CN208317468U - High-altitude fruit and vegetable picking - Google Patents
High-altitude fruit and vegetable picking Download PDFInfo
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- CN208317468U CN208317468U CN201820885689.4U CN201820885689U CN208317468U CN 208317468 U CN208317468 U CN 208317468U CN 201820885689 U CN201820885689 U CN 201820885689U CN 208317468 U CN208317468 U CN 208317468U
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Abstract
The utility model belongs to fruit and vegetable picking technical field, discloses a kind of high-altitude fruit and vegetable picking, including picking execution module, picking drive module, telescopic rod module and picking control module；Picking execution module includes upper guide cam lid and lower guide cam seat, and overhead cam groove is set in upper guide cam lid, sets cam groove in lower guide cam seat；Upper guide cam lid and lower guide cam seat form hollow receiver chamber, and hollow receiver is intracavitary to set cutterhead, upper cutting blade and lower cutting blade, and cutterhead drives upper cutting blade, lower cutting blade to circle respectively in the case where picking drive module drives；Picking control module circles cutterhead by control picking drive module movement；Upper cutting blade, lower cutting blade can move in overhead cam groove, lower cam groove respectively；Up/down cutting blade is rotated with cutterhead, completes the sawing action to picking position, while being controlled and being swung by cam curve again, and the shearing of conjunction knife and the tool backlash movement of up/down cutting blade are completed.
Description
Technical field
The utility model relates to fruit and vegetable picking technical fields, and in particular, to a kind of high-altitude fruit and vegetable picking.
Background technique
High-altitude fruits and vegetables are typically due to its height problem and bring inconvenience to picking, if the fruits and vegetables branch is more sturdy, picking
Personnel are still picked by climbing branch to reach the height of fruits and vegetables, even but climbing sometimes arrived double altitudes, by
More inclined in fruits and vegetables growth, picking personnel still can not get at fruits and vegetables simply by hand, need by existing simple and crude cutting
Tool cuts off fruits and vegetables root the base of a fruit or draws the branch where fruits and vegetables over to one's side by tools such as long hooks；Such as the fruits and vegetables branch is thinner, does not have
There is the adjusting for picking personnel climbing, then the personnel of picking can only pick fruits and vegetables by the tools such as ladder or long hook, and
, all there are some security risks in either which kind of picking means such as picking personnel fall from branch, fall from ladder, draw over to one's side
Branch scratch skin etc., furthermore will lead to that fruit and vegetable surfaces are different degrees of to be drawn by using simple and crude cutting tool picking fruits and vegetables
Wound etc. influences fruits and vegetables quality.
It is well known that high-altitude fruits and vegetables such as apple, takes fruit bag since September 20th or so every year, picks always to October
20 or so, because Apple with Fruit-bagged Treatment stresses coloring problem, current picking means do not ensure that apple is in two or three days being adopted rapidly
It plucks and finishes, therefore present peasant household generally takes and a part of sack is first taken to be picked, then wait that color difference is few to be picked again
A part, because if, because manpower problem causes picking efficiency low, just will appear some apples if taking fruit bag simultaneously
Coloring is serious, influences mouthfeel and value.Therefore apple also be can't help in picking has elongated plucking time, general to obtain a month left side
The right side, and apple tree mean stand height is four meters, orchard worker picks by traditional manpower, inefficiency and easily causes danger, and traditional
Picking machine directly grabbed using rubber machine machinery claw apple although improve picking efficiency but machine volume it is big, it is mobile it is heavy, at
This is higher, is not the ideal chose of most of orchard worker.
Summary of the invention
The technical issues of the utility model solves is to overcome the deficiencies of existing technologies, provide a kind of automation, can be high
Effect completes picking operations and guarantees to pick the high-altitude fruit and vegetable picking of quality.
The purpose of this utility model is achieved through the following technical solutions:
A kind of high-altitude fruit and vegetable picking, including picking execution module, picking drive module, telescopic rod module and picking control
Molding block.
Wherein picking execution module includes upper guide cam lid and lower guide cam seat, is equipped in upper guide cam lid convex
Groove is taken turns, is equipped with lower cam groove in lower guide cam seat, lower cam groove is arranged in pairs with overhead cam groove.
Specifically, upper guide cam lid and lower guide cam seat cooperatively form hollow receiver chamber, and hollow receiver is intracavitary to be equipped with
Cutterhead, upper cutting blade and lower cutting blade, cutterhead can be circled in the case where picking drive module drives, upper guide cam
Lid, lower guide cam seat and cutter head center all have centre bore and execute picking operations convenient for fruit and vegetable picking.
Upper cutting blade and lower cutting blade include blade part and blade support sector, and blade part is in crescent shape arc knot
The non-blade port portion of structure, blade support sector and blade part connects, and one end of blade support sector, which is equipped with, to be used for upper cutting blade/backspin
Cutting edge is hinged to the hinge hole of cutterhead；The other end of blade support sector, which is equipped with, can assist cutting blade, backspin for installing
The mounting hole for the connecting component that cutting edge is moved along overhead cam groove, lower cam groove respectively；Blade support sector include upper surface,
Lower surface and knife spine face.
Upper cutting blade and lower cutting blade are installed in the opposite mode of crescent shape arcuate structure to cutterhead, upper peeling knife
The hinge joint of piece and lower cutting blade and cutterhead on the diameter line of cutterhead, the hinge joint of lower cutting blade and cutter head center away from
From the hinge joint less than upper cutting blade at a distance from cutter head center, under the blade support sector of upper cutting blade and lower cutting blade
Surface is in the same plane or lower surface is oppositely arranged and has gap.
