picking according to claim 3, is characterized in that, places bar (833) periphery, the first semi-ring(835) periphery, the second semi-ring (836) periphery and apple accommodating cavity (84) inner side are equipped with rubber layer.
8. the method for operating of apple picking claimed in claim 4, is characterized in that, comprises the following steps: operator simultaneouslyPress the first forward button and the second invert button on left hand control lever, when controlling the first motor forward, control the second motor anti-Turn, by one of the first control line (2210) and the second control line (2310) put, receipts, drive slide block (51) motion, enterAnd the height that driving column spinner is rotated counterclockwise to raise cutting mechanism (6) is to the apple height that needs to pluck; Then, operatorThe 3rd forward button of pressing on left hand control lever drives telescopic drive motor forward, makes the base of fruit of apple to drive scissors outwards to moveBe positioned between the first sword (61) and the second sword (62); Then operator presses the magnet control button at right hand control lever top, controlElectromagnet processed (611) energising, iron block (621) is because resistance and electromagnet (611) that electromagnetic attraction overcomes stage clip (63) are inhaledClose, complete once and shear; The apple cutting off enters apple accommodating cavity (84) by collection channel (7); Infrared inductor is to appleFruit accommodating cavity (84) when having apple, sends a signal to controller, and controller drives micromachine (834) Unscrew theCorresponding apple compartment (90) put into by apple by two semi-rings (836); Then controller is controlled the first tooth according to default pathWheel drive motor and the second gear drive motor align with next empty apple compartment (90) to adjust apple accommodating cavity (84),Complete the process of once plucking.
9. method of operating according to claim 8, is characterized in that, controller, according to default path, is controlled apple and heldPut chamber (84) and rest on successively empty apple compartment (90) above, carry until whole apple box (9) sends alarm signal after fillingWake up and manually change apple box (9).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410419522.5A CN104255193B (en) | 2014-08-19 | 2014-08-19 | Apple picking and method of operating thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410419522.5A CN104255193B (en) | 2014-08-19 | 2014-08-19 | Apple picking and method of operating thereof |
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| CN104255193A CN104255193A (en) | 2015-01-07 |
| CN104255193B true CN104255193B (en) | 2016-05-11 |
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| CN201410419522.5A Active CN104255193B (en) | 2014-08-19 | 2014-08-19 | Apple picking and method of operating thereof |
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