CN107371613A - A kind of fruit comb cuts picking end performs device - Google Patents
A kind of fruit comb cuts picking end performs device Download PDFInfo
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- CN107371613A CN107371613A CN201710670441.6A CN201710670441A CN107371613A CN 107371613 A CN107371613 A CN 107371613A CN 201710670441 A CN201710670441 A CN 201710670441A CN 107371613 A CN107371613 A CN 107371613A
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- broach
- fruit
- comb
- shear
- blade
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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
- A01D46/30—Robotic devices for individually picking crops
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The present invention relates to a kind of fruit comb to cut picking end performs device, including comb cuts device；Comb, which cuts device, includes more broach, multigroup cutting mechanism, installing plate, power set and control system；The installation side by side that is arranged in rows of more broach leaves the gap entered for branches and leaves from one end of broach on a mounting board, between broach；The corresponding broach installation of one group of cutting mechanism, the shear-blade of cutting mechanism reciprocally swinging between the first position and the second position in the presence of power set, first position is the position that shear-blade overlaps with the broach equipped with the shear-blade, and the second place is that shear-blade coordinates the position for realizing shear action close to adjacent fingers and adjacent fingers；Control system control power set action.Also include roller and support；The quantity that comb cuts device is at least two groups, is circumferentially uniformly arranged on outside roller, roller rotates on support.Picking efficiency of the present invention is high, and fruit damage is small, and harvesting cost is low, belongs to fruit mechanization picked technology.
Description
Technical field
The present invention relates to fruit mechanization picked technology, more particularly to a kind of fruit comb to cut picking end performs device.
Background technology
With the improvement of living standards, people are increasing to the demand of fruit, the yield of China's fruit have stimulated
Constantly increase.But China's fruit picking operation is mainly still relied on based on manpower, picking efficiency is low, and harvesting cost is high.With
Labor cost constantly rises, and China has carried out the largely research on fruits picking mechanical in recent years.
The research of current domestic fruits picking mechanical is mainly based on oscillatory type picking mechanical, such as Chinese patent
200820125040.9 a kind of vibrating type fruit tree harvester researched and developed by Agricultural Mechanization Inst., Xinjiang Agriculture and Land Reclamation Scie is disclosed,
It is to drive the eccentric wheel slew gear built in vibration head to push away and shake trunks of fruit trees by hydraulic system that it, which plucks principle, using caused
Exciting force makes fruit shake.Although vibrating type fruit picking mechanical improves the efficiency of fruit picking to a certain degree, generally
Easily fruit tree and fruit are caused to damage, and plucked without selectivity.In addition, the fruit-picking by the way of vibration, generally
Need to consume substantial amounts of energy；The usual huge structure of oscillatory type picking mechanical, manufacturing cost are higher.For more than China orchard in
It is in recent years domestic the middle-size and small-size picking mechanical of a lot of other Softenings occur based on bench scale.Such as Chinese patent
CN201520614173.2 discloses a kind of Telescopic fruit picker, it by expansion link, installed in the expansion link top
Cut fruit device and be arranged on described cut and connect fruit string bag composition below fruit device.The Telescopic fruit picker is simple in construction, stretches
Contracting bar can pluck higher fruit, small to fruit damage using cutting type Softening, but it still needs manual operation
Expansion link and manpower complete shear action, and can only pluck single fruit every time.Although the relatively conventional manpower of picking efficiency
Harvesting increases, but overall picking efficiency is still very low.In addition, Chinese patent CN201310217407.5 discloses one kind
Litchi picking flexible combing-shearing mechanism and rolling combing-shearing device, it includes castellated plates, branch component, sorting component and cutting assembly；
The comb is cut device and can worked with continuous rotary, and the multiple broach of every piece of castellated plates are plucked simultaneously, and harvest efficiency is higher, but it is profit
Draw cut is carried out to carpopodium with the taper-cut component of root portion and realizes what fruit and carpopodium separated, this cutting mode easily causes
Cutting failure, fruit directly are drawn from the base of fruit of carpopodium, can not obtain the fruit with base of fruit.Fruit for carrying out fresh fruit sale
For reality, fruit storage time and the quality of fruit, therefore the harvesting can be largely effected on by carrying out harvesting using such a picking mechanical
The scope of application of device is smaller.