Cam curve expression formula is based on lower cam groove
Cam curve expression formula is based on overhead cam groove
Corresponding xr、yrExpression formula be
Wherein ω and t is cam curve coordinate position parameter, and ω is the angular speed that cutterhead circles, and t is cutterhead
Make the time of a circular motion cycle, r0The center of circle circled for hinge joint of the lower cutting blade on cutterhead to cutterhead
The distance between, e is the deviation of lower guide cam seat formation away from l is in the hinge hole and mounting hole at lower cutting blade both ends
Heart line distance.
Telescopic rod module include can be connected to picking execution module telescopic rod, telescopic rod by coaxial arrangement and radius by
Gradually increased loop bar composition, telescopic rod can arbitrarily elongate or shorten to control where picking execution module reaches high-altitude fruits and vegetables
Height executes picking operations.
Picking control module makes cutterhead that circular motion occur by control picking drive module movement.
Further, t can be taken as 0~1, and generally, t is determined according to the practical situations of fruit and vegetable picking.
Further, picking drive module include decelerating motor, the driving gear being connected with the motor shaft of decelerating motor, can
The driven gear of engaged transmission occurs with driving gear, lower guide cam seat tool has axial step, and driven gear passes through in inner hole
In be embedded bearing after be sheathed in axial step, driven gear is fixedly connected with cutterhead.
Further, axial step periphery be uniformly provided at least two for install contacted with bearing inner race simultaneously compression axis
The non-close mounting hole of the compressing member held.
Still further, be also electrically connected on decelerating motor rotary encoder for monitor cutterhead successively rotate a circle come it is smart
Really control upper cutting blade, lower cutting blade resets.
Further, picking execution module further includes the pedestal that driven gear endface is arranged in, and pedestal is respectively under
Guide cam seat, the connection of upper guide cam bonnet bolt, pedestal have centre bore.
Still further, being additionally provided with adjusting washer between bearing inner race end face and pedestal.Further, telescopic rod module
Further include the hand-held shank body for being set to telescopic rod end, is provided with controllable telescopic rod between hand-held shank body and telescopic rod and gradually stretches
Electrical retractor that is long or shortening, hand-held shank body are equipped with the control button being electrically connected with electrical retractor.
Specifically, electrical retractor includes power supply, motor, winding band, push rod and winding gear, and winding gear rotation is set
It is placed in manual shaft body, push rod one end is arranged in telescopic rod and is fixed to the picking execution module being fixedly connected with telescopic rod
On, the push rod other end is fixedly connected with the first end of winding band, and the second end volume for winding band is set to winding outer peripheral gear, is received
The driving cog that the setting of winding inner peripheral surface is meshed with winding outer peripheral gear, power supply are motor power supply, and motor driven winds gear rotation
Turn.
Further, upper guide cam, which covers, is additionally provided with fruits and vegetables collection module, and fruits and vegetables collection module includes transmission bag, passes
Send bag close to upper guide cam lid it is open-ended on retainer plate is installed, be uniformly provided on upper guide cam lid outer end face multiple
The movable deck for setting retainer plate can be blocked, transmit bag retainer plate card set to movable deck after can ensure that picking execution module at pick
Fruits and vegetables by upper guide cam lid centre bore enter transmission bag in.
Still further, the transmission end of transmission bag is non-close end, transmission distal opening is scalable opening.
Also further, it is arranged at intervals on middle section of the transmission bag between retainer plate and scalable opening multiple scalable
Lasso.
Compared with prior art, the utility model has the following beneficial effects:
1) this fruit and vegetable picking is small in size, mobility strong, easy to carry, by the scalable module design of hommization, leads to
Being elongated or shortened automatically to carry out high-altitude fruit and vegetable picking of telescopic rod can be realized by crossing pressing control button, and pick it is whole-process automatic into
Row completes picking work easily efficiently；
2) each cam groove is drawn out using unique cam curve in guide cam lid and lower guide cam seat on, respectively
Cutting blade, which is operated and crossed in corresponding cam groove, completes the movement of the cutting fruits and vegetables root base of a fruit, and cutoff action is fast and each
Cutting blade automatic withdrawal is rapid, can continuously and efficiently carry out high-volume fruit and vegetable picking；
3) rotary motion that the circular motion that each cutting blade is driven by cutterhead and corresponding cam groove drive is made simultaneously
With rotation sawing and shear action of the completion to the fruits and vegetables root base of a fruit reduce cutting difficulty, effectively prevent knife caused by single shearing
Piece problem on deformation, while also ensuring that the notch of the fruits and vegetables root base of a fruit is beautiful uniformly；
4) it is circled by driving gear and driven gear engagement come band movable knife disc, is equivalent to Purely mechanical transmission,
The running accuracy of cutterhead is high, it can be ensured that the functional reliability of each cutting blade；
5) setting of adjusting washer avoids rotation, it can be achieved that the spacing between upper cutting blade and overhead cam groove is adjustable
Spacing between cutting edge and overhead cam groove is excessive and deviates from from overhead cam groove；
6) by setting transmission bag, make the fruits and vegetables after up/down cutting blade is cut can be immediately smoothly along the road of transmission bag
Diameter slowly falls up to being collected into storage basket by user, avoids the fruits and vegetables root base of a fruit from directly falling to ground after high-altitude is cut and falls
Bad risk, and the transmission bag of the transmission end with scalable opening, can give the certain buffering of fruits and vegetables in transmission end, prevent
Only user occurs from the situation that fruits and vegetables when taking out fruits and vegetables in transmission bag fall out from transmission bag not in time, in addition, transmission bag middle section
Multiple scalable lassos are arranged in upper interval, and fruit and vegetable picking can be made in continuously picking fruits and vegetables, continuously fall in transmission bag
Fruits and vegetables will not occur rapidly mutually to collide, but can just be in contact after substantially buffering, and at this time between fruits and vegetables
Injury will not be generated to fruits and vegetables itself substantially by contacting with each other.
