CN105532184A - Hydraulic cutting tomato picking device - Google Patents
Hydraulic cutting tomato picking device Download PDFInfo
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- CN105532184A CN105532184A CN201610009828.2A CN201610009828A CN105532184A CN 105532184 A CN105532184 A CN 105532184A CN 201610009828 A CN201610009828 A CN 201610009828A CN 105532184 A CN105532184 A CN 105532184A
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- tomato
- bennet
- hole
- hydraulic
- bar
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
Disclosed is a hydraulic cutting tomato picking device. The device comprises a hydraulic cutting mechanism, a sliding block mechanism, a tomato locking structure and a pedicel picking and clamping structure. The hydraulic cutting mechanism comprises a support, an arm rod, a hydraulic cylinder driver, a hydraulic oil cylinder and a support table. The sliding block mechanism comprises a straight rod and a bushing. The tomato locking structure comprises a fastening disc, racks, connecting rods, regulating rods, locking rods and a tomato sleeve. The pedicel picking and clamping structure comprises a fastening clamp, a hinge pin, a primary pedicel hole and a secondary pedicel hole. The hydraulic cutting mechanism drives a piston rod to stretch out, the tomato locking structure wraps tomatoes preliminarily, the pedicel picking and clamping structure fixes pedicels and calyx tendrils of the tomatoes, the hydraulic cutting mechanism drives the piston rod to retract, the sliding block mechanism moves in parallel, the tomato locking structure locks the tomatoes, and the sliding block mechanism cooperates with the pedicel picking and clamping structure to complete cutting of the tomatoes.
Description
Technical field
The present invention relates to a kind of hydraulic cutter tomato stripper unit, belong to agricultural machinery automation development technical field.
Background technology
Along with the continuous increase of tomato planting area, win the problem that tomato becomes peasants' headache gradually.Present most of peasant directly wins with hand, and a hand pinches bennet, and another hand is plucked.Even if having agriculture Scissors to cut off bennet to win, but because the bennet of tomato has bitter taste, thus listing before must remove, the tomato that market is sold be all do not have pedunculate, therefore also need after the tomato cut like this to remove the bennet stayed on tomato, and this still can make hand wearing and tearing fester.Owing to being that the pressure of hand to handle provides frictional force to balance each other with the power of plucking tomato, so need finger to provide very large pressure, can be worn and torn significantly.Peasant's hand that a lot of long campaigns plucks tomato festers, so tragic that one cannot bear to look at it.
In the U.S., because government takes strict border management policy, some rely on the farmer of immigrant labour just their visual field being turned to one just developing machine for picking fruits device people of new generation.The fund that Energid obtains United States Department of Agriculture is developing a kind of robot gathering in the crops oranges and tangerines.The robot developed has the ability of machine vision and operation, is applicable to the fruit gathering in the crops citrus, apple and other kinds.
The scheme of Energid scientific & technical corporation combines the intelligence of robot and the economy of batch results.Use the mechanism of a low cost, carry out information processing and control by vision sensor and calculator at a high speed.The end effector that fruit is won is single use, and fast changeable, maintenance cost is cheap.This system can long-range or neighbouring control, and the design object of system is, wins 32 fruit each second, continues to win 16 times, stays fruit to be in the tree less than 4%.
In Japan, agricultural workforce's aging and the hypodynamic problem of rural labor very outstanding, in order to address this problem, Japan have developed the agricultural robot of a series of different purposes, and this wherein just comprises the robot of fruit-picking.
Although above-mentioned robot efficiency is very high, can greatly reduce farmer's burdens, expensive, most peasants cannot be born.So develop a simple and easy tomato stripper unit, alleviate vast farmers friend and pluck hand burden in tomato process.
Tomato is in the planting range nearly cover whole nation of China, and cultivated area is at the forefront in the world.Its harvesting is labour-intensive operation.Along with social economic modernization and commercialization development, also in order to meet the great demand of people to tomato, tomato planting garden scale is also increasing, and this generates a difficult problem for tomato harvesting.Original pure picked by hand tomato cost is high, the time long and difficult quality guarantee.But the existing industry robot that picks fruit is expensive, and a lot of peasant cannot bear.
Summary of the invention
The object of the invention is to propose a kind of hydraulic cutter tomato stripper unit, based on above background technology present situation, devise a simple and easy tomato stripper unit, while greatly saving manpower, also ensure that high-quality and the hygienic requirements of tomato.