The content of the invention
For technical problem present in prior art, the purpose of the present invention is：There is provided it is a kind of using comb cut by the way of adopt
Fruit is plucked, and small fruit comb is damaged to fruit and cuts picking end performs device.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of fruit comb cuts picking end performs device, including comb cuts device；Comb, which cuts device, includes more broach, multigroup cutter
Structure, installing plate, power set and control system；More broach are arranged in rows and installed on a mounting board side by side, are left between broach
The gap entered for branches and leaves from one end of broach；The corresponding broach installation of one group of cutting mechanism, the shear-blade of cutting mechanism
Reciprocally swinging, first position are that shear-blade should with being equipped between the first position and the second position in the presence of power set
The position that the broach of shear-blade overlaps, the second place are that shear-blade coordinates realization shearing close to adjacent fingers and adjacent fingers
The position of action；Control system control power set action.
Broach includes shape identical upper comb dent and lower broach, and upper comb dent and lower broach be arranged in parallel up and down, and centre is left
Accommodate the empty space of shear-blade.
The front end of broach is arc；The adjacent side structure of adjacent two broach is one convex one complementary recessed arc, adjacent
Gap between two broach is arc-shaped gaps；The blade of shear-blade is convex arc, the recessed arc radian with adjacent fingers
Accordingly.
Installing plate includes upper mounting plate and lower installation board, and upper mounting plate and lower installation board be arranged in parallel up and down, and centre is left
The empty space of cutting mechanism is installed；Cutting mechanism includes shear-blade, connecting rod and eccentric wheel, shear-blade and upper mounting plate and under
Bearing pin connection between installing plate, eccentric wheel are arranged on the upper end of lower installation board, and eccentric wheel, connecting rod, shear-blade form crank
Rocker device, eccentric wheel, which rotates, drives shear-blade reciprocally swinging.
Power set include multiple minisize dc decelerators installed in lower installation board lower end, and a minisize dc subtracts
Electric motor with speed connects with an eccentric wheel drives eccentric wheel to rotate；The lower end that motor protection shell is arranged on lower installation board will be all
Minisize dc decelerator wraps up.
It is each that shear-blade is controlled by a single control system；Control system includes control electricity parallel with one another
Road one and control circuit two；Control circuit one includes the controlling switch of two series connection, and two controlling switches are respectively positioned at adjacent
The lower end of the lower installation board of broach, two controlling switches are entered the fruit in broach gap while extrude and close, and connect control
Circuit one processed, power set start, and shear-blade is rocked to the second place from first position；Control circuit two includes an independence
Controlling switch, the controlling switch is arranged on the upper end of lower installation board, and the controlling switch be normally closed switch, and cutting mechanism is in the
Controlling switch is touched during one position and disconnects control circuit two, and power set stop, and cutting mechanism controls when leaving first position
Switch closure, connects control circuit two, and when ensureing that control circuit one disconnects, power set work on.
Each controlling switch of control circuit one includes block rubber and two panels copper sheet pin, and the centre of block rubber, which is provided with, engraves
Dead level, two panels copper sheet pin are located at the upper lower wall in hollow-out layer respectively, and two panels copper sheet pin is off under original state,
When being extruded by fruit, the fitting of two panels copper sheet pin, controlling switch closure；The controlling switch of control circuit two includes two binding posts
With a spring leaf, binding post be arranged on lower installation board on, one end of spring leaf is connected with a binding post, spring leaf it is another
End is close or leave another binding post by the thrust of connecting rod, realizes the closure or opening of controlling switch.
A kind of fruit comb cuts picking end performs device, in addition to roller and support；The quantity that comb cuts device is at least two groups,
Circumferentially it is uniformly arranged on outside roller, roller rotates on support.