Detailed description of the invention
Fig. 1 is the surface structure schematic diagram of high-altitude fruit and vegetable picking described in embodiment 1；
Fig. 2 a is that high-altitude fruit and vegetable picking described in embodiment 1 picks execution module and picks the explosive view of drive module；
Fig. 2 b is the partial sectional view of high-altitude fruit and vegetable picking described in embodiment 1；
Fig. 3 is the structural schematic diagram of cutterhead described in embodiment 1；
Fig. 4 is the structural schematic diagram of upper cutting blade described in embodiment 1；
Fig. 5 is the structural schematic diagram of lower cutting blade described in embodiment 1；
Fig. 6 is the structural schematic diagram of upper guide cam lid described in embodiment 1；
Fig. 7 is the structural schematic diagram of lower guide cam seat described in embodiment 1；
Fig. 8 is the structural schematic diagram of bushing described in embodiment 1；
Fig. 9 is the explosive view of telescopic rod module described in embodiment 1；
Figure 10 is the side structure schematic diagram of movable deck described in embodiment 1；
Figure 11 is the movement locus schematic diagram of upper cutting blade described in embodiment 1, lower cutting blade；
Figure 12 is upper cutting blade described in embodiment 1, the feed of lower cutting blade, withdrawing track schematic diagram；
Figure 13 is upper cutting blade described in embodiment 1, lower cutting blade crosses and completes the track schematic diagram of cutoff action；
Figure 14 illustrates schematic diagram away from e for deviation described in embodiment 1.
Specific embodiment
The utility model is further described With reference to embodiment, wherein being given for example only property of attached drawing
Illustrate, expression is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent；In order to which this reality is better described
With novel embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To ability
For field technique personnel, the omitting of some known structures and their instructions in the attached drawings are understandable, is separately referred to herein
Upper and lower position relationship description does not represent well known upper and lower position.
Embodiment 1
A kind of fruit and vegetable picking near the ground is provided, as described in Figure 1, including execution module is picked, picking drive module, can stretch
Contracting bar module and picking control module.
As shown in Figure 2 a and 2 b, picking execution module includes upper guide cam lid 11 and lower guide cam seat 12, is such as schemed
Shown in 6, overhead cam groove 111 is equipped in upper guide cam lid 11, as shown in fig. 7, being equipped with lower cam in lower guide cam seat 12
Groove 121, lower cam groove 121 are arranged in pairs with overhead cam groove 111.
Upper guide cam lid 11 and lower guide cam seat 12 are cooperatively connected to form hollow receiver chamber by bolt, such as Fig. 3 to 5
Shown, hollow receiver is intracavitary to be equipped with cutterhead 13, upper cutting blade 14 and lower cutting blade 15, and cutterhead 13 can be in picking drive module
(being in principle uniform circular motion) is circled under drive, wherein upper guide cam lid 11, lower guide cam seat 12 and knife
13 center of disk all have centre bore convenient for fruit and vegetable picking execute picking operations, this fruit and vegetable picking be by by centre bore in fruit
Ramping after empty alignment fruits and vegetables under vegetable makes the position of cutterhead 13, upper cutting blade 14 and lower cutting blade 15 that can be directed at fruits and vegetables root
The base of a fruit is in case subsequent cutting is picked.
As shown in Figure 4 and Figure 5, upper cutting blade 14 and lower cutting blade 15 include blade part and blade support sector (on
Cutting blade blade part is 141, blade support sector is 142, the blade part of lower cutting blade is 151, blade support sector be 152),
Blade part is in crescent shape arcuate structure, and the non-blade port portion connection of blade support sector and blade part, one end of blade support sector is equipped with
For the lower cutting blade 15 of upper cutting blade 14/ to be hinged to the hinge hole of cutterhead 13；The other end of blade support sector, which is equipped with, to be used
Upper cutting blade 14, lower cutting blade 15 can be assisted to move respectively along overhead cam groove 111, lower cam groove 121 in installation
The mounting hole of connecting component；Blade support sector includes upper surface, lower surface and knife spine face.
Upper cutting blade 14 is installed in the opposite mode of crescent shape arcuate structure to cutterhead 13 with lower cutting blade 15,
The hinge joint of upper cutting blade 14 and lower cutting blade 15 and cutterhead 13 is on the diameter line of cutterhead 13, wherein lower cutting blade
Hinge joint of 15 hinge joint at a distance from 13 center of cutterhead less than upper cutting blade 14 is at a distance from 13 center of cutterhead, upper rotary-cut
The blade of blade and lower cutting blade supports lower surface to be oppositely arranged and have gap, which is 0~1mm, upper rotation
The size of cutting edge and lower cutting blade needs to determine overall length and beam overall according to the actual design of this fruit and vegetable picking, general next
It says, in order to adapt to upper cutting blade and the respective motion profile of lower cutting blade and two cutting blades be better achieved cross
When cutting action, lower cutting blade outline in overall length and beam overall is less than upper cutting blade, upper cutting blade in the present embodiment
Attached drawing 4 and attached drawing 5 are seen with the relative dimensions of lower cutting blade.