For achieving the above object, the technical solution used in the present invention is a kind of hydraulic cutter tomato stripper unit, and this device comprises hydraulic cutter mechanism, slide block mechanism, tomato locking mechanism, bennet win clamping structure.
Hydraulic cutter mechanism comprises bearing 1, cantilever lever 2, hydraulic cylinder drive 3, hydraulic jack 4, brace table 5.
Slide block mechanism comprises straight-bar 7, sleeve 8.
Tomato locking mechanism comprises fastening disc 9, frame 10, connecting rod 11, adjusting rod 12, check lock lever 13, tomato cover 14.
Bennet is won clamping structure and is comprised anchorage clip 15, bearing pin 16, one-level bennet hole 17, secondary bennet hole 18.
Bearing 1 is connected with cantilever lever 2 and forms the driving agent structure of hydraulic cutter, and bearing 1 is arranged on the bottom of hydraulic cutter mechanism; Hydraulic cylinder drive 3 is arranged on bearing 1, and hydraulic cylinder drive 3 is connected with hydraulic jack 4, and hydraulic cylinder drive 3 drives piston rod 6 parallel motion of hydraulic jack 4, and cantilever lever 2 is provided with brace table 5;
Piston rod 6 is connected with straight-bar 7, and piston rod 6 and straight-bar 7 are on the same line.
The fastening disc 9 of tomato locking mechanism is arranged on brace table 5; The centre of fastening disc 9 has through hole; Sleeve 8 is horizontally set on close brace 3 side of fastening disc 9; Straight-bar 7 is through the through hole again through fastening disc 9 after sleeve 8.
Three groups of frames 10 are arranged symmetrically along the circumference of fastening disc 9; Three groups of connecting rods 11 are arranged symmetrically along the axis of the end of straight-bar 7; Adjusting rod 12 is connected with connecting rod 11, and check lock lever 13 is connected with frame 10; Be connected by adjusting rod 12 between connecting rod 11 with check lock lever 13; Tomato cover 14 is arranged on the end of check lock lever 13.
The anchorage clip 15 that bennet wins clamping structure is fixed on the end of cantilever lever 2 by bearing pin 16, anchorage clip 15 is vertically gone up and is provided with one-level bennet hole 17, secondary bennet hole 18 successively; The diameter in one-level bennet hole 17 is less than the diameter in secondary bennet hole 18; One-level bennet hole 17 is in order to lock the bennet of tomato, and secondary bennet hole 18 is climing in order to the calyx of locking tomato.
The side of described sleeve 8 has horizontal guide groove, and straight-bar 7 is provided with slide block, and slide block matches with horizontal guide groove, and then ensures the stable of straight-bar 7 moving process.
Described tomato cover 14 is cambered surface elastic component, prevents tomato damaged in shear history.
Described frame 10 is curved bar.
Each rod member of described tomato locking mechanism can move along the direction of rod member, and then locks tomato.
Compared with prior art, the present invention has following beneficial effect.
1, this apparatus structure is simple, easy to operate, greatly can alleviate tomato and win various difficult problems in process, meets sustainable development and economies society theory.
2, this simple and easy tomato stripper unit adopts a series of ingenious mechanical linkage, can win tomato by controlling manipulator opening and closing, and can free adjustment dynamics size.
3, automaticity is high simultaneously for low, the easy processing of the cost of whole device, meets the growth requirement of industry.
Accompanying drawing explanation
Fig. 1 is hydraulic cutter mechanism map of the present invention.
Fig. 2 is three-dimensional facade structure chart of the present invention.
Fig. 3 is that tomato locking mechanism of the present invention and bennet win clamping structure figure.
Fig. 4 is overall structure schematic diagram of the present invention.
Fig. 5 is front view of the present invention.
Fig. 6 is vertical view of the present invention.
In figure: 1-bearing, 2-cantilever lever, 3-hydraulic cylinder drive, 4-hydraulic jack, 5-brace table, 6-piston rod, 7-straight-bar, 8-sleeve, 9-fastening disc, 10-frame, 11-connecting rod, 12-adjusting rod, 13-check lock lever, 14-tomato cover, 15-anchorage clip, 16-bearing pin, 17-one-level bennet hole, 18-secondary bennet hole.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
The physical characteristic of tomato plucks the Research foundation of operation, decides the conceptual design of simple and easy tomato stripper unit.The each bouquet of Lycopersicon esculentum generally has 3 ~ 5 fruits, when peasant plucks, needs tomato to take, above bennet can not being stayed.
