CN208210769U - The more fruit orange intelligence seed harvesters of rotational comb tooth - Google Patents

Abstract

The utility model proposes a kind of more fruit orange intelligence seed harvesters of rotational comb tooth, solve the problems, such as that more fruit orange picking efficiencies are low in the prior art, are easily destroyed fruit.The equipment includes pedestal, pedestal is equipped with meshing gear rotating device, meshing gear rotating device is equipped with pitching robot arm device, pitching robot arm device is equipped with telescopic mechanical arm device, the front end of telescopic mechanical arm device is equipped with separation picking executive device, separation picking executive device includes being sequentially connected end to end in turn the first support shaft for surrounding rectangular area, the first frame linking, the second support shaft and the second frame linking, and the first support shaft is fixed on telescopic mechanical arm device；Second support shaft is equipped with rotational roller, bending comb teeth and right angle fruit shading plate are fixed on rotational roller, rotational roller is rotated with being bent comb teeth in preceding, the posterior direction of right angle fruit shading plate, guide groove is provided on right angle fruit shading plate, it is equipped with the knife rest of reciprocating linear sliding in guide groove, is fixed with several blades on knife rest.

Description

The more fruit orange intelligence seed harvesters of rotational comb tooth

Technical field

The utility model relates to seed harvester technical field, particularly relate to that a kind of structure is simple, rotating comb easy to use The more fruit orange intelligence seed harvesters of shape tooth.

Background technique

Platymiscium under Citrus Rutaceae, property like warm and moist weather, and cold resistance is slightly strong compared with shaddock, bitter orange, sweet orange.Rutaceae Aurantioideae is distributed between 16 °~37 ° of north latitude.It is the torrid zone, subtropical evergreen fruit trees (in addition to trifoliate orange), as Economical cultivation There are 3 categories: Poncirus, Citrus and Fortunella.Orange is often collectively referred to as citrus together with mandarin orange, bright-colored, and acid acid is palatable, is One of most common fruit in daily life.Orange is rich in vitamin C and citric acid, the former has beautification function, and the latter then has Play the role of eliminating fatigue；Thin skin contains dietary fiber and pectin on the inside of orange, can promote defaecation, and it is solid to reduce gallbladder Alcohol；Hesperidin can reinforce the toughness of capillary, and blood pressure lowering expands the coronary artery of heart, therefore orange is prevention coronary heart disease And the food of artery sclerosis, research confirm that edible citrus can reduce the cholesterol being deposited in arteries, help to make Pulse atherosclerosis takes a turn for the worse；In fresh orange blossom, there is a kind of very strong substance of anti-cancer function " Nuo meter Ling ", it can make carcinogenicization Substance decomposition is learned, the growth of cancer cell is inhibited and block, can make one to prevent carcinogenic substance pair except the function of toxenzyme significantly improves in vivo The damage of nucleus, Protecting gene it is intact；Rich in vitamin C and citric acid, the former has beautification function, and the latter, which then has, to disappear Except the effect of fatigue.

In the vast rural area in China, diversified economy, a large amount of lifes of industrial crops especially fruit are taken in agricultural production extensively It produces and launches, enrich the diet kind of the people, improve the quality of life of the people.Orange is the most characteristic happiness in south One of hygrophilous cold-resistant fruit of temperature and a kind of best in quality, full of nutrition, popular fruit.But due to its growth ring The reasons such as border and growthform, large area, the high efficiency picking always insoluble problem, and orange branches and leaves of orange It is dense, the more usual spinosity of sprig, therefore it is unfavorable for picked by hand, orchard worker's picking efficiency can not be promoted always.

Since orange has the characteristic of cluster growth, so individually being picked to orange infeasible, not merely adopt in this way Plucking efficiency can decline, and will increase the difficulty of picking positioning.And it cannot be destroyed near its base of fruit in the picking process of orange Orange pericarp, otherwise the later period for orange storage, pack and sell and can all generate certain influence, this requires in picking process In life cannot be taken to drag, reverse, pull equal violences mode.Traditional airbrasive arm and mobile scissors apparatus, fruit and vegetable picking There is also that improper to orange protecting fruits, picking efficiency is low, picking process is cumbersome etc. is a series of for the end effector of robot Problem, and the design of orange picking mechanical hand portion is too simple, it is difficult to the case where adapting to orange fruit multi-faceted complex distributions. For peasant, if orange auxiliary picker cannot improve picking efficiency well, and protected in picking process Orange crust, then the device will lose actual use value.

Utility model content

The utility model proposes a kind of more fruit orange intelligence seed harvesters of rotational comb tooth, solve more in the prior art Fruit orange picking efficiency is low, is easily destroyed the problem of fruit.