The motion profile of lower cutting blade 15 shown in 1 referring to Fig.1,121 foundations of lower cam groove as shown in Figure 7
Cam curve expression formula be
Lower cam groove 121 and being arranged in pairs for overhead cam groove 111 are to make upper cutting blade 14 and lower peeling knife
The motion profile of piece 15 is exactly the opposite, therefore cam based on overhead cam groove 111 in upper guide cam lid as shown in FIG. 6
Curve representation formula is
Corresponding x in above-mentioned two expression formular、yrExpression formula be
Wherein ω and t is cam curve coordinate position parameter, and ω is the angular speed that cutterhead circles, and t is that cutterhead makees one
The time of a circular motion cycle, by t value 0~1, r in the present embodiment0For hinge joint of the lower cutting blade on cutterhead to knife
The distance between the center of circle that disk circles, e are the deviation of lower guide cam seat formation away from specifically, lower cutting blade exists
There is always an oscillation center during cam curve mobile (swings), deviation is the oscillation center to cutterhead work away from e
The distance between center of circle of circular motion, this oscillation center are an imaginary point, are in the present embodiment specifically lower peeling knife
In piece motion process the line of its hinge hole and mounting hole by it is constant by node, as shown in figure 14, cutting blade position instantly
When the E of position, lower cutting blade hinge hole and mounting hole center (see g, h point in Figure 14) line pass through O1Point；Instantly rotary-cut
When blade is located at position F, corresponding g', h' point line will also pass through O1Point, O1Point be it is above-mentioned it is constant by node,
OO1The distance between be line of centres distance of the deviation away from hinge hole and mounting hole that, l is lower cutting blade both ends.
Telescopic rod module includes that can be connected to the telescopic rod 41 of picking execution module (to increase the strong of telescopic rod module
Degree, the present embodiment, which is taken, is arranged U-shaped strengthening frame 42 in upper 11 outer end face of guide cam lid, and telescopic rod 41 is fixedly connected on U-shaped add
Gu on the crossbeam of frame 42), telescopic rod 41 is made of the loop bar being coaxially disposed and radius gradually increases, and telescopic rod 41 can arbitrarily be stretched
Long or shortening executes picking operations to control the height where picking execution module reaches high-altitude fruits and vegetables.Telescopic rod 41 both can be used
Manual mode elongates or shortens, and the mode of automation can also be used carrying out, on the one hand this fruit and vegetable picking is based on picking peace
The problem of full consideration, on the other hand and most important one side is then raising picking efficiency, therefore telescopic rod 41 in the present embodiment
It is preferred that being designed in such a way that automation is flexible.
Picking control module then makes cutterhead 13 that circular motion, picking control occur by control picking drive module movement
Module provides power supply and power for picking drive module.
Specifically, as shown in Figure 4 and Figure 5, the tapered knot in cutting edge portion of upper cutting blade/lower cutting blade blade part
In the same plane, the taper of pyramidal structure is 18~22 ° for the lower surface of structure, the bottom surface of pyramidal structure and blade support sector, this
Embodiment is preferably 20 °；In addition, the vertical width in cutting edge portion is 6~10mm, preferably 8mm；The arc of arcuate structure blade part
Bending radius is 51mm.
For enhance upper cutting blade and lower cutting blade cross the sawing fruits and vegetables root base of a fruit when sharpness, can be by upper peeling knife
Piece/lower cutting blade cutting edge portion is designed as serrated cutting edge portion, and (zigzag is not shown in attached drawing, which is and common knife
It is identical to have cutting edge broached-tooth design).
It certainly, is the whole portability for guaranteeing fruit and vegetable picking, upper cutting blade/lower cutting blade is unsuitable blocked up, specifically
Ground, the blade support sector height of each cutting blade are 2.5~3mm.
Corresponding with the arcuate structure in cutting edge portion, blade support sector knife spine face is also in the curved bend that bending radius is 71mm
Bent structure, to be adapted with the inner circumferential structure of cutterhead.
Blade part and the end of blade support sector are connected smoothly, and generation on each cutting blade can be effectively prevent to be unfavorable for
Guarantee the sharp parts such as the wedge angle of fruits and vegetables good appearance when fruit and vegetable picking, while also avoiding each cutting blade because of these sharp parts
And the problem of being interfered with cutterhead inner circumferential.
The articulation piece installed in the hinge hole of blade support sector is positioning pin 16, the positioning pin 16 on each cutting blade with
Cutterhead 13 is welded and fixed, and each cutting blade still can relative positioning pin 16 make fixed point rotate freely, this measure can ensure that peeling knife
Piece 14 and lower cutting blade 15 reliably follow cutterhead 13 to circle, while not interfering each cutting blade along respective cams again
The moving operation of groove.
The connecting component installed in the mounting hole of blade support sector be positioning pin 16 and the bushing being set on positioning pin or
Miniature bearing (bushing and miniature bearing can reach the purpose for moving each cutting blade flexibly along respective cams groove), this reality
Selection bushing 17 in example is applied, as shown in figure 8, the upper surface and lower end surface of lining 17 are in semi-annular shape, two bushings can exist respectively
It is rolled in overhead cam groove 111 and lower cam groove 121, the design of semi-annular shape can reduce bushing 17 and each cam groove and each
Friction between cutting blade upper and lower surface, while the position-limiting action of the upper and lower operating position of restricted each cutting blade again.
As shown in figure 3, be provided on cutterhead 13 cushion block 131 for assist prevent cutting blade 14 and lower cutting blade 15
It is interfered when work, certainly, upper cutting blade moves during mobile around overhead cam groove with what cutterhead occurred relatively
It is dynamic to will be localized in sub-fraction region, therefore the cushion block on cutterhead need to be only arranged in the fraction region, in addition, lower rotary-cut
Blade will not enter in the region during the work time, therefore the cushion block being arranged in the region will not be to lower cutting blade
Movement generates interference effect.
