CN108633465B

CN108633465B - Auxiliary artificial fruit quick picking device

Info

Publication number: CN108633465B
Application number: CN201810315312.XA
Authority: CN
Inventors: 刘华雷; 张凯; 刘德利
Original assignee: Changshu Institute of Technology
Current assignee: Changshu Institute of Technology
Priority date: 2018-04-10
Filing date: 2018-04-10
Publication date: 2020-08-11
Anticipated expiration: 2038-04-10
Also published as: CN108633465A

Abstract

The invention discloses an auxiliary manual fruit quick picking device which comprises a rod body, a shearing mechanism and a collecting bag, wherein the shearing mechanism is fixedly arranged at the head end of the rod body, the shearing mechanism comprises a shearing cavity body with openings at the upper end and the lower end, a turnover cover and a driving mechanism, the collecting bag is connected with the lower end opening of the shearing cavity body, the turnover covers are arranged in pairs and hinged to two sides of the upper end opening of the shearing cavity body, a cutting edge is arranged at the front end edge of the turnover cover, when the turnover cover turns towards the shearing cavity body, the cutting edges of the turnover cover are tangent and combined to form an included angle with a downward opening, the included angle is smaller than 180 degrees, and the driving mechanism is. This pick device extrudees earlier and shears again, collects again, plays the effect of picking after "protection" earlier to the fruit, guarantees the success rate that fruit was picked.

Description

Auxiliary artificial fruit quick picking device

Technical Field

The invention relates to a fruit picking device, in particular to an auxiliary manual fruit rapid picking device, and belongs to the technical field of agricultural harvesting.

Background

The current structure that is used for plucking the device of plucking of fruit that grows in branch stub is general is like, including the mobile jib with fix the circle frame at the mobile jib top, the sack of a sealing connection fruit bag all around of circle frame, still fixedly on the circle frame be equipped with a scissors device, the scissors device comprises a fixed blade and a movable blade, fixed blade is fixed on the mobile jib top, on movable blade is articulated and the fixed blade, is equipped with between fixed blade and the movable blade and makes its closed bullet that resets, and this device utilization is fixed the scissors device on a mobile jib, adopts the mode of stay cord to open the scissors, and the branch on the fruit is cut off to the scissors under the reset spring effect, and fruit directly falls into the fruit bag. This structure has the following problems: the scissors device with the structure is generally a purely mechanical manual operating device, two hands are required to work simultaneously to pick fruits, and one hand cannot be liberated to carry out other work; the picked fruits are directly placed in the storage bag below the scissors, so that the fruits are damaged due to impact among the fruits when the fruits are picked continuously, and the storage bag is deformed due to the fact that the telescopic rod is considered, the size of the storage bag is small, the number of the fruits which can be picked effectively is reduced, the fruits can be placed and collected after a while of picking, then the picking is continued, the fruit picking continuity is influenced, and the working efficiency of workers is reduced; the fruit stalks are cut off by the scissors, and then the fruits are separated from the branches and trunks, so that the picking effect is achieved; however, when the device is lifted for picking, the positions of the fruit stalks cannot be accurately found out for shearing due to the shielding of the cloth bag and the fruits on the branches; or some fruits grow at the branch or are in close contact with the branch, and at this time, the scissors can cut the fruits or touch the fruits, so that the fruits are damaged, and picking fails.

There is also a device that makes improvement to above-mentioned structure among the prior art, for example chinese patent CN206713439U discloses snatch formula fruit picking end effector and fruit picking actuating device, including U-shaped support and the sharp cylinder of fixed connection in U-shaped support bottom, sharp cylinder has the piston rod that can pass U-shaped support and just set up to U-shaped support opening direction, the top fixedly connected with mount pad of piston rod, the one end fixedly connected with sucking disc of piston rod is kept away from to the mount pad, the bottom of sucking disc is provided with the suction opening, the top of mount pad is provided with the induction port, the mount pad is inside to be provided with the suction channel that extends to corresponding position with the suction opening and communicates with the suction opening from the induction port, the induction port intercommunication is provided with the breathing pipe that can breathe in, the shearing mechanism that can cut the branch is installed to the position that. The fruit tree pruning machine is simple in structure and convenient to use, the branches are cut after the fruits are tightly gripped, collision damage caused by fruit shaking is avoided, and the fruit picking quality is improved. However, the device has a complex structure, needs a plurality of actuating mechanisms to work in a matching way, has heavy weight and is not suitable for manual long-time picking.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an auxiliary manual fruit rapid picking device, which solves the problem of fruit damage in the fruit picking process and simplifies the structure of the device.

The technical scheme of the invention is as follows: the utility model provides a supplementary artifical fruit picks device fast, includes the body of rod, cuts the mechanism and collects the bag, cut the mechanism fixed set up in the head end of the body of rod, cut the mechanism and include upper and lower both ends open-ended shearing cavity, flip and actuating mechanism, collect the bag with the lower extreme opening of shearing the cavity is connected, flip sets up in pairs and articulates in the upper end opening both sides of shearing the cavity, flip's front end edge is equipped with the blade, when flip overturns to shearing the cavity, flip's blade is tangent to merge and form the decurrent contained angle that is less than 180 of opening, actuating mechanism is used for the drive flip overturns.

