CN107371608B - Clothoid type fruit picking apparatus - Google Patents
Clothoid type fruit picking apparatus Download PDFInfo
- Publication number
- CN107371608B CN107371608B CN201710687615.XA CN201710687615A CN107371608B CN 107371608 B CN107371608 B CN 107371608B CN 201710687615 A CN201710687615 A CN 201710687615A CN 107371608 B CN107371608 B CN 107371608B
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- Prior art keywords
- claw
- convolution
- fruit picking
- picking apparatus
- type fruit
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 63
- 210000000078 claw Anatomy 0.000 claims abstract description 95
- 239000012467 final product Substances 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 9
- 239000000463 material Substances 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 230000037213 diet Effects 0.000 description 1
- 238000009429 electrical wiring Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000021022 fresh fruits Nutrition 0.000 description 1
- 238000013340 harvest operation Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
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- 230000032258 transport Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention relates to a kind of Clothoid type fruit picking apparatus, it is characterized in that, comprising: the claw that circles round, driving device and holding rod, the first end of the holding rod is arranged in the driving device, and the rotary output that the driving device is arranged in the convolution claw is driven by the driving device to be rotated；The convolution claw includes claw ontology and claw head, and the claw head is provided projectingly from the claw ontology towards the side far from the driving device, and is open including a V-type, and the opening direction of the V-type opening is the direction of rotation of the convolution claw.Clothoid type fruit picking apparatus of the invention is easy to operate flexibly, and labor intensity is small；It ensure that the final product quality of fruit, while improving picking efficiency；Alternative picking；Increase job area；Structure is simple, picks at low cost.
Description
Technical field
The invention belongs to agricultural machinery technological fields, and in particular to a kind of Clothoid type fruit picking apparatus.
Background technique
Diversified economy, the mass production and throwing of industrial crops especially fruit are taken in vast rural area, agricultural production extensively
Market is put, the diet kind of the people is enriched, improves the quality of life of the people.
China is maximum apple production state and country of consumption in the world, cultivated area of the apple and the world yield Jun Zhan total amount
40% or more, it is occupied an important position in world's Apple Industry.Apple consumption market is mainly fresh fruit and fabricated product, fresh food
Ratio is up to 90%, and fabricated product only accounts for 10% or so.For the quality for guaranteeing apple, picking in due course is the weight of China's Apple Industry
In it is weight.The heavy shortage with labour of picking workload is so that picking becomes more and more difficult in due course.It is seasonal to pick operation
By force, large labor intensity, costly, it is a link most time-consuming, most laborious in Production of fruit chain that fruit, which picks operation,.So protecting
Demonstrate,proving fruit timely collecting, reducing harvest operation expense is the important channel to get agricultural profit.It is extremely complex to pick operation, currently, state
Interior fruit picking operation is essentially all artificial progress, and expense accounts for about the 50%-70% of cost, and the time more concentrates.
To make fruit be easy picking, current multiple research institutions both domestic and external have been developed that the fruit picking work of a few types
Tool.Germany's Mechaniaed harvest apple at present, some are under shaking apple, to recycle the umbrella of opening using vibration principle is rocked
Mechanism collects apple, although ultrahigh in efficiency, damages greatly to trees, and apple is also easy scratch during falling,
It cannot selectively pick, machine cost price is also costly.Another big machinery auxiliary picking machine, principle is by multiple
More people are sent to different height and carry out picked by hand by the elevator moveing freely, and efficiency is higher, but machine and support price pole
It is expensive, and multi-dimensional free movement also needs more open, rationally distributed landform, goes back under the premise of picking stability ensureing
Comprehensively consider labour cost, there is no small limitation in adaptability in all respects.
