CN108566831B - Fruit picker and picking equipment - Google Patents
Fruit picker and picking equipment Download PDFInfo
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- CN108566831B CN108566831B CN201810672879.2A CN201810672879A CN108566831B CN 108566831 B CN108566831 B CN 108566831B CN 201810672879 A CN201810672879 A CN 201810672879A CN 108566831 B CN108566831 B CN 108566831B
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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
- A01D46/253—Portable motorised fruit pickers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The invention provides a fruit picker and picking equipment, and belongs to the technical field of fruit picking. The fruit picking device comprises a wearing device, a positioning device and a picking device, wherein the wearing device is used for being matched with the waist and the shoulder of a human body, the positioning device comprises a first supporting rod, a second supporting rod, a screw rod, a first driving motor, a first sliding block, a second sliding block, a first driving rod and a second driving rod, and the picking device comprises a frame body, a rotating piece, a second driving motor, a third sliding block, a connecting rod, a cutting motor and at least two leaf pieces. The fruit picker is adjustable in size, is greatly convenient for users, is simple to operate, improves picking efficiency, and is reasonable in structural design and high in practicality. The picking apparatus comprises a fruit picker which has the full functionality of the fruit picker.
Description
Technical Field
The invention relates to the technical field of fruit picking, in particular to a fruit picker and picking equipment.
Background
China is used as a big country for fruit production, the annual fruit yield of China is 1.14 hundred million t, 19.42% of the fruit yield worldwide, and the fruit yield mainly based on picking operations such as apples, pears, oranges and the like is three in front of the world. But is limited to the topography of China and the current productivity development level, most fruit farmers still pick fruits manually, and the labor required to be input during fruit harvesting accounts for about 35-45% of the whole production process.
In the fruit harvesting process, manual harvesting often needs to bend down or ascend by means of a ladder, so that the fruit harvesting operation is labor-intensive, long in consumed time and dangerous. Therefore, the mechanization of fruit harvesting is becoming more and more urgent, and the research of agricultural fruit picking mechanical devices is of great significance.
The inventors found in the study that at least the following disadvantages exist in the prior related art:
the picking machine has large size and inconvenient running;
the operation is complex and the efficiency is low.
Disclosure of Invention
The fruit picker provided by the invention overcomes the defects of the prior art, is adjustable in size, greatly facilitates a user, is simple to operate, improves picking efficiency, and is reasonable in structural design and high in practicability.
The invention also provides a picking apparatus comprising a fruit picker as mentioned above, which has the full functionality of the fruit picker.
Embodiments of the present invention are implemented as follows:
embodiments of the present invention provide a fruit picker comprising:
a wearing device for fitting with the waist and shoulders of a human body;
the positioning device comprises a first supporting rod, a second supporting rod, a screw rod, a first driving motor, a first sliding block, a second sliding block, a first driving rod and a second driving rod, wherein one end of the first supporting rod is provided with a first rotating part, one end of the second supporting rod is provided with a second rotating part, the first rotating part is rotatably connected with the second rotating part, one end of the first supporting rod far away from the first rotating part is connected with the wearing device, the screw rod is rotatably connected with the first supporting rod, the length direction of the screw rod is consistent with the length direction of the first supporting rod, the first driving motor is connected with the first supporting rod and is used for driving the screw rod, the first sliding block is provided with internal threads matched with the screw rod, when the screw rod rotates, the first sliding block moves along the length direction of the screw rod, the second sliding block is slidably connected with the first supporting rod along the length direction of the first supporting rod, the second sliding block is connected with the first sliding rod, and is close to the first sliding block, and is connected with the second sliding block, and is far away from the first driving rod, and is connected with the first driving rod;
the picking device comprises a frame body, a rotating part, a second driving motor, a third sliding block, a connecting rod, a cutting motor and at least two leaf pieces, wherein the frame body is far away from one end of the second rotating part through the second supporting rod, the frame body is provided with a penetrating space for fruits to pass through, the rotating part is rotatably connected with the frame body, the second driving motor is connected with the frame body and used for driving the rotating part, the leaf pieces are provided with a first rotating shaft and a sliding groove, the first rotating shaft is rotatably connected with the frame body, the third sliding block is slidably arranged in the sliding groove, one end of the connecting rod is rotatably connected with the third sliding block, the other end of the connecting rod is rotatably connected with the rotating part, the cutting motor is connected with one leaf piece, an output shaft of the cutting motor is connected with a blade for cutting fruit handles, and the picking device is provided with at least two leaf pieces which are mutually close to each other and are in a first penetrating space and at least two leaf pieces which are in a second penetrating state and at least two leaf pieces are far away from each other.
Specifically, this fruit picker size is adjustable, has made things convenient for the user greatly, and its easy operation has improved simultaneously and has picked efficiency, and this structural design is reasonable, and the practicality is strong.