The technical solution of the utility model is achieved in that the more fruit orange intelligence seed harvesters of rotational comb tooth, packet Pedestal is included, the pedestal is equipped with the meshing gear rotating device that can be rotated in the horizontal plane, the meshing gear rotating device It is equipped with height-adjustable pitching robot arm device, the pitching robot arm device is equipped with length-adjustable telescopic mechanical arm Device, the front end of the telescopic mechanical arm device are equipped with separation picking executive device, and the separation picking executive device passes through slow Fast collection device is eaten up part of to be connected to the storage tank being placed on pedestal；

The separation picking executive device includes being sequentially connected end to end in turn the first support shaft for surrounding rectangular area, the first company Frame, the second support shaft and the second frame linking, first support shaft are fixed on the telescopic mechanical arm device, the buffer deceleration The end of collection device is located at below rectangular area；

Second support shaft is equipped with the rotational roller driven by first motor, is fixed on the rotational roller along it The bending comb teeth and right angle fruit shading plate that axial direction extends, the rotational roller is to be bent comb teeth in preceding, right angle fruit shading plate Posterior direction rotates, and the guide groove extended along rotational roller axial direction is provided on the right angle fruit shading plate, is set in the guide groove There is the knife rest of reciprocating linear sliding, is fixed with several blades on the knife rest.

As a preferred embodiment, several v-shaped openings are provided on the right angle fruit shading plate, the right angle fruit shading plate On be additionally provided with elastic movement commutation lid positioned at the guide groove back side, elastic movement commutation lid passes through the ear flange of two sides It is connected in the v-shaped opening of the right angle fruit shading plate, the knife rest is fixed on the elastic movement commutation and covers；

The elastic movement commutation, which covers, is provided with rectangular channel, inclined equipped with being rotated by the second motor driven in the rectangular channel Heart rotor, the eccentric rotor rotate the width that inswept track outside diameter is greater than the rectangular channel, while being less than described The length of rectangular channel.

As a preferred embodiment, the parallel between cog spacing of the bending comb teeth is 2-3cm, the blade is Land blade.

As a preferred embodiment, the telescopic mechanical arm device includes that the left forearm being arranged in parallel and the right side are small Arm, between the left forearm and right forearm be equipped with lead screw in parallel, the two sides of the lead screw be additionally provided with stretch left forearm and Stretch right forearm, is slided by drawer between the left forearm and the left forearm that stretches, between the right forearm and the right forearm that stretches Rail realizes relative rectilinear sliding, and first support shaft is fixed on described stretch and left forearm and stretches on right forearm；

The leading screw bearing of the left forearm and right forearm being fixedly arranged at the front end with for lead screw described in support, the left forearm and The rear end of right forearm is further fixed on the third motor for driving the lead screw rotation, is arranged on the lead screw engaged therewith Ball connector is fixedly connected between the ball connector and the left forearm that stretches, the right forearm that stretches.

As a preferred embodiment, the pitching robot arm device includes the right baffle-plate and right gear of fixed setting Plate is fixed with the 4th motor in the right shell body, is equipped between the left baffle and right baffle by the 4th motor-driven crank The rear end of rocker device, the crank and rocker mechanism and the right forearm is articulated and connected；

The pitching robot arm device further includes being individually fixed in right baffle-plate, the left large arm in right shell body, right large arm, described It is arranged in parallel between left large arm and right large arm, the intermediate position of the right forearm is articulated and connected in the upper end of the right large arm.

As a preferred embodiment, it is fixed with low bottom-disc by more vertical support columns on the pedestal, institute Stating meshing gear rotating device includes the horizontal central gear being fixed on the low bottom-disc, and the periphery of the central gear is equipped with The planetary gear engaged, the planetary gear upper and lower surfaces are respectively and fixedly provided with pivoting support bearing, and top is returned Turn to be fixed with top bottom-disc on spring bearing, the slewing bearing of lower section is contacted with the low bottom-disc；

The left baffle and right baffle is fixed on the top bottom-disc, and the driving planet is further fixed on the top bottom-disc 5th motor of gear rotation.

As a preferred embodiment, the buffer deceleration collection device includes the fruit below rectangular area Catch tray, the collecting fruit disk are connected with fruit transport network road by spring, and fruit transport network road extends downward into institute State storage tank；

The width of the collecting fruit disk, the internal diameter of spring are gradually reduced along the direction of motion of fruit, and the fruit is successively By collecting fruit disk, the inner cavity of spring, fruit transport network road, the storage tank is reached.

As a preferred embodiment, being additionally provided at the inlet internal in fruit transport network road positioned at same transversal A circle hairbrush on face.

As a preferred embodiment, being additionally provided on stretch left forearm and the right forearm that stretches towards the rotation The camera of roller.