Also there are some easy devices for fruit picking in market, such as a kind of Telescopic fruit picker
(CN204888023U), the problem that stock is not flexible, inconvenient for operation in the prior art is solved, but there is also technical
Deficiency is mainly manifested in: 1, using conventional scissors-type cutter, being not easy to be directed at and cut off base of fruit.When fruit-picking, by scissors
V-type cutting edge is directed at base of fruit, and then closing scissors cuts off base of fruit, and still: fruit tree is higher, and fruiting position is higher, makes V-type cutting edge pair
Quasi- base of fruit is more difficult；And the base of fruit of some fruit is very tough and tensile, base of fruit is easily slided along scissor blade when shearing base of fruit, is difficult to cut
It is disconnected.2, the fruit undertaking picked is not easy, and picking efficiency is low, picking labor intensity is high.Fruit picking apparatus is accepted from upper picking
The fruit to get off uses net bag type, its main feature is that: a kind of blade of V-type is housed on telescopic rod, the string bag is housed below blade, it will
V-type cutting edge alignment base of fruit, which mentions, to be stretched strut and cuts off base of fruit, and the string bag then accepts the fruit cut and fallen；Although this device for picking can be plucked multiple
Bar of fruit ability folding and unfolding, picking rate increase；But because the string bag is not console mode, it is more to pluck fruit number, the string bag
Weight is heavier；The labor intensity for lifting bar is bigger.It must sporadically stop picking operation, the fruit of picking is poured into fruit
Basket, picking efficiency are still very low.
Summary of the invention
(1) technical problems to be solved
In order to solve the above problem of the prior art, the present invention provides a kind of Clothoid type fruit picking apparatus, solves existing
Technology picks large labor intensity, low efficiency, picks at high cost, can not selectively pick and problem that fruit final product quality is low.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
A kind of Clothoid type fruit picking apparatus, characterized in that it comprises: convolution claw, driving device and holding rod, it is described
Driving device is arranged in the first end of the holding rod, the convolution claw be arranged in the rotary output of the driving device by
The driving device driving rotation；
The convolution claw includes claw ontology and claw head, and the claw head is from the claw ontology towards far from the drive
The side of dynamic device is provided projectingly, and is open including a V-type, and the opening direction of the V-type opening is the convolution claw
Direction of rotation.
As a further improvement of the present invention, the claw ontology is an annular at least part, the claw head
The ring edge of the claw ontology is set；
The center of the annular is fixedly connected with the rotary output of the driving device.
As a further improvement of the present invention, the claw ontology is a complete annular.
As a further improvement of the present invention, the surface of at least described claw head includes elastomeric cushion material.
As a further improvement of the present invention, the holding rod second end is also connected with handle.
As a further improvement of the present invention, the driving device is motor, and the motor and power supply device and switch
Connection, the switch are mounted on the handle, and the power supply device is built in holding rod or is external external power supply.
As a further improvement of the present invention, the revolving speed of the motor controls between 50rpm/min-80rpm/min.
As a further improvement of the present invention, the switch is using point control double-point double-throw switch.
As a further improvement of the present invention, the handle can be slided on the holding rod make itself and convolution claw it
Between distance it is adjustable.
As a further improvement of the present invention, further includes: be fixed at the shedding collection device of holding rod first end, institute
Stating shedding collection device includes a upward opening, and the opening is arranged in correspondence in the lower section of the convolution claw.
(3) beneficial effect
The beneficial effects of the present invention are:
1, using electric drive, easy to operate flexible, labor intensity is small；
2, grab the characteristics of structure of fruit device has drawn picked by hand fruit, in combination with ripe fruit itself characteristic and design,
It ensure that the final product quality of fruit, while improving picking efficiency；
3, alternative picking；
4, handle and holding rod use are slidably connected or holding rod is using Telescopic rod structure, increase job area；
5, structure is simple, picks at low cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Clothoid type fruit picking apparatus of the present invention；
Fig. 2 is the structural schematic diagram of Clothoid type fruit picking apparatus of the present invention convolution claw；
Fig. 3 is the side view of Clothoid type fruit picking apparatus of the present invention convolution claw；
Fig. 4 is the top view of Clothoid type fruit picking apparatus of the present invention convolution claw；
Fig. 5 is working state figure when Clothoid type fruit picking apparatus of the present invention picks apple.
[description of symbols]
1: motor；2: convolution claw；21: claw head；22: support rod；23: claw ontology；3: shedding collection device；4: hand
Hold bar；5: switch；6: handle.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
For convenience of description, following embodiment will be described for apple-picking, but those skilled in the art can be with
Understand, Clothoid type fruit picking apparatus of the invention is not limited to for apple-picking.