Optionally, the rotation axis of the first driving rod rotating relative to the first sliding block is a first rotation axis, the rotation axis of the second driving rod rotating relative to the first driving rod is a second rotation axis, the rotation axis of the second driving rod rotating relative to the second sliding block is a third rotation axis, the rotation axis of the second driving rod rotating relative to the second supporting rod is a fourth rotation axis, and the rotation axis of the first supporting rod rotating relative to the second supporting rod is a fifth rotation axis;
the first rotating axis, the second rotating axis, the third rotating axis, the fourth rotating axis and the fifth rotating axis are arranged in parallel.
Optionally, the first support rod is provided with a slide bar portion, the second slider is provided with a through hole for penetrating the slide bar portion, and the second slider is slidably sleeved on the slide bar portion along the length direction of the slide bar portion.
Optionally, the positioning device further comprises a cutting control handle, the cutting control handle is connected with the first supporting rod and located at one end of the first supporting rod away from the first rotating part, an adjusting button is arranged on the cutting control handle, and the adjusting button is electrically connected with the first driving motor and used for controlling the rotating speed and the steering direction of the first driving motor.
Optionally, the cutting control handle is further provided with a cutting button, and the cutting button is used for controlling the cutting motor and the second driving motor.
Optionally, the cutting control handle includes forearm placing portion, perpendicular handle and annular handle, forearm placing portion with first bracing piece is connected and is located first bracing piece is kept away from the one end of first rotation portion, perpendicular handle with first bracing piece is connected and is located forearm placing portion is close to the one end of first rotation portion, annular handle with first bracing piece is connected and is located perpendicular handle is close to one side of first rotation portion.
Optionally, the lead screw and the forearm placing part are located at two sides of the first supporting rod, and the first driving motor is located at one end of the first supporting rod away from the first rotating part.
Optionally, a distance between a position where the second driving rod is rotatably connected with the second supporting rod and the second rotating part is L 1 The distance between the position where the second driving rod is rotationally connected with the second supporting rod and the position where the second driving rod is rotationally connected with the second sliding block is L 2 The distance between the position where the second driving rod is rotationally connected with the second sliding block and the position where the second driving rod is rotationally connected with the first driving rod is L 3 The position of the first driving rod rotationally connected with the second driving rod to the position of the first driving rod rotationally connected with the first sliding block is L 4 ；
L 1 ：L 2 ：L 3 ：L 4 ＝1：(2.5-3.5)：(1.5-2.5)：(2.5-3.5)。
Alternatively, L 1 ：L 2 ：L 3 ：L 4 ＝1:3:2:3。
Optionally, the first support rod and/or the second support rod are/is of a telescopic structure.
Optionally, the rotating member is a ring structure, the middle part position of the rotating member forms the penetrating space, the rotating member is connected with a first gear, the rotating member is sleeved in the frame body and is rotationally connected with the frame body, an output shaft of the second driving motor is connected with a second gear, and the first gear is meshed with the second gear.
Optionally, the number of the lobes is three, and the three lobes are uniformly distributed along the circumference of the rotating member.
Optionally, the picking device further comprises a first rotating sleeve and a second rotating sleeve, the first rotating sleeve comprises a first installation part and a first sleeving part which are connected with each other, the first installation part is connected with the frame body, and the first rotating shaft is rotatably arranged in the first sleeving part;
the second rotating sleeve comprises a second installation part and a second sleeving part which are connected with each other, the second installation part is connected with the rotating part, one end, away from the third sliding block, of the connecting rod is connected with a second rotating shaft, and the second rotating shaft is rotatably arranged in the second sleeving part.
Optionally, each first rotating sleeve is fixedly connected with the frame body, and the rotation axes of the first rotating shafts of the at least two vane members intersect at the center of the circle of the circular ring structure.
Optionally, the picking device further comprises a support and a push rod connected with the third sliding block, the push rod is slidably arranged in a chute of one of the vane members, the support is fixedly connected with the push rod, and the second driving motor is connected with the support.
Optionally, the end of each vane piece is provided with a notch, in the first state, the notches of the at least two vane pieces form a fixing hole for fixing the fruit stem, and the cutting motor is close to the fixing hole.
Optionally, the notch on each of the lobes is in the direction of extension of the chute.
Optionally, the frame body is provided with a cutting button, the cutting button is used for controlling the cutting motor and the second driving motor.
Optionally, the wearing device includes a waistband, a shoulder strap and a knapsack, the waistband is connected with the first support bar, the shoulder strap is connected with the waistband, the knapsack is connected with the shoulder strap.
Embodiments of the present invention also provide a picking apparatus comprising a fruit picker as mentioned above, which has the full functionality of the fruit picker.