Preferably, the included angle formed by the tangent combination of the cutting edges of the flip cover ranges from 90 degrees to 135 degrees.

Further, actuating mechanism includes motor and crank link mechanism, the motor is fixed in shear cavity's lateral wall, crank link mechanism one end is connected with the pivot of motor, the crank link mechanism other end with flip is articulated, when the motor shaft rotates crank link mechanism stimulates flip turns along flip and shear cavity's articulated shaft.

Further, actuating mechanism includes motor and crank link mechanism, the lateral wall of cuting the cavity is equipped with vertical first spout, be equipped with in the first spout and follow the gliding first slider of first spout, the motor is fixed in the lateral wall of cuting the cavity, crank link mechanism one end is connected with the pivot of motor, the crank link mechanism other end with first slider is connected, first slider is articulated with the amalgamation end of Y shape connecting rod, the branch fork end of Y shape connecting rod with flip is articulated.

Furthermore, the turnover mechanism comprises a synchronous linkage mechanism, and the paired turnover covers are turned over simultaneously through the synchronous linkage mechanism.

Furthermore, synchronous link gear includes the second spout and can follow the gliding second slider of second spout, the second spout vertical set up in the lateral wall of shearing the cavity, the second slider is articulated with the one end of the synchronous connecting rod that sets up in pairs, the other end of synchronous connecting rod is articulated with flip.

Preferably, the rod body is a telescopic rod.

The technical scheme provided by the invention has the advantages that: the cutting edges of the flip cover form an included angle with a downward opening smaller than 180 degrees when being tangent and combined, the included angle enables the flip cover to generate pressure for pressing the fruits growing on the branch heads into the shearing cavity in the turning process, the fruit stems are accurately cut off when the cutting edges are tangent and are not cut to the fruits, and the effect of 'protection' and picking of the fruits is achieved firstly. Compared with the picking device with the prior art, the scissors structure firstly extrudes and then shears, and then collects, thereby ensuring the success rate of picking fruits. Compared with a picking device with a sucker device, the fruit picking device has the advantages that the fruit picking device can also play a role in protecting fruits, but the mechanical structure is simpler, the weight of the device is obviously reduced, the internal structure is easy to manufacture, the failure rate is low, no requirement is imposed on the use of a user, the operation is convenient, and the fruit picking device is safe and reliable. While the traditional cutting and picking device can not effectively pick some fruits growing at the branches or closely contacting with the branches, the device can easily pick the fruits without damage. The picking device is connected by a telescopic rod, so that the picking device has great flexibility to the picking range, is convenient to shrink and is convenient to carry manually.

Drawings

Fig. 1 is a schematic structural view of an auxiliary artificial fruit rapid picking device.

Fig. 2 is a schematic structural diagram of the shearing mechanism.

FIG. 3 is a schematic view of an embodiment of a drive mechanism.

FIG. 4 is a schematic side view of the drive mechanism and the synchronous linkage mechanism of the embodiment.

Fig. 5 is a schematic view of a flip structure.

Fig. 6 is a schematic diagram of the initial state and the engaged state of the flip cover.

FIG. 7 is a schematic view showing a first example of picking fruit.

Fig. 8 is a schematic view of fruit picking according to the second embodiment.

Detailed Description

The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention thereto.

Referring to fig. 1 to 5, the auxiliary manual fruit quick picking device according to the present embodiment includes a rod body 1, a shearing mechanism 2 and a collecting bag 3, wherein the rod body 1 is a telescopic rod with adjustable length for picking fruits at different heights. Shear mechanism 2 is fixed to be set up in the head end of the body of rod 1, and shear mechanism 2 includes upper and lower both ends open-ended shearing cavity 4, flip 5 and actuating mechanism, collects bag 3 and is connected with the lower extreme opening of shearing cavity 4. Two sides of an opening at the upper end of the shearing cavity 4 are respectively hinged with a flip 5, the flip 5 at the two sides are arranged oppositely and are matched with each other to move for extrusion and front cutting. The edge of the front end of the flip 5 is provided with a U-shaped deep groove 6, the U-shaped deep groove 6 is provided with a fastening screw 7, a blade 8 with a cutting edge is inserted into the U-shaped deep groove 6, and the fastening screw 7 is screwed down to fixedly connect the blade 8 with the flip 5. As shown in fig. 6, in the initial state of the flip cover 5, the included angle α with the vertical direction is about 15 °, when the cutting edge of the flip cover 5 is tangent to the vertical direction, an included angle β with an opening facing downward is formed, which is smaller than 180 °, and the included angle β is set to press the fruit to facilitate picking the fruit at a special position, in this embodiment, the included angle β is set to 90 ° to 135 °.