Cushion block 131 is set as wedge structure 1311 (wedge structure actually refers in the end close to cutter head center hole
One inclined face, the inclined face is relatively lower in close central hole, relatively higher far from central hole), i.e., upper rotation
When having just enter into cushion block setting area, upper cutting blade will be gradually elevated by wedge structure and be connect with cushion block upper surface cutting edge
Touching, to guarantee that upper cutting blade is stably and reliably moved along overhead cam groove.
Picking drive module include decelerating motor 21, the driving gear being connected with the motor shaft of decelerating motor 22, can be with master
The driven gear 23 of engaged transmission occurs for moving gear, and lower guide cam seat tool has two layers of stepped axial step (including middle section
Axial step 122 and at the end of the axial step 123, the diameter of middle section axial step 122 are greater than the diameter of at the end of the axial step 123),
Driven gear 23 is sheathed at the end of the axial step 123 by being embedded after bearing 24 in inner hole, an end face of 24 inner ring of bearing
It is then contacted with the end face of middle section axial step 122, bore end is additionally provided with bearing limited step 231, bearing limit in driven gear
Spacing between step 231 and 122 end face of middle section axial step is equal with the height of bearing 24, and bearing is specially ultra-thin bearing,
Driven gear 23 and cutterhead 13 are bolted so that in engaged transmission, smoothly band movable knife disc rotates.
To fasten bearing 24, make the circular motion even running of cutterhead 13, the at the end of the axial step of lower guide cam seat 12
123 peripheries are also uniformly provided with two for installing the non-close mounting hole for the compressing member that bearing is contacted and compressed with bearing inner race
124, compressing member can be bolt, and the setting of compressing member can also provide booster action simultaneously for the disassembly of bearing.
Picking execution module further includes the pedestal 25 that driven gear endface is arranged in, pedestal 25 respectively with lower guide cam
Seat 12, upper guide cam lid 11 are bolted to connection, and are also had and upper guide cam lid, lower guide cam seat on pedestal 25
To corresponding centre bore, driven gear is folded in the space that the two is fixedly connected to form by upper guide cam lid and bottom seat, is made
Fruit and vegetable picking forms a more closed entirety.
The inner face of pedestal 25 close to central hole be equipped with seam allowance 251 (fixing structure is as shown in attached drawing 2b), seam allowance 251 with
Also there is groove, the at the end of the axial step 123 of lower guide cam seat is embedded in the groove between centre hole of base.
Engagement further to ensure driving gear and driven gear avoids various maloperations from nibbling it not by external interference
It closes transmission to impact, the present embodiment uses and adds driving gear protective cover 112, pedestal 25 on upper 11 periphery of guide cam lid
On driving gear protective cover corresponding position also be provided with protection pedestal 252, driving gear protective cover 112 and protection pedestal 252
Be bolted, driving gear 22 can be placed in driving gear protective cover 112 and protect pedestal 252 formed space in and just
It can be engaged with driven gear 23 well.
There is through-hole to protrude into for the motor shaft of decelerating motor 21 to cooperate with driving gear 22 on driving gear protective cover 112,
Decelerating motor 21 is vertically arranged in outside driving gear protective cover 112.
To realize that the spacing between upper cutting blade 14 and overhead cam groove 111 is adjustable, avoid cutting blade with it is convex
Spacing between wheel groove is excessive and deviate from from overhead cam groove, as shown in Figure 2 b, 24 inner ring end face of bearing and pedestal only
It is additionally provided with adjusting washer 26 between mouth 251, by the thickness of unrestricted choice adjusting washer 26, can be obtained required for user
Best spacing dimension between upper cutting blade and overhead cam groove.
It is also electrically connected with rotary encoder on decelerating motor 21 and successively rotates a circle accurately to control for monitoring cutterhead
Cutting blade, lower cutting blade reset, this fruit and vegetable picking device mainly by upper cutting blade, lower cutting blade rotation and around
The mobile mode of respective cams groove and the gap size changed between two cutting blades form torque generation cutting force for fruit
The root base of a fruit of vegetable is cut, and after the fruits and vegetables root base of a fruit is cut, disk continues to move in a circle, rotary encoder can immediately monitoring cutterhead exist
When resetting cutting blade, lower cutting blade after just rotating a circle, the instruction that issuing makes the decelerating motor stop working is controlled
Decelerating motor processed stops operating, and (rotary encoder issues the instruction for making decelerating motor stop working and speed reducer is finally made to stop work
The sequence of operations of work can realize that PLC is to be included in next section to mention by the way that PLC is arranged in picking control module
In controller, about realizing that this sequence of operations belongs to the prior art with PLC, details are not described herein), in case making each rotary-cut
Blade is picked next time in the state of reset, so can avoid occurring in each cutting blade time knife reseting procedure
The possibility of interference successively performs picking preparation for the fruit and vegetable picking process of continuous several times, effectively improves picking efficiency.
Picking control module includes the controller (not shown) of controllable decelerating motor work and rest, the fruit of the present embodiment
One of design aim of vegetable picking machine is brisk portable, therefore picks control module and stored using knapsack 35, picking control
Module is electrically connected with decelerating motor.
Upper guide cam lid 11 is equipped with the strengthening frame mounting hole for installing U-shaped strengthening frame 42, and (strengthening frame mounting hole is set
It sets by decelerating motor 21, so that the weight of decelerating motor concentrates at the support of telescopic rod).