Compared with the prior art, the beneficial effects of the embodiment of the invention include, for example:
the fruit picker is adjustable in size, is greatly convenient for users, is simple to operate, improves picking efficiency, and is reasonable in structural design and high in practicality.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a first view angle of a fruit picker according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a second view angle of the fruit picker according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first view angle of a positioning device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a second view angle of the positioning device according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a third view angle of the positioning device according to the embodiment of the present invention;
fig. 6 is a schematic structural diagram of a fourth view angle of the positioning device according to the embodiment of the present invention;
fig. 7 is a schematic structural view of a picking device according to a first view angle provided by an embodiment of the present invention;
fig. 8 is a schematic structural view of a second view angle of the picking device according to the embodiment of the present invention;
fig. 9 is a schematic structural view of a picking device according to a third view angle provided by an embodiment of the present invention;
fig. 10 is a schematic structural view of a fourth view angle of the picking device according to the embodiment of the present invention.
Icon: 100-fruit picker; 10-a wearable device; 11-a waistband; 12-shoulder straps; 13-knapsack; 30-positioning device; 31-a first support bar; 311-a first rotating part; 312-a slide bar portion; 32-a second support bar; 321-a second rotating part; 33-screw rod; 34-a first drive motor; 35-a first slider; 36-a second slider; 37-a first drive rod; 38-a second drive rod; 41-a first axis of rotation; 42-a second axis of rotation; 43-a third axis of rotation; 44-fourth axis of rotation; 45-a fifth rotation axis; 46-cutting control handle; 461-forearm placement; 462-vertical grip; 463-annular grip; 50-picking device; 51-a frame body; 511-a penetration space; 52-rotating member; 521-first gear; 53-a second drive motor; 531-a second gear; 54-a third slider; 55-connecting rod; 56-a cutting motor; 57-first lobes; 58-second lobes; 59-third lobes; 601-a first spindle; 602-a chute; 603-notch; 61-a first sleeve; 62-a second swivel; 63-a scaffold; 64-push rod.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang" and the like, if any, do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1 and 2, the present embodiment provides a fruit picker 100, which includes:
a wearing device 10, the wearing device 10 being adapted to fit the waist and shoulders of a human body;
a picking device 50, wherein the picking device 50 is used for picking fruits;
and a positioning device 30, wherein one end of the positioning device 30 is connected with the wearing device 10, and the other end is connected with the picking device 50.
The positioning device 30 is foldable so that the overall fruit picker 100 can be sized.
The positioning device 30 may be constructed as shown in fig. 3-6 and the picking device 50 may be constructed as shown in fig. 7-10. The positioning device 30 and the picking device 50 will be described in further detail below.
Referring to fig. 1, in the present embodiment, the wearing device 10 includes a waist belt 11, shoulder straps 12, and a backpack 13, the waist belt 11 is connected to the first support bar 31, the shoulder straps 12 are connected to the waist belt 11, and the backpack 13 is connected to the shoulder straps 12.
By the wearing device 10, the shoulder and the waist of the user can provide supporting points for supporting and stressing. The wearable operation is adopted, the shoulder and the waist are supported together, the hand fatigue is relieved, the flexibility is high, and the wearable operation is suitable for various picking conditions.
A power supply is typically placed within the backpack 13 for powering the components of the positioning device 30 and picking device 50 that require power, and a controller is also placed within the backpack 13 to effect control of these components. At the same time, an adjustable step-down regulated power supply device is also generally arranged and is electrically connected with a power supply.
The fruit picker 100 is adjustable in size, is greatly convenient for users, is simple to operate, improves picking efficiency, and is reasonable in structural design and high in practicality.
Referring to fig. 3-6, specifically, the positioning device 30 provided in this embodiment includes a first support rod 31, a second support rod 32, a screw rod 33, a first driving motor 34, a first slider 35, a second slider 36, a first driving rod 37 and a second driving rod 38, one end of the first support rod 31 is provided with a first rotating portion 311, one end of the second support rod 32 is provided with a second rotating portion 321, the first rotating portion 311 is rotatably connected to the second rotating portion 321, one end of the first support rod 31 far from the first rotating portion 311 is connected to the wearing device 10, the screw rod 33 is rotatably connected to the first support rod 31, and the length direction of the screw rod 33 is consistent with the length direction of the first support rod 31, the first driving motor 34 is connected to the first support rod 31 and is used for driving the screw rod 33, the first slider 35 is provided with an internal thread matched with the screw rod 33, when the screw rod 33 rotates, the first slider 35 moves along the length direction of the screw rod 33, the second slider 36 is slidably connected to the first support rod 31 along the length direction of the first support rod 31, the second slider 36 is rotatably connected to the second support rod 36, the second slider 36 is relatively to the first rotating portion 35, one end of the first slider 35 is far from the first slider 37, and the second slider 38 is rotatably connected to the first end of the first slider 37, and can be rotatably connected to the first end of the first slider 37.
Typically, the user holds the end position of the first support bar 31 while the end position of the second support bar 32 is coupled with the picking device 50. By adjusting the angle between the first support bar 31 and the second support bar 32, the distance between the picking device 50 and the hand-held position can be adjusted.