Roller includes drive disk, clutch plate, three contiguous blocks, input shaft, drum shafts；Clutch plate includes inner ring and outer ring,
The inner ring of clutch plate is rotated with frame by roller axis connection, outer ring around inner ring；Drive disk passes through input shaft and gantry rotation formula
Connection, input shaft pass through the inner ring of clutch plate；Contiguous block one end is hinged with drive disk, and the outer ring of the other end and clutch plate is hinged,
Three contiguous blocks and drive disk, a line water of clutch plate composition three groups of parallel-crank mechanisms, wherein parallel-crank mechanism
It is flat between input shaft and drum shaft, three contiguous blocks are circumferentially uniformly distributed；The quantity that comb cuts device is three,
One comb cuts device on a parallel-crank mechanism.
Support is frame structure, and the lower end of support, which is provided with, to be used to install the shedding mouth for connecing fruit device, and shedding mouth is located at roller
Underface.
The present invention principle be：By cutting the optimization design of device structure to comb, comb is cut the broach effectively comb of device and pull and consolidate
Determine carpopodium, and trigger cutting mechanism work shearing carpopodium；Shear-blade is accommodated in the broach provided with empty space, during shearing, phase
Carpopodium is fixed equivalent to ledger-plate for adjacent broach, and shear-blade is cut equivalent to cutting blade to carpopodium；Set more
Root broach and multigroup cutting mechanism, cutting efficiency is high, while multigroup cutting mechanism coordinates multigroup individually control system independently to control
System, save the energy；When driving multigroup comb to cut device action using roller, harvesting efficiency is effectively lifted.
Generally speaking, the invention has the advantages that：
1. a fruit comb cuts picking end performs device and fixes and shear carpopodium by the way of comb is cut, fruit is damaged
It is small, it is adapted to the harvesting of all kinds of fresh fruits.
2. each comb that fruit comb cuts picking end performs device is cut multiple broach and cutting mechanism is mounted side by side on device,
Carry out comb cuts harvesting to multiple broach simultaneously, is advantageous to improve harvesting success rate and picking efficiency.
3. fruit comb cut the multiple combs uniformly installed in picking end performs device cut device can be continuously more alternately automatic
The comb for completing fruit cuts harvesting action, and picking efficiency is high, labour is saved, so as to save harvesting cost.
4. a fruit comb, which cuts picking end performs device, to connect use from different picking mechanical arms by support, fit
Ying Xingqiang；The position and direction of manpower control machinery arm are only needed during operation, it is simple to operate.
5. a fruit comb cuts the power resources of picking end performs device shearing work in minisize dc decelerator, can
Power supply is provided for it on the installing plate of device to be directly installed on battery to comb to cut, whole fruit comb cuts picking end performs device
Simple in construction and compact, manufacturing cost is low.
6. the control system that a fruit comb cuts picking end performs device has used two groups of control circuits in parallel, control is opened
The characteristics of motion closed with reference to crank and rocker mechanism is realized to be automatically controlled to shear-blade motion, and control program is simple and easy.
Brief description of the drawings
Fig. 1 is the stereogram that this fruit comb cuts picking end performs device.
Fig. 2 is that this fruit comb cuts the comb of picking end performs device and cuts the stereogram of device.
Fig. 3 be this fruit comb cut picking end performs device comb cut device cutting mechanism partial enlarged drawing.
Fig. 4 be this fruit comb cut picking end performs device comb cut device broach left view.
Fig. 5 is that this fruit comb cuts the comb of picking end performs device and cuts the upward view of device.
Fig. 6 is the structural representation of the controlling switch for the control circuit one that this fruit comb cuts picking end performs device.
Fig. 7 is the structural representation for the roller that this fruit comb cuts picking end performs device.
Fig. 8 is the circuit theory diagrams for the control system that this fruit comb cuts picking end performs device.
Wherein, 100 be that comb cuts device, and 200 be roller, and 300 be support, and 400 be control circuit one, and 500 be control circuit two.
101 be minisize dc decelerator, and 102 be cutting mechanism, and the controlling switch of 103 control circuits two, 104 be upper
Broach, 105 be lower broach, and 106 be axle sleeve, and 107 be screw, and 108 be upper mounting plate, and 109 be connecting shaft, and 110 be lower installation board,
111 be motor protection shell, and the controlling switch one of 112 control circuits one, 113 be the controlling switch two of control circuit one.1021
It is eccentric wheel for connecting rod, 1022,1023 be shear-blade, and 1024 be bearing pin.1031 be binding post, and 1032 be spring leaf.1121
It is copper sheet pin one for block rubber, 1122,1123 be copper sheet pin two.