Hand plucks the antipeduncular pressure of tomato armrest provides frictional force to balance each other with the power of plucking tomato, and therefore need very large pressure, the hand pinching bennet can be worn and torn significantly.So alleviate hand burden by changing the force mechanism plucking tomato process.
As shown in figures 1 to 6, a kind of hydraulic cutter tomato stripper unit, this device comprises hydraulic cutter mechanism, slide block mechanism, tomato locking mechanism, bennet win clamping structure.
Hydraulic cutter mechanism comprises bearing 1, cantilever lever 2, hydraulic cylinder drive 3, hydraulic jack 4, brace table 5.
Slide block mechanism comprises straight-bar 7, sleeve 8.
Tomato locking mechanism comprises fastening disc 9, frame 10, connecting rod 11, adjusting rod 12, check lock lever 13, tomato cover 14.
Bennet is won clamping structure and is comprised anchorage clip 15, bearing pin 16, one-level bennet hole 17, secondary bennet hole 18.
Bearing 1 is connected with cantilever lever 2 and forms the driving agent structure of hydraulic cutter, and bearing 1 is arranged on the bottom of hydraulic cutter mechanism; Hydraulic cylinder drive 3 is arranged on bearing 1, and hydraulic cylinder drive 3 is connected with hydraulic jack 4, and hydraulic cylinder drive 3 drives piston rod 6 parallel motion of hydraulic jack 4, and cantilever lever 2 is provided with brace table 5;
Piston rod 6 is connected with straight-bar 7, and piston rod 6 and straight-bar 7 are on the same line.
The fastening disc 9 of tomato locking mechanism is arranged on brace table 5; The centre of fastening disc 9 has through hole; Sleeve 8 is horizontally set on close brace 3 side of fastening disc 9; Straight-bar 7 is through the through hole again through fastening disc 9 after sleeve 8.
Three groups of frames 10 are arranged symmetrically along the circumference of fastening disc 9; Three groups of connecting rods 11 are arranged symmetrically along the axis of the end of straight-bar 7; Adjusting rod 12 is connected with connecting rod 11, and check lock lever 13 is connected with frame 10; Be connected by adjusting rod 12 between connecting rod 11 with check lock lever 13; Tomato cover 14 is arranged on the end of check lock lever 13.
The anchorage clip 15 that bennet wins clamping structure is fixed on the end of cantilever lever 2 by bearing pin 16, anchorage clip 15 is vertically gone up and is provided with one-level bennet hole 17, secondary bennet hole 18 successively; The diameter in one-level bennet hole 17 is less than the diameter in secondary bennet hole 18; One-level bennet hole 17 is in order to lock the bennet of tomato, and secondary bennet hole 18 is climing in order to the calyx of locking tomato.
The side of described sleeve 8 has horizontal guide groove, and straight-bar 7 is provided with slide block, and slide block matches with horizontal guide groove, and then ensures the stable of straight-bar 7 moving process.
Described tomato cover 14 is cambered surface elastic component, prevents tomato damaged in shear history.
Described frame 10 is curved bar.
Each rod member of described tomato locking mechanism can move along the direction of rod member, and then locks tomato.
Hydraulic cutter mechanism piston rod is stretched out, and tomato locking mechanism tentatively wraps up tomato, simultaneously bennet win clamping structure to the bennet of tomato, calyx is climing is fixed.
Hydraulic cutter mechanism drives piston rod to regain, and slide block mechanism moves in parallel, and tomato locking mechanism carries out fastening to tomato, utilizes slide block mechanism and bennet to win coordinating of clamping structure, tomato is completed shearing.