After above-mentioned technical proposal, the beneficial effects of the utility model are:

(1) it can be realized orange in orange picking process to separate with the orderly combing of fruit handle, fruit handle is broken by direct shearing, and And it ensure that in shearing separation process and do not injure orange pericarp, and can realize the adjusting for disposably plucking fruit number；

(2) the utility model has that overall weight is small, cost performance is high, convenient for the characteristic of flexible operating and movement, and same When the ability with vision and intelligent operation, can be mobile in a wide range of fruit area, object is won in change, improved work efficiency, full Foot demand to light-duty picker at present；

(3) the utility model top uses comb teeth picker, and orange is made to be distributed approximately evenly in each backlash, weakens Mutual extrusion damage between cluster orange fruit, reduces the winding to orange limb using pectination mechanism and destroys, slowing down Under the drive of motor, the rotation of pectination gear mechanism, the final separation for realizing fruit and stem end are realized；

(4) the manipulator telescoping mechanism combined using a kind of ball-screw with connecting rod, it is real by controlling the rotation of motor The telescopic moving of existing mechanical arm meets the picking requirement to different height Tree Fruit, ensure that picking efficiency；

(5) the utility model uses buffer deceleration collection device in terms of collecting fruit, which can be with the tangerine under falling Sub- fruit is in contact, and realizes tumbling along collection device at a slow speed, reduces the damage to orange to greatest extent, realizes effective It collects, ensure that economic well-being of workers and staff.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property It puts, is also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of structural schematic diagram of embodiment of the utility model；

Fig. 2 is the structural schematic diagram of separation picking executive device in the embodiment；

Fig. 3 is the schematic side view of Fig. 2；

Fig. 4 is the structural schematic diagram of right angle fruit shading plate in the embodiment；

Fig. 5 is the structural schematic diagram at knife rest；

Fig. 6 is the structural schematic diagram of telescopic mechanical arm device in the embodiment；

Fig. 7 is the structural schematic diagram of pitching robot arm device in the embodiment；

Fig. 8 is the structural schematic diagram of meshing gear rotating device in the embodiment；

Fig. 9 is the structural schematic diagram of buffer deceleration collection device in the embodiment；

Figure 10 is the structural schematic diagram of fruit transport network road inlet in the embodiment；

In figure: 1- pedestal；2- meshing gear rotating device；21- support column；22- low bottom-disc；23- central gear；24- row Star gear；25- top bottom-disc；The 5th motor of 26-；3- pitching robot arm device；31- right baffle-plate；32- right shell body；The 4th electricity of 33- Machine；34- crank and rocker mechanism；The left large arm of 35-；The right large arm of 36-；4- telescopic mechanical arm device；The left forearm of 41-；The right forearm of 42-； 43- lead screw；44- stretches left forearm；45- stretches right forearm；46- drawer sliding rail；47- leading screw bearing；48- third motor；49- rolling Pearl connector；5- separation picking executive device；The first support shaft of 51-；The first frame linking of 52-；The second support shaft of 53-；54- second connects Frame；55- first motor；56- rotational roller；57- is bent comb teeth；The right angle 58- fruit shading plate；59- guide groove；510- knife rest；511- Blade；512-V shape opening；513- elastic movement commutation lid；514- ear flange；515- rectangular channel；516- eccentric rotor；517- Second motor；6- buffer deceleration collection device；61- collecting fruit disk；62- spring；63- fruit transport network road；64- hairbrush；7- Storage tank；8- camera.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts Every other embodiment obtained, fall within the protection scope of the utility model.

Embodiment:

As shown in Figure 1, be a kind of embodiment of the more fruit orange intelligence seed harvesters of the utility model rotational comb tooth, Including pedestal 1, pedestal is equipped with the meshing gear rotating device 2 that can be rotated in the horizontal plane, the meshing gear rotating device 2 It is equipped with height-adjustable pitching robot arm device 3, the pitching robot arm device 3 is equipped with length-adjustable flexible machinery Arm assembly 4, the front end of the telescopic mechanical arm device 4 are equipped with separation picking executive device 5, and executive device 5 is picked in the separation It is connected to by buffer deceleration collection device 6 with the storage tank 7 being placed on pedestal, it can be real using meshing gear rotating device 2 The existing rotation of above-mentioned apparatus in the horizontal plane is filled to expand picking area using pitching robot arm device 3 and telescopic mechanical arm The height and length for setting 4 adjustable separation picking executive devices 5, pick the fruit of eminence.Below to each mechanism It is described in detail.

As Fig. 1 to Fig. 5 jointly shown in, separation picking executive device 5 includes being sequentially connected end to end in turn surround rectangular area the One support shaft 51, the first frame linking 52, the second support shaft 53 and the second frame linking 54, first support shaft 51 are fixed on described flexible On robot arm device 4, the end of the buffer deceleration collection device 6 is located at below rectangular area；It is set in the second support shaft 53 There is the rotational roller 56 driven by first motor 55, the bending comb extended along its axial direction is fixed on the rotational roller 56 Shape tooth 57 and right angle fruit shading plate 58, the rotational roller 56 is to be bent comb teeth 57 in preceding, the posterior direction of right angle fruit shading plate 58 It rotates, the guide groove 59 extended along 56 axial direction of rotational roller is provided on the right angle fruit shading plate 58, is equipped in the guide groove 59 The knife rest 510 of reciprocating linear sliding, is fixed with several blades 511 on the knife rest 510.