201 be contiguous block, and 202 be drive disk, and 203 be input shaft, and 204 be drum shaft, and 205 be clutch plate, and 206 be interior
Circle.
Embodiment
It is next below that the present invention will be further described in detail.
Embodiment one
A kind of fruit comb cuts picking end performs device, as shown in figure 1, cutting device 100, roller 200 and support including comb
300, support 300 supports whole roller 200, and comb cuts device 100 and cuts harvesting operation as the motion of roller 200 carries out comb；Comb cuts device 100
It is made up of installing plate, broach, cutting mechanism, connecting shaft, power set and control system, its structure is as shown in Figure 2；Roller 200
It is formed by connecting by rotating disk, contiguous block 201, drum shaft 204 and input shaft 203, its turntable includes drive disk 202 and clutch plate
205, its structure is as shown in Figure 7；Support 300 is frame structure, and it is be hinged by drum shaft 204 and roller 200.
Installing plate is divided into two pieces, the respectively upper mounting plate 108 and lower installation board 110 of rectangle up and down, upper and lower two pieces of installations
Plate is paved by axle sleeve, then is fastened with mode connects for screw, and middle hollow-out layer is used to install each work parts；Set up the He of loading board 108
All parts that lower installation board 110 cuts comb device 100 are connected as an entirety.
Multiple broach have been mounted side by side in the front end of installing plate, and broach is linked together by screw and installing plate, connection side
Formula is convenient and reliable；The front-end architecture of broach is designed as arc, is advantageous to avoid producing penetration damage to fruit；Adjacent two broach
Side structure is one convex one complementary recessed arc, and the gap between broach be arc-shaped gaps, and the gap of the form is beneficial to by fruit
Handle comb is pulled between broach and sheared；The broach of each position is by the same upper comb dent 104 of upper and lower two panels and lower stripping fork
105 are formed, and the hollow-out layer of installation shear-blade 1023 is left between upper and lower two panels broach；Upper and lower broach is paved by axle sleeve 106,
They are connected also cross broach and axle sleeve with screw 107 again and fastened, assembling result is as shown in Figure 4.
The cutting edge shape of the shear-blade 1023 of cutting mechanism 102 is the convex to match with the arcs of recesses of broach,
The one group of broach matched in this cutting mechanism 102 with shear-blade 1023 is ledger-plate, and shear-blade is cutting blade；More are cut
Cutting edge is hidden respectively to be arranged in the hollow-out layer of corresponding each group broach；The centre position of shear-blade 1023 is machined with hinge hole,
For being connected with the bearing pin 1024 on installing plate, shear-blade 1023 is along the reciprocally swinging of bearing pin 1024, shear-blade during work
1023 reciprocally swinging realizes the process of shearing and backhaul.
Cutting mechanism 102 is the crank rocker that shear-blade 1023, connecting rod 1021 and eccentric wheel 1022 connect and compose
Mechanism, structure as shown in figure 3, wherein shear-blade 1023 equivalent to rocking bar, shear-blade 1023 is by the bias that moves in a circle
Wheel 1022 is driven by connecting rod 1021；The cutting mechanism of one group of independence is respectively equipped with every group of broach；Every group of cutting mechanism difference
It is operated alone by an independent power set, each group cutting mechanism meeting when plucking operation is according to whether have corresponding to fruit entrance
Work is carried out in broach gap, is independent mutually between them, their work is not interfere with each other.
Power set are minisize dc decelerators 101, and this is a kind of large-torque electrical machine, and it gives cutting mechanism 102
Power is provided；Minisize dc decelerator 101 is screwed on installing plate 110；Minisize dc decelerator 101
Plane is milled with output shaft, it is attached by holding screw and eccentric wheel 1022；Pacify outside minisize dc decelerator 101
It is protected equipped with motor protection shell 111, avoids motor in operation is plucked by the direct of the barriers such as branch
Impact.