As shown in figure 9, telescopic rod module further includes being set to the hand-held shank body 43 of 41 end of telescopic rod, shank body 43 is held
It is provided with the electrical retractor 44 that controllable telescopic rod gradually elongates or shortens between telescopic rod 41, holds in shank body 43
Equipped with the control button 45 being electrically connected with electrical retractor 44.
Electrical retractor 44 includes power supply 441, motor 442, winding band 443, push rod 444 and winding gear 445, winding
Gear 445 is rotatably dispose in hand-held shank body 43, and 444 one end of push rod is arranged in telescopic rod 41 and is fixed to solid with telescopic rod
Surely on the U-shaped strengthening frame connected, 444 other end of push rod is fixedly connected with the first end of winding band 443, and the of winding band 443
Two ends volume is set to winding 445 periphery of gear, the transmission that the setting of winding 443 inner peripheral surface of band is meshed with winding 445 periphery of gear
Tooth, power supply 441 are the power supply of motor 442, and (design of this part electrical retractor can for the rotation of the driving winding gear 445 of motor 442
Referenced patent number is 201621103353.5, and patent name is the electrical retractor thinking in " automatic telescopic self-shooting bar ", should
The structure that all about other Duan Zhongwei conducive to telescopic rod automatic telescopic are described in patent is suitable as electronic
The design of telescopic device, therefore not to repeat here for the course of work, and the electrical retractor in certain the utility model can also be adopted
It is arranged in the prior art about the dependency structure of bar portion length automatically retractable with any one).
Controller includes button switch 46, to carry out picking operations, button switch to fruit and vegetable picking immediately convenient for user
46 are preferably arranged in the position in hand-held shank body 43 convenient for the pressing of user's thumb, facilitate user rapidly to picking driving device hair
Work order out, so that picking executive device efficiently be driven to execute the picking operations to fruits and vegetables.
To avoid the fruits and vegetables root base of a fruit from directly falling to the risk broken on ground, upper guide cam lid 11 after high-altitude is cut
On be additionally provided with fruits and vegetables collection module, fruits and vegetables collection module includes transmission bag 51, transmits bag 51 close to the end of upper guide cam lid 11
Retainer plate 511 (retainer plate uses common hard round steel wire ring), upper 11 outer end of guide cam lid are installed in portion's opening
Multiple movable decks 52 for blocking and setting retainer plate 511 are uniformly provided on face, to ensure that retainer plate can stablize company during the work time
It connects and is covered in upper guide cam, movable deck is elastic clamp seat generally existing in the prior art, side structure such as Figure 10 institute
Show, the card of retainer plate 511 of transmission bag 51 can ensure that the fruits and vegetables picked at picking execution module pass through after setting to movable deck 52
Upper guide cam lid centre bore enters in transmission bag 51.
The transmission end for transmitting bag 51 is non-close end, and transmitting in bag the fruits and vegetables that fall from high-altitude can be by user from transmission
End is taken out, and certainly, the fruits and vegetables to prevent high speed from falling, which are directly made a clean sweep of from the non-close, to be fallen, and the present embodiment opens the transmission end
Mouth be set as it is scalable opening 512 (it is scalable opening for using elastic setting transmission distal opening at, make transmit distal opening can
It is big by the support of artificial or fruits and vegetables impulse forces), the telescopic level of the scalable opening is determined according to the fruits and vegetables size picked, scalable to open
Mouth 512 is advisable with dropping out fruits and vegetables actively from transmission end, so, it can be ensured that the fruits and vegetables that this fruit and vegetable picking is picked
It is not broken, to keep the quality of fruits and vegetables and the beautiful degree of appearance.
For the efficient picking for promoting this fruit and vegetable picking, bag 51 is transmitted between retainer plate 511 and scalable opening 512
Middle section on be arranged at intervals with multiple scalable lassos 513, scalable lasso 513 is consistent with the structure of scalable opening 512,
Be using elastic be sewn to transmission bag on, scalable lasso 513 can make fruit and vegetable picking continuously picking fruits and vegetables when, fruits and vegetables according to
It is secondary to buffer and fallen to from transmission the bag more than scalable opening of transmission end in turn, gravitational potential of the fruits and vegetables in transmission bag
The kinetic energy for breaking through the confinement limitation of scalable lasso can be will convert into when encountering scalable lasso, and the every process one of fruits and vegetables can
Flexible lasso undergoes primary buffering, final fruits and vegetables when folded be located at together its between each other basically will not produce and collide with
Wound, still can ensure that fruit-vegetable quality.In fact, the U-shaped strengthening frame of the present embodiment may also be arranged on pedestal, that is to say, that this fruit
When picking fruits and vegetables, also may be selected to be provided towards ground is pedestal, towards high-altitude is upper guide cam lid vegetable picking machine
Mode, i.e., picking executive device just put or rewind mode will not influence picking process, certainly, in this set situation
Under, transmission bag also needs accordingly to be set on the base.
Be explained in detail below to the working principle of this fruit and vegetable picking: as shown in figure 11, heavy line part in figure is left
Figure is upper cutting blade, and right figure is lower cutting blade (hereinafter referred to as cutting blade), and upper cutting blade, lower cutting blade are wrong up and down
Position installation, node is hinged at a with cutterhead (not indicating in this figure) for cutting blade, and cutterhead is rotated with speed omega, when cutterhead rotates
Cutting blade is driven to rotate around rotation center O, cutting blade track at a is circular path A at this time；It rotates and drives in cutterhead
Under, along cam curve track, B is moved node in corresponding cam groove at cutting blade c.