It is provided with several v-shaped openings 512 on right angle fruit shading plate 58, is additionally provided on the right angle fruit shading plate 58 and is located at described lead The elastic movement commutation lid 513 at 59 back side of slot, the elastic movement commutation lid 513 are connected to by the ear flange 514 of two sides In the v-shaped opening 512 of the right angle fruit shading plate 58, the knife rest 510 is fixed on the elastic movement commutation lid 513；In bullet Property movement commutation lid 513 on be provided with rectangular channel 515, be equipped in the rectangular channel 515 by the bias of the second motor 517 driving rotation Rotor 516, the eccentric rotor 516 rotate the width that inswept track outside diameter is greater than the rectangular channel 515, while small In the length of the rectangular channel 515.Under the driving effect of first motor 55, rotational roller 56 be bent comb teeth 57 it is preceding, The posterior direction of right angle fruit shading plate 58 rotates, and when moving closer to fruit, fruit enters curved under the action of active force is physically contacted Bent comb teeth 57, reaction force will also generate a direction torque opposite to the direction of rotation.

In the embodiment, the parallel between cog spacing of bending comb teeth 57 is 2-3cm, and the blade 511 is using land Blade, wherein parallel mutually equally spaced design is the diameter due to general orange fruit between 56mm-72mm, in bending pectination Tooth 57, due to the effect of pullling of carpopodium and fruit branch, will be put down in 56 rotary course of rotational roller by 57 liang of comb teeth of bending The extruding of row part, so that elasticity of compression deformation will occur for orange fruit, the physical model of flexible deformation and research are as follows:

Assuming that two active forces are each parallel to orange radial direction, plane where each position is perpendicular in where orange carpopodium Axis, to discuss its maximum deformation state under by pressure condition.The radial cross-section of the fruit of orange is pressurized close to circle, orange Situation of change is as shown below:

Orange fruit is theoretical according to the He Zhi of Elasticity in the total deformation D of contact position when being squeezed by plate It can obtain:

In formula: E₁And E₂The elasticity modulus of respectively two contact objects；μ₁And μ₂The Poisson's ratio of respectively two contact objects；R₁ And R₂Respectively maximum curvature radius of the two articles in contact position；F is contact load.

Extruding of the orange by two parallel flats in experiment, since the elasticity modulus of orange fruit is much smaller than the elasticity of steel Modulus, therefore have:

In formula: E is elasticity modulus；μ is Poisson's ratio.

There is R for plate₁=∞ has orange fruitDue to fruit at upper and lower two while by flat The extruding of plate, therefore the displacement of extrusion head is twice of formula (1), thus it is writeable are as follows:

In formulaFor comprehensive elastic constant, can be obtained by formula (3)

For each orange, by the number for applying load test stabilization available one group of specific load F and total deformation D According to, and obtain a specific comprehensive elastic constant C value.

Known by He Zhi theory, maximum contact pressure occurs at contact surface center, and has

R is contact radius of circle in formula, i.e.,

So

The yield point of fruit is boundary in the intersection point of flexible deformation and plastic deformation, should meet the rule of elastic deformation stage, Therefore the yield limit of orange fruit, extruding force-yield force when F should take orange permanent scar occur at this time can be calculated with above formula F_b。

It can be seen from the above, fruit is by the pulling force due to carpopodium and by bending in bending 57 rotary course of comb teeth During the parallel position of comb teeth 57 squeezes, since the revolving speed of comb teeth is not high, therefore the instant impact generated is negligible, therefore And fruit is not in permanent scar, thus the tender fruit appearance of effective protection.

When equipment is started to work, it is first turned on and provides the second motor 517 of electric power, the second motor 517 by button cell Output shaft export a rotary motion, and then rotate eccentric rotor 516, institute is inswept by eccentric rotor 516 rotary motion Track outside diameter be greater than rectangular channel 515 width, and be less than rectangular channel 515 length, so that rotary motion is changed into Fast reciprocating linear motion, and then the knife rest 510 being fixed on elastic movement commutation lid 513 is made to do fast reciprocating linear motion. It is noted that the stroke that knife rest 510 moves reciprocatingly depends on the track outside diameter and rectangular channel of eccentric rotor 516 The difference of 515 width, i.e. difference are bigger, and stroke is bigger, but cannot be infinitely great.Because guaranteeing that eccentric rotor 516 can not It is interferingly rotated, needs a certain distance.

At the same time, rotational roller 56 is ceaselessly rotating, and causes carpopodium to enter separation picking under the action of pulling force and holds Luggage sets 5 share zone, while keeping carpopodium and shear plane near normal state.During cutting off carpopodium, first The cutting characteristic for seeing carpopodium obtains the maximum Cutting Drag value of orange carpopodium in the case where loading velocity is 30mm/min, real Testing data see the table below

From the results, it was seen that non-linear pass between the maximum Cutting Drag of orange carpopodium and the average value of orange carpopodium System, and the maximum Cutting Drag of each orange carpopodium is dramatically different, the sample maximum Cutting Drag value for testing selection is 88.93N, The cutting force that the moment momentum sheared generates is greater than 88.93N, it can reaches the effect for cutting different size of orange carpopodium Fruit.