As shown in Figure 1, the Clothoid type fruit picking apparatus includes: convolution claw 2, driving device and holding rod 4.Driving device
The first end of holding rod 4 is set, convolution claw 2 is arranged in the rotary output of driving device, and with the driving device
Rotary output is fixedly connected, and the convolution claw 2 is driven by driving device to be rotated.Preferably, holding rod 4 uses hollow knot
Structure can reduce weight, reduce cost, while arranging convenient for route.The second end of the holding rod 4 is connected with handle 6, with side
Person who happens to be on hand for an errand's hand is held.Preferably, there are three grooves of approximate finger shape on the side wall of handle 6, which can make operator
Gripping is more comfortable, meets the requirement of ergonomics.
The structure of convolution claw 2 is described in detail below in conjunction with attached drawing 2-4.The convolution claw 2 includes and driving device
Interconnecting piece, claw ontology 23, claw head 21 and the support rod 22 that rotary output is fixedly connected.Claw ontology 23 is an annular
At least part, can reduce construction weight, reduce cost.Preferably, claw ontology 23 is a complete annular, as long as should
The annular edge of claw ontology 23 is directed at apple, and no matter claw head 21 is in any position of claw ontology 23, can be transferred through circling round
The rotation of claw 2 blocks the alignment apple stalk of claw head 21.Support rod 22 is connect with interconnecting piece and claw ontology 23 respectively,
Play the supporting role to convolution claw 2.Optionally, claw ontology 23 is solid circles.The connecting portion is in the annular
Center.
Claw head 21 is provided projectingly from the ring edge of the claw ontology 23 towards the side far from the driving device, and
It is open including a V-type, the opening direction of the V-type opening is the direction of rotation of the convolution claw 2, the V-type opening
Open-angle is 45 °.Optionally, the open-angle of the V-type opening is 30 °.The surface of at least claw head 21 includes elastic buffer material
Material, such as rubber, plastics or silica gel, to protect pericarp to prevent from being damaged.Optionally, the claw head 21 and claw ontology 23
Surface be equipped with elastomeric cushion material.Optionally, the elasticity for being provided with certain rigidity on the whole of the convolution claw 2 is slow
Rush material.
The bifurcated foot on the first V-type side of the claw head 21 is connect with the claw ontology 23, from the first V-type side and second
V-type while point of intersection along two V-types while bifurcated foot line direction extended on claw ontology 23 towards claw ontology 23, and with card
Pawl ontology 23 connects, and the elongated end and claw ontology 23 and the first V-type side constitute a closed Delta Region.
The triangle that the closed Delta Region and two V-type sides surround on same surface, and the surface be axially along
A part of the periphery of 23 axis of claw ontology, match with the apple surface that blocks of convolution claw 2 when work.It is preferred that
Ground, the closed Delta Region is hollow structure, to mitigate the weight of claw head 21.All knots of the convolution claw 2
Structure is formed by integrated molding technology.Optionally, all structures of the convolution claw 2 are connected by welding manner.
Directly apple stalk branch connection knot has been broken with hand when the structure of the convolution claw 2 has drawn picked by hand apple
Feature, the relatively fragile, characteristic that is easily broken off in combination with ripe fruit itself and stalk branch junction and design.When work, driving dress
It sets and convolution claw 2 is driven to rotate along the opening direction that V-type is open, during revolution, claw head 21 is as manpower
The two sides for being stuck in carpopodium are as described in Figure 5, take advantage of a situation apple stalk branch connection knot fracture and fall, realize picking.The fruit of succulence is easy
It damages, height is required to the control of touching dynamics, the design of the convolution claw 2 ensure that the quality of fruit, while improve picking
Efficiency.
The driving device is motor 1, and motor 1 is connect with power supply device and switch 5.The output shaft of the motor 1 with
The interconnecting piece of convolution claw 2 is fixedly connected, and the switch 5 is mounted on the handle 6, for controlling the work of motor 1.Using
Electric drive, it is light portable, it is easy to operate flexible, reduce labor intensity.Preferably, motor speed control is in 50rpm/min-
Between 80rpm/min, lower revolving speed is conducive to reduce the destruction to pericarp, while after so that operator has been picked an apple
Can it is straight between aim at next apple and picked, be provided for the enough reaction time, improve picking efficiency.
The power supply device uses external external power supply equipment, and the external external power supply equipment can be placed in when in use
It on ground, is connect outside the device for picking by electric wire with switch 5, motor 1 is connect with switch 5 in 4 internal wire of holding rod.