As shown in figure 12, in the case where cutterhead operating drives, from a node, circumferentially track A is run to from b for cutting blade one end,
The cutting blade other end is run to from d from c node along track 2, and cutting blade rotates under the guiding of track A, completes rotary cutting
Cut movement, meanwhile, cutting blade under the guiding of track B to center movement, promote upper cutting blade, lower cutting blade simultaneously to
Center movement, as shown in figure 13, two cutting blade cutting edge portions cross to fold at center cuts, and completes feeding cutoff action, cutterhead operating
Angle be that θ 1, track A and track B are acted on blade can be made to complete rotation sawing and shear action simultaneously, it is difficult that cutting is effectively reduced
Degree prevents blade caused by single shearing from deforming, and makes to cut off at the fruits and vegetables root base of a fruit beautiful uniform.
Hereafter, cutterhead continues to rotate, and from b node, circumferentially track A is run back from a of original state for cutting blade one end,
The cutting blade other end is run back from c from d node along track B, and cutting blade rotates under the guiding of track A, leading in track B
Draw lower separate center movement, that completes cutting blade recalls movement, at this point, cutting blade returns to original state, as shown in figure 12,
The angle of cutterhead operating is θ 2, can be seen that 1 > θ of θ 2 shows in cutterhead rotating speed omega constant by cutterhead angle of operation, peeling knife
Piece feed cutting is opposite to use duration, and withdrawing is short with respect to the used time, but generally speaking, and feed and withdrawing used time are very short, makes fruits and vegetables
Picking operations efficiently carry out.
The fruit and vegetable picking course of work of the present embodiment is as follows: pressing control button fills telescopic rod 41 in electric expansion
The height extended where supreme inane fruit vegetable under 44 control is set, come loose control button 45, and fruit and vegetable picking is covered need to adopt in fruits and vegetables
The root the base of a fruit (such as Apples shank) for plucking cutting, specifically allows fruits and vegetables to sequentially pass through pedestal 25, lower guide cam seat 12, cutterhead 13
With the centre bore of upper guide cam lid 11, push button switch 46, making controller starting is that decelerating motor 21 is powered to drive master
Moving gear 22 rotates, thus make the driven gear 23 engaged with driving gear 22 and then rotate, and finally drive with it is driven
The cutterhead 13 that gear 23 is solidly installed operates, and cutterhead 13 then drives upper cutting blade 14 mounted thereto, lower cutting blade
15 rotations are mounted on cutting blade, the bushing 17 on lower cutting blade then starts respectively in overhead cam groove 111, lower cam
It is rolled in groove 121, upper cutting blade, the swing of lower cutting blade is controlled by cam curve, complete the opening and closing movement of cutting blade,
In this process, rotary encoder will monitor and control time knife homing action of each cutting blade in real time, shear one
After the fruits and vegetables root base of a fruit, this fruit and vegetable picking can carry out the shearing of next fruits and vegetables root base of a fruit immediately, this all fruits and vegetables to be done are adopted
After plucking work, control button 45 is pressed, telescopic rod 41 is gradually shortened to original length.
On the one hand, each cutting blade is rotated with cutterhead, completes the sawing action to picking position, on the other hand, each rotary-cut
Blade is controlled by cam curve and is swung, and completes the conjunction knife shear action of two cutting blades, meanwhile, each rotation is controlled by cam curve
Automatic withdrawal (returning knife) movement of cutting edge, sawing and shearing simultaneously operation, make to pick position shearing in place, greatly reduce and cut
Difficulty is cut, the beauty at picking position has been ensured, has improved the service life of fruit and vegetable picking.
Embodiment 2
The present embodiment the difference from embodiment 1 is that: the telescopic rod 41 of telescopic rod module is using can extend and contract manually
Short form design, telescopic rod 41 are still made of the loop bar being coaxially disposed and radius gradually increases, manual telescopic principle and city
The umbrella stem of common automatic umbrella is stretched on field, and principle is identical, and details are not described herein.
Obviously, above-described embodiment is only intended to clearly illustrate the technical solution of the utility model example, and simultaneously
Non- is limitations of the embodiments of the present invention.For those of ordinary skill in the art, above explained
On the basis of can also make other variations or changes in different ways.There is no need and unable to give thoroughly all embodiments
It lifts.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc. should be included in this
Within the protection scope of utility model claims.