Selection for cutter, we have chosen land blade.The blade is frivolous and sharp, shaves manually similar to old-fashioned The blade of knife.It is characterized in that it is light-weight, it is easily installed, interchangeability is good, and modular assembly is good.It can be in certain special feelings The cutter of quick-replaceable different model under condition, to meet the different demands of production.But the selection of cutter will directly affect shearing effect Fruit, for the influence factor of shear effect, substantially it is contemplated that there is the cutting characteristic of carpopodium by cutting edge roundness form, cutting speed With slip cutting angle etc..

Therefore, 3 kinds of cutting speeds (150,250,350mm/min), 3 kinds of cutters (flat cutter, arc cutter and serrated knife) are chosen respectively Single factor test cutting test is carried out to orange carpopodium with 3 kinds of slip cutting angles (0 °, 30 ° and 60 °), these factors is studied and orange carpopodium is cut Cut the influence of performance.

Cutting power needed for cutting carpopodium is calculated as follows:

P=∫ F (L) VdL (6)

P is cutting power (W) in formula, and F is carpopodium cutting force (N), and V is cutting speed (m/s), and L is cutting displacement (mm).

1. influence of the cutting speed to carpopodium cutting characteristic

When using flat cutter and slip cutting angle as 0 °, the change of orange carpopodium peak value cutting force and cutting power under different cutting speeds Change as shown below.By the following figure as it can be seen that the peak value cutting force and cutting power of cutting speed and orange carpopodium are in non-linear relation； With the increase of cutting speed, peak value cutting force and cutting power first quickly reduce, and then slowly reduce.In addition, according to test Data obtain, and the cutting displacement under 3 kinds of cutting speeds (150,250,350mm/min) is respectively 8.40,7.37,6.92mm, i.e., Cutting speed is bigger, and amount of bow when carpopodium is cut is smaller, and clipping time is shorter.But the shortening of clipping time be also early period it is fast, Later period is slow.It can be seen that the cutting force, cutting power and clipping time of carpopodium can be reduced by improving cutting speed, but with cutting The increase of speed slows down.It therefore, is the power matching for coordinating cutting mechanism, cutting speed should be greater than certain value, but It does not answer excessive.The subsequent trial stretch for also needing to expand cutting speed, to obtain suitable cutting speed range of choice.

Influence of the cutting speed to orange carpopodium peak value cutting force and cutting power

The results of analysis of variance of orange carpopodium cutting test data under different cutting speeds see the table below, by following table it is found that Cutting speed is significant (P < 0.05) to peak value cutting force, cutting displacement and the influence of cutting power, but conspicuousness has differences. Influence of the cutting speed to cutting power is most significant, followed by cutting force, is finally cutting displacement.

The citrus carpopodium cutting experiment data variance of different cutting speeds is analyzed

2. different form cutter influences orange carpopodium cutting characteristic

When cutting speed is 250mm/min and slip cutting angle is 0 °, different form cutter to orange carpopodium peak value cutting force and The influence for cutting displacement is as shown below.By the following figure it is found that the peak value cutting force of serrated knife and cutting displacement are maximum, and arc cutter is most It is few；The a little higher than arc cutter of peak value cutting force of flat cutter, but cut displacement and be far longer than arc cutter.Therefore, it when slip cutting angle is 0 °, adopts Carpopodium is easier to and can quickly cut off with arc cutter, and cutting efficiency is high.

Influence of the cutter form to orange carpopodium peak value cutting force and cutting displacement

3. influence of the sliding cutting angle to orange carpopodium cutting characteristic

Process observation is tested to when slip cutting angle is 0 °, carpopodium generated starting under cutting force effect is split by sliding cutting Line results from outside (far from cutter side)；And when slip cutting angle is 30 ° and 60 °, initial crack results from inside (with tool contact Side).Control is it is found that orange carpopodium notch is more smooth as slip cutting angle increases.

It selects cutting speed for 250mm/min, orange carpopodium under different slip cutting angles is carried out using flat cutter and serrated knife respectively and is cut Test is cut, peak value cutting force is obtained and cutting displacement is as shown below with the relation curve of slip cutting angle.By the following figure it is found that either Flat cutter or serrated knife cutting, slip cutting angle influences extremely significant (P < 0.01) to orange carpopodium peak value cutting force, with the increasing of slip cutting angle Greatly, flat cutter and serrated knife reduce the peak value cutting force of carpopodium, and serrated knife is long-range at 0 ° of slip cutting angle to the peak value cutting force of carpopodium In flat cutter, but close to flat cutter when slip cutting angle is 30 °；Slip cutting angle it is also significant to orange carpopodium peak value cutting Influence of Displacement (P < 0.05) extremely significant (P < 0.01) is influenced when, but flat cutter is cut, with the increase of sliding cutting angle, flat cutter and serrated knife cut orange fruit After the cutting displacement of handle first reduces and increases afterwards, but slip cutting angle is 30 °, the cutting displacement of flat cutter is significantly increased, and serrated knife increase compared with It is few.