It will be appreciated that the first slider 35 can only move along the length direction of the screw rod 33, when the output shaft of the first driving motor 34 rotates forward and reversely, the movement direction of the first slider 35 is opposite, so that the position of the first driving rod 37 can be adjusted, when the position of the first driving rod 37 changes, the position of the second driving rod 38 is driven to change, and the second driving rod 38 is rotationally connected with the second slider 36, and the second slider 36 only slides along the length direction of the first supporting rod 31, so that at this time, the position of one end of the second driving rod 38 away from the first driving rod 37 changes, and because the one end of the second driving rod 38 away from the first driving rod 37 is rotationally connected with the second supporting rod 32, the second supporting rod 32 is driven to rotate relative to the first supporting rod 31.
When the first slider 35 is at different positions, the angles between the first support bar 31 and the second support bar 32 are different, and when the angle formed between the two is an acute angle (refer to fig. 3 and 4), the distance between the first support bar 31 and the second support bar 32 is shorter, and the whole positioning device 30 is in a folded state. When the angle formed between the first support bar 31 and the second support bar 32 is an obtuse angle (refer to fig. 5 and 6), the distance between the first support bar 31 and the second support bar 32 is long, and the entire positioning device 30 is in the deployment device.
In the folded state, is generally suitable for storage. In the unfolded state, the picking device is generally suitable for picking fruits, and for fruit trees with different heights or fruit positions, the angle between the first supporting rod 31 and the second supporting rod 32 can be changed by controlling the first driving motor 34, so that when a user uses the picking device, the picking device 50 can just pick the corresponding fruits.
The first driving motor 34 drives the screw rod 33 to rotate, drives the first sliding block 35 to move, drives the first driving rod 37 to change in position, drives the second driving rod 38 to change in position, drives the second sliding block 36 to move, drives the second driving rod 38 to change in position at the tail end, and drives the second supporting rod 32 to rotate relative to the first supporting rod 31.
Through the above operation, the actual working length of the positioning device 30 can be effectively adjusted, and the operation of a user is facilitated.
It will be appreciated that the lead screw and the first drive motor 34 may be integrated into an electric cylinder or replaced with an existing electric cylinder.
Referring to fig. 4, in the present embodiment, the rotation axis of the first driving lever 37 relative to the first slider 35 is a first rotation axis 41, the rotation axis of the second driving lever 38 relative to the first driving lever 37 is a second rotation axis 42, the rotation axis of the second driving lever 38 relative to the second slider 36 is a third rotation axis 43, the rotation axis of the second driving lever 38 relative to the second supporting lever 32 is a fourth rotation axis 44, and the rotation axis of the first supporting lever 31 relative to the second supporting lever 32 is a fifth rotation axis 45;
the first rotation axis 41, the second rotation axis 42, the third rotation axis 43, the fourth rotation axis 44, and the fifth rotation axis 45 are arranged in parallel.
Through the arrangement mode, the operation stability of the whole device can be effectively improved, and the linkage effect is better.
In this embodiment, the first support rod 31 is provided with a sliding rod portion 312, the second slider 36 is provided with a through hole for passing through the sliding rod portion 312, and the second slider 36 is slidably sleeved on the sliding rod portion 312 along the length direction of the sliding rod portion 312.
By providing the slide bar portion 312, the second slider 36 can slide on the first support bar 31 conveniently, however, in other embodiments, a structure such as a convex strip or a dovetail groove may be provided on the first support bar 31, and the second slider 36 is provided with a dovetail groove or a convex strip, so that sliding connection is realized by matching the dovetail groove with the convex strip.
In this embodiment, the positioning device 30 further includes a cutting control handle 46, where the cutting control handle 46 is connected to the first support rod 31 and is located at one end of the first support rod 31 far away from the first rotating portion 311, and an adjusting button is disposed on the cutting control handle 46, and the adjusting button is electrically connected to the first driving motor 34 and is used for controlling the rotation speed and the rotation direction of the first driving motor 34.
The adjustment button may directly control the rotation speed and the steering of the first driving motor 34, or may be electrically connected to the above-mentioned controller which controls the first driving motor 34, etc.
The adjusting button is generally arranged at the position where the fingers of a user are placed when the user uses the device, so that the device is convenient for real-time control.
Meanwhile, the number of the adjustment buttons may be one, and the rotation speed and the steering of the first driving motor 34 may be controlled at the same time, or two, one for controlling the rotation speed, one for controlling the steering, and the like.
Referring to fig. 3, in the present embodiment, the cutting control handle 46 includes a small arm placing portion 461, a vertical grip 462 and a ring grip 463, wherein the small arm placing portion 461 is connected with the first supporting rod 31 and is located at one end of the first supporting rod 31 far away from the first rotating portion 311, the vertical grip 462 is connected with the first supporting rod 31 and is located at one end of the small arm placing portion 461 near the first rotating portion 311, and the ring grip 463 is connected with the first supporting rod 31 and is located at one side of the vertical grip 462 near the first rotating portion 311.