Optionally, the power supply device is built in holding rod 4 using rechargeable battery, and in the inside of holding rod 4 respectively at 1 He of motor
The connection of 5 electric wire of switch.
Preferably, switch 5 often presses switch 5 once using point control double-point double-throw switch, and convolution claw 2 will rotate one
Determine that angle is primary, when claw head 21 is not in the top of claw ontology 23, claw ontology 23 is directed at apple, mostly by opening several times
5 are closed, claw head 21 can be aligned and block apple stalk branch.Select point control double-point double-throw switch that can make such as stuck burst simultaneously
Situation timely responds to, and such as when claw head 21 blocks the barrier of branch etc, the reversion of the controllable motor 1 of switch 5 is to solve
Certainly.
Preferably, the handle 6 is slidably connected with holding rod 2, at this time the electric wire of the motor 1 and 5 coupling part of switch,
It is located at the inside of holding rod 4 close to the part of motor 1, the outside of holding rod 4 is located at close to the part of switch 5, it is more convenient in this way
Sliding between handle 6 and holding rod 2, and electrical wiring will not be interfered.When picking the apple of lower height, by hand
Handle 6 can be realized the effect for being similar to and shortening bar, the picking of lower height carried out, to increase work along 4 upward sliding of holding rod
Industry range.Optionally, the holding rod 2 uses telescopic rod, which includes fixed link and motion bar, and passes through activity locking
Device connection, the length of conveniently adjusted telescopic rod.
Optionally, the driving device is mechanical energy storing device, and is connect with actuated piece.The rotation of the mechanical energy storing device
It transfers outlet to be fixedly connected with the interconnecting piece for the claw 2 that circles round, the actuated piece is mounted on the handle 6, and and mechanical energy storage
Device is connected inside holding rod 4 by drawstring, and the drawstring is equipped with spool in mechanical energy storing device and actuated piece respectively, when
When pressing actuated piece, spool rotary motion at mechanical energy storing device and actuated piece transports mechanical energy storing device by this rotation
Dynamic mechanical energy storage gets up to drive convolution claw 2 to rotate.
Preferably, which is additionally provided with shedding collection device 3, and is fixed at the of holding rod 4
One end, for collecting the apple fallen.The shedding collection device 3 includes a upward opening, and the opening is accordingly set
It sets in the lower section of the convolution claw 2.Shedding collection device 3 is surrounded by four hooks, can hang long soft-pipe or cropping bag,
So that apple is smoothly slipped to ground along inner wall of the pipe, completes a plucking cycle.
Compared to general picker, the Clothoid type fruit picking apparatus can be realized selective picking, realize simultaneously
Continuity, the high efficiency of picking, can be effectively reduced because a possibility that fruit appearance damages caused by clamping, rubbing.
Working principle of the present invention is as follows:
6 control switch 5 of operator's proficiency handle, the other hand hold holding rod 4, claw ontology 23 are aimed at mature suspension
Apple under branch presses the button in lower switch 5 later, and motor 1 drives convolution claw 2 to rotate, and claw head 21 is stuck in carpopodium
Two sides, take advantage of a situation by apple stalk branch connection knot fracture and fall, fall into shedding collection device 3, realize picking.
The above described is only a preferred embodiment of the present invention, be not the limitation that other forms are done to invention, it is any
Those skilled in the art are changed or are modified as the equivalent of equivalent variations possibly also with the technology contents of the disclosure above
Embodiment.But without departing from the technical solutions of the present invention, above embodiments are made according to the technical essence of the invention
Any simple modification, equivalent variations and remodeling, still fall within the protection scope of technical solution of the present invention.
Claims (10)
1. a kind of Clothoid type fruit picking apparatus, characterized in that it comprises: convolution claw, driving device and holding rod, the drive
The first end of the holding rod is arranged in dynamic device, and the rotary output of the driving device is arranged in by institute in the convolution claw
State driving device driving rotation；
The convolution claw includes claw ontology and claw head, and the claw head is filled from the claw ontology towards far from the driving
The side set is provided projectingly, and is open including a V-type, and the opening direction of the V-type opening is the rotation of the convolution claw
Direction.