By analyzing above it is found that using certain slip cutting angle, the peak value cutting force of orange carpopodium can be reduced, its fracture is improved Quality.But when being cut using flat cutter, slip cutting angle is not answered excessive, in order to avoid clipping time is too long, reduces picking rate；And use serrated knife Carpopodium is cut, slip cutting angle should be greater than 30 °, can quickly cut off carpopodium.

Influence of the cutter to orange carpopodium peak value cutting force and cutting displacement

This test result shows that cutting process, orange carpopodium bend, when slip cutting angle is 0 °, carpopodium initial crack Outside is resulted from, when slip cutting angle is 30 ° and 60 °, initial crack results from inside, and slip cutting angle is bigger, and carpopodium notch is more smooth.

Cutting speed, cutter form and slip cutting angle influence the cutting mechanics parameter of orange carpopodium significant.With cutting The increase of speed, peak value cutting force, cutting power and cutting displacement first quickly reduce, then slowly reduce；With slip cutting angle Increase, peak value cutting force reduces, but cuts displacement and first reduce and increase afterwards.

When slip cutting angle is 0 °, flat cutter and serrated knife are compared, arc cutter is displaced most the peak value cutting force of orange carpopodium and cutting It is few, it can quickly be easy cutting carpopodium；Although the peak value cutting force of orange carpopodium can be reduced by increasing slip cutting angle, flat cutter is cut It cuts, slip cutting angle is not answered excessive, in order to avoid clipping time is too long, reduces picking rate；It being cut using serrated knife, slip cutting angle should be greater than 30 °, Not only the cutting force of orange carpopodium greatly reduces, and clipping time increase is also smaller, can quickly cut off carpopodium.

Therefore selection arc Tooth shape cutter has reasonable scientific basis, can quickly cut off carpopodium, reduces the fruit residence time, Improve the continuity of harvest.

In the practical growing environment of orange fruit, usual three twenty percents fasciation is long.For this problem, we can also be incited somebody to action Bending 57 lower part of comb teeth is designed to that honeycomb cheats area's shape, will be due to carpopodium after fruit enters in bending comb teeth 57 Pulling force and enter adjacent three or the area Liang Gekeng, thus reduce increase since fruit extravagance is not opened and cut off carpopodium and fruit Branch to reduce the probability of damage fruit tree, and improves the property sheared of cutter, because fruit branch or its longer shearing of carpopodium are difficult Degree is bigger, to improve picking rate.

After fruit is picked, it will be fallen between bending comb teeth 57, since rotational roller 56 has certain radius Radian can not only prevent fruit to be stuck in 58 back side of right angle fruit shading plate, additionally due to Elastic Contact, can give in whereabouts Horizontal initial rate one acceleration of lesser fruit, to increase the level speed that its parabola in this small spatial dimension falls Degree, thus transfer fruit rapidly, it will not congestion.It picks and receives quick, safe and efficiently in this way, realizing Collection, this meets the basic demand of agricultural modernization, also meets pursuit foreign countries of China, carries out large area, rapidly and efficiently, low waste product The requirement of rate picking production.

As shown in fig. 6, telescopic mechanical arm device 4 includes the left forearm 41 and right forearm 42 of parallel arrangement, the left forearm It is equipped with lead screw 43 in parallel between 41 and right forearm 42, the two sides of the lead screw 43 are additionally provided with the left forearm 44 and flexible of stretching Right forearm 45 passes through between the left forearm 41 and the left forearm 44 that stretches, between the right forearm 42 and the right forearm 45 that stretches Drawer sliding rail 46 realizes relative rectilinear sliding, and first support shaft 51 is fixed on left forearm 44 and the right forearm that stretches of stretching On 45；The leading screw bearing 47 of left forearm 41 and right forearm 42 being fixedly arranged at the front end with for lead screw 43 described in support, the left forearm 41 and the rear end of right forearm 42 be further fixed on the third motor 48 for driving the lead screw 43 to rotate, be arranged on the lead screw 43 There is ball connector 49 engaged therewith, it is fixed between the ball connector 49 and the left forearm 44 that stretches, the right forearm 45 that stretches Connection.

This part is driven using ball-screw transmission mechanism, and ball-screw is to convert rotary motion to straight line fortune It is dynamic, or by transform linear motion at the ideal product of rotary motion.As most-often used in machine tool and precision machinery Actuated element, this part converts rotational motion to linear movement using ball-screw transmission mechanism, or torque is converted At axial repeated action power, it is provided simultaneously with high-precision, invertibity and efficient feature.Drawer sliding rail 46 have stable drive, Bearing capacity is big, stablizes durable characteristic, improves the performance of mechanical entirety, economically for, with relatively high Cost performance is easily formed market.