The forearm rest 461 is for the user's forearm to rest against, the vertical grip 462 is for the user to hold during operation, and the annular grip 463 is convenient for the user to carry after the entire fruit picker 100 is received.
The arrangement mode meets the requirements of human mechanics and the use habit of most users, and has strong practicability.
In this embodiment, the screw 33 and the forearm placing portion 461 are located on both sides of the first supporting rod 31, and the first driving motor 34 is located at one end of the first supporting rod 31 away from the first rotating portion 311.
The first driving motor 34 is disposed at the end of the first supporting rod 31, so that the force balance is good when the user uses the device.
Referring to fig. 6, in the present embodiment, the distance from the position where the second driving rod 38 is rotatably connected to the second supporting rod 32 to the second rotating portion 321 isL 1 The distance between the position where the second driving rod 38 is rotatably connected with the second supporting rod 32 and the position where the second driving rod 38 is rotatably connected with the second slider 36 is L 2 The distance between the position where the second driving rod 38 is rotationally connected with the second slider 36 and the position where the second driving rod 38 is rotationally connected with the first driving rod 37 is L 3 The position of the first driving rod 37 rotationally connected with the second driving rod 38 to the position of the first driving rod 37 rotationally connected with the first sliding block 35 is L 4 ；
L 1 ：L 2 ：L 3 ：L 4 ＝1：(2.5-3.5)：(1.5-2.5)：(2.5-3.5)。
Generally, the travel of the first slider 35 and the second slider 36 should be less than the length of the forearm, and the smaller the overall size design of the mechanism, the more lightweight the performance. Through the study of these dimensions, when the above-mentioned ratio is selected, the stroke of the first slider 35 is determined according to most of the arm length in the initial stage of design, and then the positioning device 30 produced by manufacturing is more lightweight, and can meet the use requirements of most of the occasions.
In the present embodiment, L 1 ：L 2 ：L 3 ：L 4 ＝1:3:2:3。
Of course, L 1 ：L 2 ：L 3 ：L 4 ＝1:2.5:1.5:2.5；L 1 ：L 2 ：L 3 ：L 4 ＝1:3.5:2.5:3.5；L 1 ：L 2 ：L 3 ：L 4 =1:2:1.5:3; other proportions can be selected.
After the positioning device 30 in the embodiment is selected, the adjustable range of the angle between the first supporting rod 31 and the second supporting rod 32 is 10 degrees to 170 degrees, so that the fruits at the height of 2m-5m can be picked, and when the device is used, time and labor are saved, the picking efficiency is greatly improved, and the operation is facilitated. Meanwhile, the folding angle between the two rod pieces can be as small as 10 degrees (basically overlapped), so that the two rod pieces are convenient to store.
In this embodiment, the first support rod 31 and/or the second support rod 32 are/is of a telescopic structure.
When the first support rod 31 and/or the second support rod 32 are/is in a telescopic structure (similar to a fishing rod structure), the first support rod and/or the second support rod can be adjusted according to actual needs in different occasions.
It can be appreciated that such a positioning device 30 is selected in this embodiment, so that real-time control and adjustment are facilitated, and the linkage effect is better. In other embodiments, a straight rod, a telescopic rod, or other similar structures may be used.
Referring to fig. 7-10, the picking device 50 provided in this embodiment includes a frame 51, a rotating member 52, a second driving motor 53, a third slider 54, a connecting rod 55, a cutting motor 56, and at least two leaves, wherein the frame 51 is connected to one end of the second supporting rod 32 far away from the second rotating portion 321, the frame 51 has a penetrating space 511 for passing fruit therethrough, the rotating member 52 is rotatably connected to the frame 51, the second driving motor 53 is connected to the frame 51 and is used for driving the rotating member 52, the leaves are provided with a first rotating shaft 601 and a chute 602, the first rotating shaft 601 is rotatably connected to the frame 51, the third slider 54 is slidably disposed in the chute 602, one end of the connecting rod 55 is rotatably connected to the third slider 54, the other end of the connecting rod 55 is rotatably connected to the rotating member 52, the cutting motor 56 is connected to one of the leaves, an output shaft of the cutting motor 56 is connected to a blade for cutting fruit stalks, the picking device 50 has a first state in which the at least two leaves are close to each other and the penetrating space 511 is closed, and a second penetrating state in which the at least two leaves are far away from each other.
The picking device 50 in figures 7, 8 and 9 is in a second condition.
The picking device 50 in fig. 10 is in a first state.
It will be appreciated that each of the petals is rotatably connected to the frame 51 and is connected to the rotating member 52 by the action of the connecting rod 55, when the second driving motor 53 drives the rotating member 52 to rotate, the position of the connecting rod 55 is changed, so that the connecting rod 55 pulls the petals to move, the petals are close to or far away from each other, when the petals are close to each other, a wrapping action is achieved, when the petals are far away from each other, the penetrating space 511 is opened, and fruits enter the picking device 50 along the penetrating space 511.