Claims (5)
1. a hydraulic cutter tomato stripper unit, is characterized in that: this device comprises hydraulic cutter mechanism, slide block mechanism, tomato locking mechanism, bennet win clamping structure;
Hydraulic cutter mechanism comprises bearing (1), cantilever lever (2), hydraulic cylinder drive (3), hydraulic jack (4), brace table (5);
Slide block mechanism comprises straight-bar (7), sleeve (8);
Tomato locking mechanism comprises fastening disc (9), frame (10), connecting rod (11), adjusting rod (12), check lock lever (13), tomato cover (14);
Bennet is won clamping structure and is comprised anchorage clip (15), bearing pin (16), one-level bennet hole (17), secondary bennet hole (18);
Bearing (1) is connected with cantilever lever (2) and forms the driving agent structure of hydraulic cutter, and bearing (1) is arranged on the bottom of hydraulic cutter mechanism; Hydraulic cylinder drive (3) is arranged on bearing (1), hydraulic cylinder drive (3) is connected with hydraulic jack (4), hydraulic cylinder drive (3) drives piston rod 6 parallel motion of hydraulic jack (4), and cantilever lever (2) is provided with brace table (5);
Piston rod 6 is connected with straight-bar (7), and piston rod 6 and straight-bar (7) are on the same line;
The fastening disc (9) of tomato locking mechanism is arranged on brace table (5); The centre of fastening disc (9) has through hole; Sleeve (8) is horizontally set on close brace 3 side of fastening disc (9); Straight-bar (7) is through the through hole again through fastening disc (9) after sleeve (8);
Three groups of frames (10) are arranged symmetrically along the circumference of fastening disc (9); Three groups of connecting rods (11) are arranged symmetrically along the axis of the end of straight-bar (7); Adjusting rod (12) is connected with connecting rod (11), and check lock lever (13) is connected with frame (10); Be connected by adjusting rod (12) between connecting rod (11) with check lock lever (13); Tomato cover (14) is arranged on the end of check lock lever (13);
The anchorage clip (15) that bennet wins clamping structure is fixed on the end of cantilever lever (2) by bearing pin (16), anchorage clip (15) is vertically gone up and is provided with one-level bennet hole (17), secondary bennet hole (18) successively; The diameter in one-level bennet hole (17) is less than the diameter in secondary bennet hole (18); One-level bennet hole (17) is in order to lock the bennet of tomato, and secondary bennet hole (18) is climing in order to the calyx of locking tomato.
2. a kind of hydraulic cutter tomato stripper unit according to claim 1, it is characterized in that: the side of described sleeve (8) has horizontal guide groove, straight-bar (7) is provided with slide block, slide block matches with horizontal guide groove, and then ensures the stable of straight-bar (7) moving process.
3. a kind of hydraulic cutter tomato stripper unit according to claim 1, is characterized in that: described tomato cover (14) is cambered surface elastic component, prevents tomato damaged in shear history.
4. a kind of hydraulic cutter tomato stripper unit according to claim 1, is characterized in that: described frame (10) is curved bar.
5. a kind of hydraulic cutter tomato stripper unit according to claim 1, is characterized in that: each rod member of described tomato locking mechanism can move along the direction of rod member, and then locks tomato.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610009828.2A CN105532184B (en) | 2016-01-06 | 2016-01-06 | A kind of hydraulic cutter tomato stripper unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610009828.2A CN105532184B (en) | 2016-01-06 | 2016-01-06 | A kind of hydraulic cutter tomato stripper unit |
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| Publication Number | Publication Date |
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| CN105532184A true CN105532184A (en) | 2016-05-04 |
| CN105532184B CN105532184B (en) | 2017-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610009828.2A Active CN105532184B (en) | 2016-01-06 | 2016-01-06 | A kind of hydraulic cutter tomato stripper unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114128488A (en) * | 2021-11-14 | 2022-03-04 | 北京工业大学 | Rotation type lily picking mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007094517A1 (en) * | 2006-02-16 | 2007-08-23 | National University Corporation Chiba University | Robot hand |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| CN104303709A (en) * | 2014-11-03 | 2015-01-28 | 东北农业大学 | Dragonfly claw type bionic end effector applicable to grabbing differently shaped fruits and vegetables |
| CN104589366A (en) * | 2014-11-25 | 2015-05-06 | 广西大学 | Metamorphic type multifunctional mechanical gripper |
| CN205305446U (en) * | 2016-01-06 | 2016-06-15 | 北京工业大学 | Tomato stripper unit is cuted to hydraulic pressure |
-
2016
- 2016-01-06 CN CN201610009828.2A patent/CN105532184B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007094517A1 (en) * | 2006-02-16 | 2007-08-23 | National University Corporation Chiba University | Robot hand |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
| CN104303709A (en) * | 2014-11-03 | 2015-01-28 | 东北农业大学 | Dragonfly claw type bionic end effector applicable to grabbing differently shaped fruits and vegetables |
| CN104589366A (en) * | 2014-11-25 | 2015-05-06 | 广西大学 | Metamorphic type multifunctional mechanical gripper |
| CN205305446U (en) * | 2016-01-06 | 2016-06-15 | 北京工业大学 | Tomato stripper unit is cuted to hydraulic pressure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114128488A (en) * | 2021-11-14 | 2022-03-04 | 北京工业大学 | Rotation type lily picking mechanism |
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| Publication number | Publication date |
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| CN105532184B (en) | 2017-09-12 |
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