Both ball-screw and drawer sliding rail all have the characteristics that stability, carry out power transmission that can be stable and movement Transmitting provides good basis for entire mechanical performance stabilization, it may be said that the structure has excellent performance.

As shown in fig. 7, pitching robot arm device 3 includes the right baffle-plate 31 and right shell body 32 of fixed setting, the right shell body It is fixed with the 4th motor 33 on 32, the crank rocker driven by the 4th motor 33 is equipped between the right baffle-plate 31 and right shell body 32 The rear end of mechanism 34, the crank and rocker mechanism 34 and the right forearm 42 is articulated and connected；Pitching robot arm device 3 further includes point It is not fixed on right baffle-plate 31, the left large arm 35 in right shell body 32, right large arm 36, it is parallel between the left large arm 35 and right large arm 36 The intermediate position of setting, the right forearm 42 is articulated and connected in the upper end of the right large arm 36.The pitching robot arm device 3 utilizes Crank and rocker mechanism 34 expands the job area of overall mechanism vertical direction, convenient for picking the orange of different height, and crank Rocker device 34 is also relatively conventional structure in the art, and details are not described herein.

As shown in figure 8, being fixed with low bottom-disc 22, the meshing gear rotation by more vertical support columns 21 on pedestal 1 Rotary device 2 includes the central gear 23 that level is fixed on the low bottom-disc 22, and the periphery of the central gear 23 is equipped with and it The planetary gear 24 of engagement, the upper and lower surfaces of the planetary gear 24 are respectively and fixedly provided with pivoting support bearing and (do not show in figure Out), top bottom-disc 25 is fixed on the slewing bearing of top, the slewing bearing of lower section is contacted with the low bottom-disc 22； The right baffle-plate 31 and right shell body 32 are fixed on the top bottom-disc 25, and the driving planet is further fixed on the top bottom-disc 25 The 5th motor 26 that gear 24 rotates.In the embodiment, pivoting support bearing is zinc-plated hollow rotating disk, among upper layer and lower layer Swivel bearing is rolling bearing, the rotation and load-bearing for top bottom-disc 25.

Select nylon as making material in terms of central gear 23 and planetary gear 24, this is because nylon is with good Comprehensive performance, including mechanical property, heat resistance, wear resistance, chemical resistance and self-lubrication, and coefficient of friction is low, has Certain anti-flammability, it is easy to process, it is suitable for using glass fibre and other filler filling enhancing modifieds, improves performance and expand application Range, next its overload protection function, when torque is excessive, gear itself is damaged, and power transmission interrupts to protect low-level device Or personal safety, reduce loss.When using the material, the hardness of the tensile strength 80Mpa of nylon, tooth core portion and the flank of tooth are 25 ~35HBS.It is required to select 75 tooth of gear wheel according to transmission, 15 tooth of pinion gear, modulus is 2, and pressure angle is 20 °.

In addition, in the camera 8 being additionally provided on left forearm 44 and the right forearm 45 that stretches towards the rotational roller 56 that stretches, Realtime graphic can be transmitted at user, to be operated according to the actual situation.

As shown in Figure 9 and Figure 10, buffer deceleration collection device 6 includes the collecting fruit disk 61 below rectangular area, The collecting fruit disk 61 is connected with fruit transport network road 63 by spring 62, and fruit transport network road 63 extends downward into institute State storage tank 7；The width of the collecting fruit disk 61, the internal diameter of spring 62 are gradually reduced along the direction of motion of fruit, the fruit It is real successively to pass through collecting fruit disk 61, the inner cavity of spring 62, fruit transport network road 63, reach the storage tank 7.Fruit transport Net road 63 is made with scalable ventilative nylon, it can execute dress with separation picking rich in fabulous elasticity Set 5 swing up and down with it is elastic and moved.It is additionally provided at the inlet internal in fruit transport network road 63 positioned at same A circle hairbrush 64 on cross section, hairbrush 64 is a kind of banister brush with certain degree of hardness, and effect is to slow down orange fruit Impact in tangible dropping process, to play the role of protecting fruit.

The more fruit orange intelligence seed harvester structures of the rotational comb tooth of the utility model are simple, easy to use, Neng Gouyou Effect improves the efficiency of picking fruit, while fruit being protected not to be damaged, and has good practicability.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model Protection scope within.