Control system is made up of two control circuits in parallel, and control circuit schematic diagram is as shown in Figure 8；Control circuit one
400 control element is the control of the controlling switch, the i.e. controlling switch 1 and control circuit one of control circuit one of two series connection
System switch 2 113, the control element of control circuit 2 500 is an independent controlling switch, i.e. the control of control circuit two is opened
Close 103；It is each that the work of shear-blade is all individually controlled by an independent control system, thus comb cut device 100 work when
Only comb is pulled that group cutting mechanism of fruit and can just worked, and avoids shear-blade cut-in without ball from causing the waste of energy.
Two controlling switches of control circuit 1 are by the block rubber 1121 of middle hollow out and above and below hollow-out layer
The copper sheet pin 1 and copper sheet pin 2 1123 of inner surface are formed, and its structure is as shown in Figure 6；They are installed in series in broach
The broach lower surface of gap both sides, as shown in figure 5, they are in off-state under original state；Manufactured using block rubber
Damage when controlling switch contacts with fruit to fruit surface is small；When fruit, which is combed, to be pulled into broach gap, fruit can be suitable
The surface of block rubber 1121 and slide into, simultaneously by the controlling switch of broach lower surface when sliding into the centre position of controlling switch
112 connect with controlling switch 113, so that control circuit 1 is switched on；The controlling switch of control circuit 2 500 is by two
Binding post 1031 and a spring leaf 1032 are formed, and it is arranged on beside the connecting rod 1021 on lower installation board 110, under original state
It is off due to the active force by connecting rod 1021；The effect of control circuit 2 500 is to shear cutting mechanism 102
Continue to move and return to the next working cycles of first position wait after the completion of carpopodium.
Comb cuts the both ends of device 100 and is respectively equipped with connecting shaft 109, and connecting shaft 109 is used to be connected with drive disk 202；By three combs
Cut device to be uniformly arranged on drive disk 202, drive disk reconnects clutch plate 205 and then forms a roller 200；Roller 200 is by three
Group parallel-crank mechanism driving in parallel；Parallel-crank mechanism is by drive disk 202, clutch plate 205 and the structure of contiguous block 201
Into；Clutch plate includes inner ring and outer ring, and inner ring is motionless, and outer ring rotates around inner ring.During operation, power inputs from input shaft, input
Axle drives drive disk to rotate, and drive disk drives the outer ring rotating of clutch plate by contiguous block, and three combs cut device when roller 200 turns round
As the contiguous block of corresponding parallel-crank mechanism moves, using parallel-crank mechanism driving comb to cut device can be so that comb cuts device
The original level angle of broach holding is constant when being turned round with roller is operated.
Support 300 is arranged right below shedding mouth roller 200, and fruit device is connect available for installation；Comb is cut under the harvesting of device 100
The fruit come can drop in the upper surface of support 300, then all fallen on and connect in fruit device by the shedding mouth on support 300,
Be advantageous to the collection of fruit after plucking.
The fruit comb of the present invention cuts picking end performs device in use, its course of work is：Roller 200 is continuous when working
Turn round, three combs uniformly installed are cut device 100 and then kept certainly under the driving of three groups of in-parallel quadrangular mechanisms on roller 200
The angle of body broach and horizontal plane is constant with roller continuous rotary.The comb constantly moved can be combed when cutting device translation clockwise and pull fruit
Carpopodium enters the gap of broach, and the control of control circuit one that the lower surface that device 100 continues to move its lower broach 105 is cut when comb is opened
Close 1 and control circuit one controlling switch 2 113 can contact with fruit and connect control circuit 1, it is now miniature directly
The operating circuit of stream decelerator 101 is connected and started working, and minisize dc decelerator 101 drives cutting mechanism 102
Motion, so as to drive the setting in motion of shear-blade 1023, bearing pin 1024 of the shear-blade 1023 along centre does shear action, will
Fruit drops after the carpopodium of fruit is cut, and two controlling switches of the lower lower surface of broach 105 are extensive after the active force of fruit is lost
Original off-state is arrived again, and now control circuit 1 disconnects；But cutting mechanism 102 may proceed to move, because in fruit
After the operating circuit start-up operation for triggering minisize dc decelerator 101, connecting rod 1021 moves from initial position quickly, peace
Controlling switch 103 mounted in the control circuit two on the side of connecting rod 1021 closes because losing connecting rod 1021 to its active force,
Therefore after control circuit 1 is connected and then control circuit 2 500 is also switched on, so minisize dc slows down after fruit drops
Motor 101 is still worked under the control of control circuit 2 500, and initial position is returned to until connecting rod 1021 moves one week
Afterwards, operating circuit can just be stopped with the disconnection of the controlling switch 103 of control circuit two, now shear-blade 1023
Complete one and reciprocate back to initial position and stop motion.So comb cuts device 100 realizes under control of the control system
After comb pulls fruit carpopodium, shear-blade is automatically performed shearing carpopodium and returns to the process of initial position；When the fruit of next fruit
Handle, which is combed, to be pulled between broach, and comb cuts the course of work that device again can automatically repeatedly just now；Roller constantly turns round, and three combs cut device meeting
It is continuous therewith to substitute the above-described picking process of progress.