Generally, after fruits are in the picking device 50, the second driving motor 53 can be controlled to rotate the rotating member 52 to drive the plurality of leaves to approach each other, so as to cover the fruits while closing the penetrating space 511, at this time, the cutting motor 56 can be controlled to work to cut off the fruit stalks or stalks of the fruits, and generally, the frame 51 is also connected with a plastic drum or a cloth drum, etc., and the fruits directly enter the fruit storage area along the plastic drum or the cloth drum after falling.
Generally, whether a fruit handle can be cut depends on the hardness of the fruit handle, the sharpness of the blade, and the cutting torque. In the embodiment, the cutting blade is a disc-shaped hard alloy blade with the diameter of 28mm, and the cutting blade is sharp, wear-resistant and light in weight. The motor is a JA12-N20 miniature speed reducing motor, and the motor has small volume, light weight and large torque.
In this embodiment, the frame 51 is connected to the end of the second support bar 32, and generally, the wires connected to the second driving motor 53 and the cutting motor 56 extend along the second support bar 32 and the first support bar 31 to the end of the first support bar 31 to be electrically connected to the corresponding controller and power supply.
Alternatively, in other embodiments, instead of the positioning device 30, the length of the frame 51 may be extended to form the support rod of the frame 51, and the user may directly pick fruits by holding the support rod through the picking device 50.
In this embodiment, the rotating member 52 is in a ring structure, a penetrating space 511 is formed in the middle of the rotating member 52, the rotating member 52 is connected with a first gear 521, the rotating member 52 is sleeved inside the frame 51 and is rotationally connected with the frame 51, the output shaft of the second driving motor 53 is connected with a second gear 531, and the first gear 521 is meshed with the second gear 531.
The driving is realized by the meshing of the two gears, the action stability is higher, and the driving can be realized by the friction fit of the two rollers.
In the present embodiment, the number of the lobes is three, and the three lobes are uniformly distributed along the circumferential direction of the rotary member 52.
The three lobes are a first lobe 57, a second lobe 58 and a third lobe 59, respectively, with the cutting motor 56 connected to the first lobe 57.
The three-lobe linkage is preferred, although two, four or more may be used in other embodiments.
Referring to fig. 7, in this embodiment, the picking apparatus 50 further includes a first rotating sleeve 61 and a second rotating sleeve 62, the first rotating sleeve 61 includes a first mounting portion and a first sleeving portion that are connected to each other, the first mounting portion is connected to the frame 51, and the first rotating shaft 601 is rotatably disposed in the first sleeving portion;
the second rotating sleeve 62 includes a second mounting portion and a second sleeving portion, the second mounting portion is connected with the rotating member 52, one end of the connecting rod 55 away from the third slider 54 is connected with a second rotating shaft, and the second rotating shaft is rotatably disposed in the second sleeving portion.
The arrangement of the first and second bushings 61, 62 facilitates the installation of the first and second shafts 601, 62.
In this embodiment, each first rotating sleeve 61 is fixedly connected with the frame body 51, and the rotation axes of the first rotating shafts 601 of at least two vane members intersect at the center of the circle of the circular ring structure.
By this arrangement, the stability of the operation of the mechanism can be improved.
In this embodiment, the picking device 50 further includes a support 63 and a push rod 64 connected to the third slider 54, where the push rod 64 is slidably disposed in the chute 602 of one of the petals, the support 63 is fixedly connected to the push rod 64, and the second driving motor 53 is connected to the support 63.
The cutting motor 56 is connected to the first vane 57, more specifically, it is connected by a bracket 63 in a push rod 64 on the first vane 57, which push rod 64 is connected to the third slider 54, so that the cutting motor 56 can slide with respect to the first vane 57.
With this arrangement, when the rotating member 52 rotates relative to the frame body 51, the position of the end of the link 55 connected to the rotating member 52 changes, thereby changing the position of the end of the link 55 connected to the third slider 54, and thus the position of the push rod 64 changes.
When the picking device 50 is in the second state, the cutting motor 56 is located at the middle position of the first vane 57 relatively, and when the picking device 50 is in the first state, under the action of the push rod 64, the cutting motor 56 is close to the top positions of the three vanes, and at this time, the blade of the cutting motor 56 can be contacted with the fruit stalks.
In this arrangement, when not in use, the blade of the cutting motor 56 is positioned on the first vane 57 and does not extend beyond the first vane 57, so that fruit is not easily damaged.
In this embodiment, the end of each vane is provided with a notch 603, in the first state, the notches 603 of at least two vanes form a fixing hole for fixing the fruit stem, and the cutting motor 56 is close to the fixing hole.
It will be appreciated that the first, second and third petals 57, 58, 59 each have notches 603, and in the first state, the three notches 603 form a fixed aperture such that the fruit stem is positioned in the fixed aperture and the fruit is suspended below the three petals, and when the fruit stem is cut by the cutting motor 56, the fruit drops, while the plastic or cloth barrel mentioned above is positioned below the through space 511 and the fruit drops directly into the barrel.