Claims (9)

1. the more fruit orange intelligence seed harvesters of rotational comb tooth, it is characterised in that: including pedestal, the pedestal is equipped with can be The meshing gear rotating device rotated in horizontal plane, it is mechanical that the meshing gear rotating device is equipped with height-adjustable pitching Arm assembly, the pitching robot arm device are equipped with length-adjustable telescopic mechanical arm device, the telescopic mechanical arm device Front end is equipped with separation picking executive device, and the separation picking executive device is by buffer deceleration collection device and is placed in pedestal On storage tank connection；

The separation picking executive device includes being sequentially connected end to end in turn the first support shaft for surrounding rectangular area, the first frame linking, the Two support shafts and the second frame linking, first support shaft are fixed on the telescopic mechanical arm device, and the buffer deceleration is collected The end of device is located at below rectangular area；

Second support shaft is equipped with the rotational roller driven by first motor, is fixed on the rotational roller along its axial direction The bending comb teeth and right angle fruit shading plate that direction extends, the rotational roller is to be bent comb teeth in preceding, right angle fruit shading plate rear Direction rotate, the guide groove extended along rotational roller axial direction is provided on the right angle fruit shading plate, is equipped in the guide groove past The knife rest of complex line sliding, is fixed with several blades on the knife rest.

2. the more fruit orange intelligence seed harvesters of rotational comb tooth as described in claim 1, it is characterised in that: the right angle gear It is provided with several v-shaped openings on fruit plate, the elastic movement commutation lid positioned at the guide groove back side is additionally provided on the right angle fruit shading plate, The elastic movement commutation lid is connected in the v-shaped opening of the right angle fruit shading plate by the ear flange of two sides, the knife rest The elastic movement commutation is fixed on to cover；

The elastic movement commutation, which covers, is provided with rectangular channel, is equipped in the rectangular channel and is turned by the bias that the second motor driven rotates Son, the eccentric rotor rotates the width that inswept track outside diameter is greater than the rectangular channel, while being less than the rectangle The length of slot.

3. the more fruit orange intelligence seed harvesters of rotational comb tooth as claimed in claim 2, it is characterised in that: the bending comb The parallel between cog spacing of shape tooth is 2-3cm, and the blade is land blade.

4. the more fruit orange intelligence seed harvesters of rotational comb tooth as described in claim 1, it is characterised in that: the telescopic machine Tool arm assembly includes the left forearm and right forearm of parallel arrangement, and silk in parallel is equipped between the left forearm and right forearm Thick stick, the two sides of the lead screw, which are additionally provided with to stretch, left forearm and stretches right forearm, between the left forearm and the left forearm that stretches, described Relative rectilinear sliding is realized by drawer sliding rail between right forearm and the right forearm that stretches, first support shaft is fixed on described It stretches and left forearm and stretches on right forearm；

The leading screw bearing of the left forearm and right forearm being fixedly arranged at the front end with for lead screw described in support, the left forearm and the right side are small The rear end of arm is further fixed on the third motor for driving the lead screw rotation, is arranged with ball engaged therewith on the lead screw Connector is fixedly connected between the ball connector and the left forearm that stretches, the right forearm that stretches.

5. the more fruit orange intelligence seed harvesters of rotational comb tooth as claimed in claim 4, it is characterised in that: the pitching machine Tool arm assembly includes the left baffle and right baffle of fixed setting, is fixed with the 4th motor in the right shell body, the right baffle-plate and It is equipped between right shell body by the 4th motor-driven crank and rocker mechanism, the rear end of the crank and rocker mechanism and the right forearm Articulated connection；

The pitching robot arm device further includes being individually fixed in right baffle-plate, the left large arm in right shell body, right large arm, described left big It is arranged in parallel between arm and right large arm, the intermediate position of the right forearm is articulated and connected in the upper end of the right large arm.

6. the more fruit orange intelligence seed harvesters of rotational comb tooth as claimed in claim 5, it is characterised in that: on the pedestal It is fixed with low bottom-disc by more vertical support columns, the meshing gear rotating device includes that level is fixed on the low bottom-disc On central gear, the periphery of the central gear is equipped with the planetary gear engaged, the planetary gear upper surface and Lower surface is respectively and fixedly provided with pivoting support bearing, and top bottom-disc, the revolving support axis of lower section are fixed on the slewing bearing of top It holds and is contacted with the low bottom-disc；

The left baffle and right baffle is fixed on the top bottom-disc, and the driving planetary gear is further fixed on the top bottom-disc 5th motor of rotation.

7. the more fruit orange intelligence seed harvesters of rotational comb tooth as described in claim 1, it is characterised in that: the buffering subtracts Fast collection device includes the collecting fruit disk below rectangular area, and the collecting fruit disk is connected with fruit by spring and transports The road Shu Wang, fruit transport network road extend downward into the storage tank；

The width of the collecting fruit disk, the internal diameter of spring are gradually reduced along the direction of motion of fruit, and the fruit successively passes through Collecting fruit disk, the inner cavity of spring, fruit transport network road reach the storage tank.

8. the more fruit orange intelligence seed harvesters of rotational comb tooth as claimed in claim 7, it is characterised in that: the fruit fortune The circle hairbrush on same cross section is additionally provided at the inlet internal in the road Shu Wang.

9. the more fruit orange intelligence seed harvesters of rotational comb tooth as claimed in claim 4, it is characterised in that: the flexible left side The camera towards the rotational roller is additionally provided on forearm and the right forearm that stretches.