2. Clothoid type fruit picking apparatus as described in claim 1, which is characterized in that the claw ontology be one it is annular extremely
The ring edge of the claw ontology is arranged in few a part, the claw head；The center of the annular and the driving device
Rotary output be fixedly connected.
3. Clothoid type fruit picking apparatus as claimed in claim 2, which is characterized in that the claw ontology is a complete ring
Shape.
4. Clothoid type fruit picking apparatus as described in claim 1, which is characterized in that the surface of at least described claw head includes bullet
Property padded coaming.
5. Clothoid type fruit picking apparatus as described in claim 1, which is characterized in that the holding rod second end is also connected with hand
Handle.
6. Clothoid type fruit picking apparatus as claimed in claim 5, which is characterized in that the driving device is motor, and described
Motor and power supply device and switch connect, and the switch is mounted on the handle, and the power supply device is built in holding rod
It or is external external power supply.
7. Clothoid type fruit picking apparatus as claimed in claim 6, which is characterized in that the revolving speed of the motor is controlled in 50rpm/
Between min-80rpm/min.
8. Clothoid type fruit picking apparatus as claimed in claim 6, which is characterized in that the switch is opened using point control double-pole double throw
It closes.
9. Clothoid type fruit picking apparatus as claimed in claim 5, which is characterized in that between the handle and the convolution claw
Distance it is adjustable.
10. Clothoid type fruit picking apparatus as claimed in any one of claims 1-9 wherein, which is characterized in that further include: fixation is set
The shedding collection device in holding rod first end is set, the shedding collection device includes a upward opening, the opening pair
The lower section of the convolution claw is set with answering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710687615.XA CN107371608B (en) | 2017-08-11 | 2017-08-11 | Clothoid type fruit picking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710687615.XA CN107371608B (en) | 2017-08-11 | 2017-08-11 | Clothoid type fruit picking apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN107371608A CN107371608A (en) | 2017-11-24 |
| CN107371608B true CN107371608B (en) | 2019-09-03 |
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| CN201710687615.XA Expired - Fee Related CN107371608B (en) | 2017-08-11 | 2017-08-11 | Clothoid type fruit picking apparatus |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108419522A (en) * | 2018-05-17 | 2018-08-21 | 武夷学院 | A kind of rotating cutting type fruit picker and its control method |
| CN108566831B (en) * | 2018-06-26 | 2023-06-06 | 武汉轻工大学 | Fruit picker and picking equipment |
| CN108551872B (en) * | 2018-06-26 | 2023-06-20 | 武汉轻工大学 | Picking device and fruit picking device |
| CN108668631B (en) * | 2018-06-26 | 2023-09-19 | 武汉轻工大学 | Positioning device and fruit picking device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5857316A (en) * | 1996-07-15 | 1999-01-12 | Murdock; Michael T. | Manual stem cutting and fruit collection apparatus |
| CN203105166U (en) * | 2013-02-04 | 2013-08-07 | 王延平 | Electric trimmer |
| CN103918404A (en) * | 2014-04-24 | 2014-07-16 | 北京林业大学 | Portable fruit picking device |
| CN104206116A (en) * | 2013-11-30 | 2014-12-17 | 俞勤 | Persimmon picking harvester |
| CN104350887A (en) * | 2014-10-09 | 2015-02-18 | 熊生银 | Fruit picker |
| CN206212682U (en) * | 2016-11-18 | 2017-06-06 | 郑州科技学院 | Fruit pick-up device |
-
2017
- 2017-08-11 CN CN201710687615.XA patent/CN107371608B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5857316A (en) * | 1996-07-15 | 1999-01-12 | Murdock; Michael T. | Manual stem cutting and fruit collection apparatus |
| CN203105166U (en) * | 2013-02-04 | 2013-08-07 | 王延平 | Electric trimmer |
| CN104206116A (en) * | 2013-11-30 | 2014-12-17 | 俞勤 | Persimmon picking harvester |
| CN103918404A (en) * | 2014-04-24 | 2014-07-16 | 北京林业大学 | Portable fruit picking device |
| CN104350887A (en) * | 2014-10-09 | 2015-02-18 | 熊生银 | Fruit picker |
| CN206212682U (en) * | 2016-11-18 | 2017-06-06 | 郑州科技学院 | Fruit pick-up device |
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| CN107371608A (en) | 2017-11-24 |
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Granted publication date: 20190903 |