Embodiment two
In the present embodiment, roller is common cylindrical structure, is pivotally mounted on support, is driven by motor or hydraulic motor
Turn is moved.The quantity that comb cuts device is four groups, and ninety degrees apart is arranged on the outside of roller, is arranged circumferentially along roller.Comb is cut
Radial direction of the broach of device perpendicular to roller.
The present embodiment does not refer to part with embodiment one.
Embodiment three
In the present embodiment, the quantity that comb cuts device is one group, installing plate is directly connect on the robotic arm, and mechanical arm control comb is cut
Device gathers in close to branches and leaves.
The comb of the present embodiment cuts device structure with embodiment one.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
1. a kind of fruit comb cuts picking end performs device, it is characterised in that：Device is cut including comb；Comb cut device include more broach,
Multigroup cutting mechanism, installing plate, power set and control system；More broach are arranged in rows installation side by side on a mounting board, comb
The gap entered for branches and leaves from one end of broach is left between tooth；The corresponding broach installation of one group of cutting mechanism, cutting mechanism
Shear-blade reciprocally swinging, first position are shear knife between the first position and the second position in the presence of power set
The position that piece overlaps with the broach equipped with the shear-blade, the second place are that shear-blade is matched somebody with somebody close to adjacent fingers and adjacent fingers
Close the position for realizing shear action；Control system control power set action.
2. cut picking end performs device according to a kind of fruit comb described in claim 1, it is characterised in that：Broach includes shape
Identical upper comb dent and lower broach, upper comb dent and lower broach be arranged in parallel up and down, and the empty space for accommodating shear-blade is left in centre.
3. cut picking end performs device according to a kind of fruit comb described in claim 2, it is characterised in that：The front end of broach is
Arc；The adjacent side structure of adjacent two broach is one convex one complementary recessed arc, and the gap between adjacent two broach is arc
Shape gap；The blade of shear-blade is convex arc, and the recessed arc radian to adjacent fingers is corresponding.
4. cut picking end performs device according to a kind of fruit comb described in claim 2, it is characterised in that：Installing plate includes upper
Installing plate and lower installation board, upper mounting plate and lower installation board be arranged in parallel up and down, and the empty space of installation cutting mechanism is left in centre；
Cutting mechanism includes shear-blade, connecting rod and eccentric wheel, the bearing pin connection between shear-blade and upper mounting plate and lower installation board,
Eccentric wheel is arranged on the upper end of lower installation board, and eccentric wheel, connecting rod, shear-blade form crank and rocker mechanism, eccentric wheel rotational band
Dynamic shear-blade reciprocally swinging.
5. cut picking end performs device according to a kind of fruit comb described in claim 4, it is characterised in that：Power set include
Multiple minisize dc decelerators installed in lower installation board lower end, a minisize dc decelerator and an eccentric wheel
The driving eccentric wheel that connects rotates；Motor protection shell is arranged on the lower end of lower installation board by all minisize dc decelerator bags
Wrap up in.