Claims (9)
1. a kind of high-altitude fruit and vegetable picking, which is characterized in that including picking execution module, picking drive module, telescopic rod mould
Block and picking control module；
Picking execution module includes upper guide cam lid and lower guide cam seat, is equipped with overhead cam groove in upper guide cam lid,
Lower cam groove is equipped in lower guide cam seat, lower cam groove is arranged in pairs with overhead cam groove；
Upper guide cam lid and lower guide cam seat cooperatively form hollow receiver chamber, and hollow receiver is intracavitary to be equipped with cutterhead, upper rotary-cut
Blade and lower cutting blade, cutterhead can be circled in the case where picking drive module drives, upper guide cam lid, lower guide cam
Seat and cutter head center all have centre bore and execute picking operations convenient for fruit and vegetable picking；
Upper cutting blade and lower cutting blade include blade part and blade support sector, and blade part is in crescent shape arcuate structure, knife
Piece support sector and the non-blade port portion of blade part connect, and one end of blade support sector, which is equipped with, to be used for upper cutting blade/lower peeling knife
Piece is hinged to the hinge hole of cutterhead；The other end of blade support sector, which is equipped with, can assist cutting blade, lower peeling knife for installing
The mounting hole for the connecting component that piece is moved along overhead cam groove, lower cam groove respectively；Blade support sector includes upper surface, following table
Face and knife spine face；
Upper cutting blade and lower cutting blade are installed in the opposite mode of crescent shape arcuate structure to cutterhead, upper cutting blade and
For the hinge joint of lower cutting blade and cutterhead on the diameter line of cutterhead, the hinge joint of lower cutting blade is small at a distance from cutter head center
In upper cutting blade hinge joint at a distance from cutter head center, the blade of upper cutting blade and lower cutting blade supports lower surface
In the same plane or lower surface is oppositely arranged and has gap；
Cam curve expression formula is based on lower cam groove
Cam curve expression formula is based on overhead cam groove
Corresponding xr、yrExpression formula beWherein ω and t is cam curve coordinate bit
Parameter is set, ω is the angular speed that cutterhead circles, and t is the time that cutterhead makees a circular motion cycle, r0For lower rotary-cut
Distance of the blade between the center of circle that the hinge joint on cutterhead to cutterhead circles, e are the inclined of lower guide cam seat formation
Position is away from l is the hinge hole at lower cutting blade both ends and the line of centres distance of mounting hole；
Telescopic rod module includes the telescopic rod that can be connected to picking execution module, and telescopic rod is by coaxial arrangement and radius gradually increases
The loop bar composition added, telescopic rod can arbitrarily elongate or shorten to control the height where picking execution module reaches high-altitude fruits and vegetables
Execute picking operations；
Picking control module makes cutterhead that circular motion occur by control picking drive module movement.
2. high-altitude fruit and vegetable picking according to claim 1, which is characterized in that picking drive module include decelerating motor,
The driving gear that is connected with the motor shaft of decelerating motor, the driven gear that engaged transmission can occur with driving gear, lower guiding are convex
Wheel seat has axial step, and driven gear is sheathed in lower axial step by being embedded after bearing in inner hole, driven gear with
Cutterhead is fixedly connected.
3. high-altitude fruit and vegetable picking according to claim 2, which is characterized in that be also electrically connected with rotation on decelerating motor and compile
Code device is used to monitor cutterhead and successively rotates a circle accurately to control upper cutting blade, the reset of lower cutting blade.
4. high-altitude fruit and vegetable picking according to claim 3, which is characterized in that picking execution module further include setting from
The pedestal of moving gear endface, pedestal are connect with lower guide cam seat, upper guide cam bonnet bolt respectively, and pedestal has center
Hole.
5. high-altitude fruit and vegetable picking according to claim 4, which is characterized in that also set between bearing inner race end face and pedestal
There is adjusting washer.
6. high-altitude fruit and vegetable picking according to claim 1, which is characterized in that telescopic rod module further includes being set to stretch
The hand-held shank body of contracting boom end, be provided between hand-held shank body and telescopic rod controllable telescopic rod gradually elongate or shorten it is electronic
Telescopic device, hand-held shank body are equipped with the control button being electrically connected with electrical retractor；
Electrical retractor includes power supply, motor, winding band, push rod and winding gear, and winding gear is rotatably dispose in manual shaft
In vivo, push rod one end is arranged in telescopic rod and is fixed in the picking execution module being fixedly connected with telescopic rod, and push rod is another
It holds and is fixedly connected with the first end of winding band, the second end volume for winding band is set to winding outer peripheral gear, winding band inner peripheral surface
The driving cog being meshed with winding outer peripheral gear is set, and power supply is motor power supply, and motor driven winds gear rotation.
7. high-altitude fruit and vegetable picking according to claim 4 or 5, which is characterized in that upper guide cam, which covers, is additionally provided with fruit
Vegetable collection module, fruits and vegetables collection module include transmission bag, transmission bag close to upper guide cam lid it is open-ended on be equipped with it is solid
It is fixed to enclose, multiple movable decks for blocking and setting retainer plate are uniformly provided on upper guide cam lid outer end face, transmit the retainer plate card of bag
If can ensure that the fruits and vegetables picked at picking execution module enter transmission bag by upper guide cam lid centre bore after to movable deck
It is interior.
8. high-altitude fruit and vegetable picking according to claim 7, which is characterized in that the transmission end for transmitting bag is non-close
End, transmission distal opening are scalable opening.
9. high-altitude fruit and vegetable picking according to claim 8, which is characterized in that transmission bag is in retainer plate and scalable opening
Between middle section on be arranged at intervals with multiple scalable lassos.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820885689.4U CN208317468U (en) | 2018-06-08 | 2018-06-08 | High-altitude fruit and vegetable picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820885689.4U CN208317468U (en) | 2018-06-08 | 2018-06-08 | High-altitude fruit and vegetable picking |
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| Publication Number | Publication Date |
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| CN208317468U true CN208317468U (en) | 2019-01-04 |
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| CN201820885689.4U Expired - Fee Related CN208317468U (en) | 2018-06-08 | 2018-06-08 | High-altitude fruit and vegetable picking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111955158A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Multi-cutting-edge internal rotation cutting safflower filament harvesting machine and method |
| CN115280972A (en) * | 2022-02-11 | 2022-11-04 | 重庆三峡学院 | Integrated device for picking and collecting soft fruits and vegetables |
-
2018
- 2018-06-08 CN CN201820885689.4U patent/CN208317468U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111955158A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Multi-cutting-edge internal rotation cutting safflower filament harvesting machine and method |
| CN115280972A (en) * | 2022-02-11 | 2022-11-04 | 重庆三峡学院 | Integrated device for picking and collecting soft fruits and vegetables |
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Granted publication date: 20190104 |