In this embodiment, the notch 603 on each vane is in the direction of extension of the chute 602.
Specifically, the chute 602 is arcuate such that when the three lobes are in contact, even if the rotating member 52 continues to rotate, the link 55 continues to move without the position of the third slider 54 changing due to the arcuate shape.
In the present embodiment, the frame 51 is provided with a cutting button for controlling the cutting motor 56 and the second driving motor 53.
Specifically, the cutting button is located on the cutting control handle 46 and is positioned close to the arrangement position of the adjusting button, facilitating control.
The cutting button may directly control the cutting motor 56 and the second driving motor 53, or may be electrically connected to the above-mentioned controller, which performs a control function.
The number of the cutting buttons may be two, one controlling the cutting motor 56 and one controlling the steering and rotational speed of the second driving motor 53.
Or three in number, one to control the cutting motor 56, one to control the steering of the second drive motor 53, and one to control the rotational speed of the second drive motor 53.
The fruit picker 100 according to the embodiment of the present invention has at least the following advantages:
the picking device 50 is used for realizing extrusion coating type picking, can fix fruits, solves the problem of shaking of the fruits when cutting fruit stalks, and simultaneously isolates blades from the fruits, so that mechanical damage to the fruits in the picking process is avoided.
The motor and the screw rod 33 are adopted to drive the double-slide-block connecting rod 55 mechanism, so that the extending angle of the rod piece can be accurately adjusted, fruits with the height of 2-5 meters can be rapidly positioned, and the problem of uneven fruit distribution is solved.
The fruit picker 100 can be used in a small agricultural economic planting mode in China, is not limited by terrain, improves the mechanization level of agricultural production, and liberates labor productivity.
In use, the device is typically worn over the shoulder by the waist belt 11 and shoulder straps 12, with the arms and forearm rest 461 secured by an adhesive pad, while the right hand holds the vertical grip 462, completing the wear.
It can be understood that, in specific use, only the positioning device 30 in the present embodiment may be selected, and the picking device 50 selects the cutting structure for cutting fruit stalks in the prior art, or only the picking device 50 in the present embodiment is selected, and the positioning device 30 is realized by selecting a straight rod or a telescopic rod, and meanwhile, the wearing device 10 is not necessarily a structure, and if a user is inconvenient to wear or is not used to wear, the wearing device 10 in the present embodiment may also be detached.
Example 2
The present embodiment provides a picking apparatus comprising the fruit picker 100 mentioned above, which has the full function of the fruit picker 100.
The structure of the fruit picker 100 can be referred to embodiment 1.
The picking device also comprises the structures such as the power supply, the controller and the like, and a portable and high-power 12V lithium battery pack is selected as a common power supply.
In summary, the fruit picker 100 provided by the invention has the advantages that the size of the fruit picker 100 is adjustable, the fruit picker is greatly convenient for users, the operation is simple, the picking efficiency is improved, and the fruit picker is reasonable in structural design and high in practicability.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A fruit picker, comprising:
a wearing device for fitting with the waist and shoulders of a human body;
the positioning device comprises a first supporting rod, a second supporting rod, a screw rod, a first driving motor, a first sliding block, a second sliding block, a first driving rod and a second driving rod, wherein one end of the first supporting rod is provided with a first rotating part, one end of the second supporting rod is provided with a second rotating part, the first rotating part is rotatably connected with the second rotating part, one end of the first supporting rod far away from the first rotating part is connected with the wearing device, the screw rod is rotatably connected with the first supporting rod, the length direction of the screw rod is consistent with the length direction of the first supporting rod, the first driving motor is connected with the first supporting rod and is used for driving the screw rod, the first sliding block is provided with internal threads matched with the screw rod, when the screw rod rotates, the first sliding block moves along the length direction of the screw rod, the second sliding block is slidably connected with the first supporting rod along the length direction of the first supporting rod, the second sliding block is connected with the first sliding rod, and is close to the first sliding block, and is connected with the second sliding block, and is far away from the first driving rod, and is connected with the first driving rod;
the picking device comprises a frame body, a rotating part, a second driving motor, a third sliding block, a connecting rod, a cutting motor and at least two leaf pieces, wherein the frame body is far away from one end of the second rotating part through the second supporting rod, the frame body is provided with a penetrating space for fruits to pass through, the rotating part is rotatably connected with the frame body, the second driving motor is connected with the frame body and used for driving the rotating part, the leaf pieces are provided with a first rotating shaft and a sliding groove, the first rotating shaft is rotatably connected with the frame body, the third sliding block is slidably arranged in the sliding groove, one end of the connecting rod is rotatably connected with the third sliding block, the other end of the connecting rod is rotatably connected with the rotating part, the cutting motor is connected with one leaf piece, an output shaft of the cutting motor is connected with a blade for cutting fruit handles, and the picking device is provided with at least two leaf pieces which are mutually close to each other and are in a first penetrating space and at least two leaf pieces which are in a second penetrating state and at least two leaf pieces are far away from each other.