6. cut picking end performs device according to a kind of fruit comb described in claim 4, it is characterised in that：It is each shear knife
Piece controls by a single control system；Control system includes control circuit one and control circuit two parallel with one another；Control
Circuit one processed includes the controlling switch of two series connection, and two controlling switches are respectively under the lower installation board of adjacent broach
End, two controlling switches are entered the fruit in broach gap while extrude and close, and connect control circuit one, power set open
Dynamic, shear-blade is rocked to the second place from first position；Control circuit two includes an independent controlling switch, and the control is opened
Close installed in the upper end of lower installation board, the controlling switch is normally closed switch, and control is touched when cutting mechanism is in first position and is opened
Close and disconnect control circuit two, power set stop, and controlling switch closes when cutting mechanism leaves first position, connect control electricity
Road two, when ensureing that control circuit one disconnects, power set work on.
7. cut picking end performs device according to a kind of fruit comb described in claim 6, it is characterised in that：Control circuit one
Each controlling switch includes block rubber and two panels copper sheet pin, and the centre of block rubber is provided with hollow-out layer, two panels copper sheet pin point
Upper lower wall that Wei Yu be in hollow-out layer, two panels copper sheet pin is off under original state, when being extruded by fruit, two panels copper
Piece pin is bonded, controlling switch closure；The controlling switch of control circuit two includes two binding posts and a spring leaf, binding post
On lower installation board, one end of spring leaf is connected with a binding post, and the other end of spring leaf is close by the thrust of connecting rod
Or another binding post is left, realize the closure or opening of controlling switch.
8. cut picking end performs device according to a kind of fruit comb any one of claim 1 to 7, it is characterised in that：
Also include roller and support；The quantity that comb cuts device is at least two groups, is circumferentially uniformly arranged on outside roller, roller is on support
Rotate.
9. cut picking end performs device according to a kind of fruit comb described in claim 8, it is characterised in that：Roller includes driving
Disk, clutch plate, three contiguous blocks, input shaft, drum shafts；Clutch plate includes inner ring and outer ring, and inner ring and the frame of clutch plate are led to
Roller axis connection is crossed, outer ring rotates around inner ring；Drive disk is connected by input shaft with gantry rotation formula, and input shaft passes through clutch plate
Inner ring；Contiguous block one end is hinged with drive disk, and the outer ring of the other end and clutch plate is hinged, three contiguous blocks and drive disk, from
Moving plate forms three groups of parallel-crank mechanisms, and what wherein a line of parallel-crank mechanism was horizontal is located at input shaft and drum shaft
Between, three contiguous blocks are circumferentially uniformly distributed；The quantity that comb cuts device is three, and it is flat installed in one that a comb cuts device
On row quadrangular mechanism.
10. cut picking end performs device according to a kind of fruit comb described in claim 8, it is characterised in that：Support is framework
Structure, the lower end of support, which is provided with, to be used to install the shedding mouth for connecing fruit device, and shedding mouth is located at the underface of roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670441.6A CN107371613B (en) | 2017-08-08 | 2017-08-08 | Fruit comb is cut and is picked terminal final actuating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670441.6A CN107371613B (en) | 2017-08-08 | 2017-08-08 | Fruit comb is cut and is picked terminal final actuating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107371613A true CN107371613A (en) | 2017-11-24 |
| CN107371613B CN107371613B (en) | 2022-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710670441.6A Active CN107371613B (en) | 2017-08-08 | 2017-08-08 | Fruit comb is cut and is picked terminal final actuating device |