The driving mechanism is used for driving the turning cover 5 to turn over, the driving mechanism comprises a motor 9 and a crank connecting rod mechanism 10, the motor 9 adopts a worm gear speed reducing motor with stronger torque, and the worm gear speed reducing motor is fixed on the side wall of the shearing cavity 4 through a supporting frame 11. The side wall of the shearing cavity 4 is provided with a vertical first sliding groove 12, and a first sliding block 13 capable of sliding along the first sliding groove 12 is arranged in the first sliding groove 12. One end of a crank connecting rod mechanism 10 is connected with a rotating shaft of the motor 9, the other end of the crank connecting rod mechanism 10 is connected with a first sliding block 13, the first sliding block 13 is hinged with a combining end of a Y-shaped connecting rod 14, a branching end of the Y-shaped connecting rod 14 is hinged with one of the turnover covers 5 which are arranged in pairs, and the crank connecting rod mechanism 10 pulls the turnover cover 5 to turn along a hinged shaft of the turnover cover 5 and the shearing cavity 4 when the rotating shaft of the motor 9 rotates. The other flip cover of the flip covers 5 arranged in pairs is driven to turn by a synchronous linkage mechanism, the synchronous linkage mechanism comprises a second sliding chute 15 and a second sliding block 16 capable of sliding along the second sliding chute 15, the second sliding chute 15 is vertically arranged on the side wall of the shearing cavity 4, the second sliding block 16 is hinged with one end of a synchronous connecting rod 17 arranged in pairs, and the other end of the synchronous connecting rod 17 is hinged with the flip cover. It should be noted that, for achieving the purpose of the present invention, the driving mechanism and the synchronous linkage mechanism are not limited to the specific structure of the embodiment, for example, the driving mechanism may directly adopt a motor to drive the rotation of the hinge shaft of the flip and the shearing cavity so as to drive the flip to turn, and the synchronous linkage mechanism may select the gears engaged with each other to be respectively connected with the hinge shafts of the paired flip so as to achieve the synchronous turning of the flip.

In the embodiment, the distance between the cutting edges of the turnover covers is 125mm, and the average value of the diameters of the kernel fruits and the kernel fruits of the masses is below 110mm through sampling investigation, and the distance is enough for picking the fruits in the general orchard. The picking by the device mainly comprises two conditions, one is as shown in figure 7, the normal picking condition is that the fruit stalks are far away from the branches enough to completely sleeve the fruits in the shearing cavity, then the driving mechanism drives the turnover cover to turn over, the cutting edges are closed after the turnover cover is closed to cut off the fruit stalks, and the picking of one fruit is completed. Secondly, as shown in fig. 8, fruit stalks of the fruits grow closely to branches, at the moment, the movement space of the turning cover is limited, and an included angle with an opening facing downwards is formed when the cutting edges of the turning cover are tangent, so that the fruits are pressed downwards to a certain extent in the turning process of the turning cover, the fruits slowly enter the cutting cavity after being extruded, and if the fruits are not firmly connected with the branches, the pressing force applied to the fruits by the turning cover in the pressing process of the turning cover is enough to separate the fruit stalks from the branches, so that the fruits are picked; and if the fruit is firmly connected with the branches, the fruit stems are not separated from the branches in the turning process of the turning cover, and finally the fruit stems are cut off by the tangent joint of the cutting edges after the turning cover is closed, so that the fruit is picked.

Claims

1. A device for assisting manual fruit quick picking is characterized by comprising a rod body, a shearing mechanism, a collecting bag and a synchronous linkage mechanism, wherein the shearing mechanism is fixedly arranged at the head end of the rod body and comprises a shearing cavity with upper and lower openings, a turnover cover and a driving mechanism, the collecting bag is connected with the lower end opening of the shearing cavity, the turnover cover is arranged in pairs and hinged on two sides of the upper end opening of the shearing cavity, a cutting edge is arranged at the front end edge of the turnover cover, when the turnover cover turns towards the shearing cavity, the cutting edge of the turnover cover is tangent and combined to form an included angle with a downward opening smaller than 180 degrees, the driving mechanism is used for driving the turnover cover to turn, the driving mechanism comprises a motor and a crank connecting rod mechanism, a vertical first sliding groove is formed in the side wall of the shearing cavity, a first sliding block capable of sliding along the first sliding groove is arranged in the first, the motor is fixed in cut the lateral wall of cavity, crank link mechanism one end is connected with the pivot of motor, the crank link mechanism other end with first slider is connected, first slider is articulated with the amalgamation end of Y shape connecting rod, the branching end of Y shape connecting rod with flip is articulated, synchronous link gear includes the second spout and can follow the gliding second slider of second spout, the second spout vertical set up in cut the lateral wall of cavity, the second slider is articulated with the one end of the synchronous connecting rod that sets up in pairs, synchronous connecting rod's the other end is articulated with flip, and mated flip simultaneously turns through synchronous link gear.

2. The auxiliary artificial fruit rapid picking device according to claim 1, wherein the included angle formed by tangent combination of the cutting edges of the flip covers is 90-135 degrees.

3. The device for assisting in rapidly picking artificial fruits according to claim 1, wherein the rod body is a telescopic rod.