2. The fruit picker according to claim 1 wherein a rotational axis of rotation of the first driving rod with respect to the first slider is a first rotational axis, a rotational axis of rotation of the second driving rod with respect to the first driving rod is a second rotational axis, a rotational axis of rotation of the second driving rod with respect to the second slider is a third rotational axis, a rotational axis of rotation of the second driving rod with respect to the second supporting rod is a fourth rotational axis, and a rotational axis of rotation of the first supporting rod with respect to the second supporting rod is a fifth rotational axis;
the first rotating axis, the second rotating axis, the third rotating axis, the fourth rotating axis and the fifth rotating axis are arranged in parallel.
3. The fruit picker according to claim 1 wherein the positioning device further comprises a cutting control handle connected with the first support rod and located at an end of the first support rod away from the first rotating portion, and an adjusting button is provided on the cutting control handle and electrically connected with the first driving motor and used for controlling the rotation speed and the rotation direction of the first driving motor.
4. A fruit picker according to claim 3 wherein the cutting control handle comprises a small arm placement portion connected to the first support bar at an end of the first support bar remote from the first rotation portion, a vertical grip connected to the first support bar at an end of the small arm placement portion adjacent to the first rotation portion, and an annular grip connected to the first support bar at a side of the vertical grip adjacent to the first rotation portion.
5. Fruit picker according to claim 1 characterized in that the distance between the position of the rotational connection of the second driving rod with the second supporting rod and the second rotating part is L 1 The distance between the position where the second driving rod is rotationally connected with the second supporting rod and the position where the second driving rod is rotationally connected with the second sliding block is L 2 The distance between the position where the second driving rod is rotationally connected with the second sliding block and the position where the second driving rod is rotationally connected with the first driving rod is L 3 The first driving rod is rotationally connected with the second driving rod to the position where the first driving rod is rotationally connected with the first sliding blockThe position of the rotary connection is L 4 ；
L 1 ：L 2 ：L 3 ：L 4 ＝1：(2.5-3.5)：(1.5-2.5)：(2.5-3.5)。
6. The fruit picker according to any one of claims 1 to 5 wherein the rotating member has a circular ring structure, the middle position of the rotating member forms the penetrating space, the rotating member is connected with a first gear, the rotating member is sleeved inside the frame and is rotationally connected with the frame, an output shaft of the second driving motor is connected with a second gear, and the first gear is meshed with the second gear.
7. The fruit picker according to claim 6 wherein the picking device further comprises a first sleeve and a second sleeve, the first sleeve comprising a first mounting portion and a first nesting portion connected to each other, the first mounting portion being connected to the frame, the first shaft being rotatably disposed within the first nesting portion;
the second rotating sleeve comprises a second installation part and a second sleeving part which are connected with each other, the second installation part is connected with the rotating part, one end, away from the third sliding block, of the connecting rod is connected with a second rotating shaft, and the second rotating shaft is rotatably arranged in the second sleeving part.
8. The fruit picker according to claim 7 wherein each of the first rotating sleeves is fixedly connected with the frame body, and the rotational axes of the first rotating shafts of the at least two leaf members intersect at the center position of the circular ring structure.
9. The fruit picker according to any one of claims 1 to 5 wherein the picking device further comprises a bracket and a push rod connected to the third slider, the push rod being slidably disposed in a chute of one of the petals, the bracket being fixedly connected to the push rod, the second drive motor being connected to the bracket.
10. A picking apparatus comprising a fruit picker as claimed in any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810672879.2A CN108566831B (en) | 2018-06-26 | 2018-06-26 | Fruit picker and picking equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810672879.2A CN108566831B (en) | 2018-06-26 | 2018-06-26 | Fruit picker and picking equipment |
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| CN108566831A CN108566831A (en) | 2018-09-25 |
| CN108566831B true CN108566831B (en) | 2023-06-06 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109429709B (en) * | 2018-12-29 | 2024-05-31 | 苏州大学 | Fruit picking machine |
| JP2021040490A (en) * | 2019-09-06 | 2021-03-18 | 株式会社デンソー | End effector for harvesting crop and crop harvesting system |
| CN110771350B (en) * | 2019-10-22 | 2020-09-29 | 武汉理工大学 | Wearable fruit picking mechanical arm |
| JP7184016B2 (en) * | 2019-11-06 | 2022-12-06 | 株式会社デンソー | crop harvesting system |
| CN112352543B (en) * | 2020-11-25 | 2024-04-16 | 浙江春暖花开生态农业有限公司 | Fruit picking device |
| CN112470702B (en) * | 2020-11-30 | 2022-01-11 | 徐州领测半导体科技有限公司 | Ware is picked to multi-functional hand-held type mango |
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