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| CN (1) | CN107371613B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108076827A (en) * | 2017-12-13 | 2018-05-29 | 谷新运 | A kind of quadric chain spiral form winter jujube picking end effector and picking method |
| CN108307796A (en) * | 2018-04-07 | 2018-07-24 | 青岛理工大学 | Equipment is picked to rotatory pectination tooth multi-fruit orange intelligence |
| CN108377732A (en) * | 2018-05-07 | 2018-08-10 | 天津工业大学 | A kind of ridge culture strawberry picking collection device |
| CN108575303A (en) * | 2018-04-03 | 2018-09-28 | 南昌工程学院 | A kind of the navel orange shearing picker and its control system of cross link touching formula |
| CN108848895A (en) * | 2018-04-27 | 2018-11-23 | 广东工业大学 | A kind of rotation is selective to prune formula jujube class fruit acquisition device off |
| CN109121699A (en) * | 2018-10-19 | 2019-01-04 | 安徽农业大学 | A kind of de- picker of handheld portable woods fruit comb |
| CN109429719A (en) * | 2018-10-29 | 2019-03-08 | 中国地质大学（武汉） | A kind of high-branch fruit cutting type device for picking |
| CN109479523A (en) * | 2019-01-04 | 2019-03-19 | 东华理工大学 | A kind of driving lever fruit picking arm shear |
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| CN112042386A (en) * | 2020-09-18 | 2020-12-08 | 西北农林科技大学 | Camellia oleifera fruit picking device and using method thereof |
| CN113615397A (en) * | 2021-07-14 | 2021-11-09 | 中国农业机械化科学研究院 | Multi-cluster kiwi fruit clearance distribution flexible bending picking device and method |
| CN114557195A (en) * | 2022-03-10 | 2022-05-31 | 南京晓庄学院 | Ridge culture strawberry automatic picking device based on machine vision and selection cutting method thereof |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108076827A (en) * | 2017-12-13 | 2018-05-29 | 谷新运 | A kind of quadric chain spiral form winter jujube picking end effector and picking method |
| CN108575303A (en) * | 2018-04-03 | 2018-09-28 | 南昌工程学院 | A kind of the navel orange shearing picker and its control system of cross link touching formula |
| CN108307796A (en) * | 2018-04-07 | 2018-07-24 | 青岛理工大学 | Equipment is picked to rotatory pectination tooth multi-fruit orange intelligence |
| CN108848895A (en) * | 2018-04-27 | 2018-11-23 | 广东工业大学 | A kind of rotation is selective to prune formula jujube class fruit acquisition device off |
| CN108848895B (en) * | 2018-04-27 | 2021-10-19 | 广东工业大学 | Formula red date class fruit collection system is dredged to rotatory selectivity |
| CN108377732B (en) * | 2018-05-07 | 2024-01-26 | 天津工业大学 | Collecting device is picked to ridge culture strawberry |
| CN108377732A (en) * | 2018-05-07 | 2018-08-10 | 天津工业大学 | A kind of ridge culture strawberry picking collection device |
| CN109121699A (en) * | 2018-10-19 | 2019-01-04 | 安徽农业大学 | A kind of de- picker of handheld portable woods fruit comb |
| CN109429719A (en) * | 2018-10-29 | 2019-03-08 | 中国地质大学（武汉） | A kind of high-branch fruit cutting type device for picking |
| CN109479523A (en) * | 2019-01-04 | 2019-03-19 | 东华理工大学 | A kind of driving lever fruit picking arm shear |
| CN109479523B (en) * | 2019-01-04 | 2024-04-09 | 东华理工大学 | Arm shearing mechanism is picked to driving lever fruit |
| CN110063137A (en) * | 2019-05-23 | 2019-07-30 | 湖州师范学院 | A kind of combing formula sawtooth pattern mechanical arm and its control method |
| CN112042386A (en) * | 2020-09-18 | 2020-12-08 | 西北农林科技大学 | Camellia oleifera fruit picking device and using method thereof |
| CN113615397B (en) * | 2021-07-14 | 2022-08-05 | 中国农业机械化科学研究院 | Multi-cluster kiwi fruit clearance distribution flexible bending picking device and method |
| CN113615397A (en) * | 2021-07-14 | 2021-11-09 | 中国农业机械化科学研究院 | Multi-cluster kiwi fruit clearance distribution flexible bending picking device and method |
| CN114557195A (en) * | 2022-03-10 | 2022-05-31 | 南京晓庄学院 | Ridge culture strawberry automatic picking device based on machine vision and selection cutting method thereof |
| CN114557195B (en) * | 2022-03-10 | 2023-03-14 | 南京晓庄学院 | Ridge culture strawberry automatic picking device based on machine vision and selection cutting method thereof |
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