CN107041206A - A kind of roller human assistance non-contact type mechanical hand hawthorn device for picking - Google Patents

Abstract

The invention provides a roller artificially assisted non-contact manipulator hawthorn picker, which includes a handle, a support rod, a spring, a picker and a collection bag. The spring, the support rod and the picker are fixedly installed on the handle, and the support rod is installed on the handle. And hinged with the handle, the picker is composed of a roller, a telescopic rod, a spring and a rotary cutter. One end of the rod is fixed on the telescopic rod through a bolt, and the other end of the connecting rod is connected with the rotary cutter through a bolt. There is a U-shaped groove on the surface, and the manual auxiliary handle is turned on. When the power switch is turned on, the roller rotates on the branches of the hawthorn, and the rotary cutter cuts off the stalk of the hawthorn, and the hawthorn falls into the collection bag.

Description

A Hawthorn Picker with Manual Assisted Non-contact Manipulator with Roller Wheels

technical field

The invention relates to a non-contact manipulator hawthorn picker assisted by rollers, which belongs to the technical field of agricultural machinery.

Background technique

There are many ways to pick hawthorn at home and abroad. The first way is to use scissors to cut off the fruit stalk of the hawthorn branch. The picking efficiency is low and the labor intensity is high. The second way is to directly grab the hawthorn by hand, and the hawthorn is separated from the fruit stalk. The three methods are mechanical picking. The growth of hawthorn on the branches has no rules to follow. It is impossible to grow on the same plane, and the heights are different. Even if mechanical pruning is implemented, mechanical picking is difficult to achieve. Mechanical picking is nothing more than using scissors or rotating The knife directly cuts off the branches of the hawthorn, and mechanical picking can only be picked along the same plane. The fourth method is that the hook or the movable and fixed claw is essentially a variant of the comb-tooth picking method. The picking comb and the surface of the hawthorn produce relative motion. The surface of the hawthorn is damaged. The fifth method is difficult to locate by clamping. The sixth method is picking with a manipulator. The growth of hawthorn is irregular and there are differences in the size of the hawthorn. Contact with the hawthorn will always surface, resulting in clamping force, different clamping parts, slippage, not tight clamping, high cost and low efficiency.

Contents of the invention

A roller artificial assisted non-contact manipulator hawthorn picker, suitable for berry picking, including a handle, a support rod, a spring, a picker and a collection bag, the handle is provided with a spring, a support rod and a picker, and the support rod is hinged to the handle, The rotary cutter rotates under the drive of the power, and the rotary cutter moves close to the outer surface of the hawthorn branches, cutting off the stems and needles on the branches of the hawthorn. When the diameter of the hawthorn branches changes, the roller compresses the spring, and then drives the cutter along the The straight line on the surface of the hawthorn branch moves in a parallel direction, but the cutting angle of the rotary cutter remains unchanged. The stalk of the hawthorn is cut off by the blade of the rotary cutter, and there is no extrusion force on the surface of the hawthorn fruit.

Its technical solution is: a roller artificial assisted non-contact manipulator hawthorn picker, including a handle, a support rod, a spring, a picker and a collection bag, the spring, the support rod and the picker are fixedly installed on the handle, and the support rod is installed on the handle. and is hinged with the handle. The picker is composed of a roller, a telescopic rod, a spring, a rotary cutter and a collection bag. Connected with the handle, one end of the connecting rod is fixed on the telescopic rod through a bolt, and the other end of the connecting rod is connected with the rotary cutter through a bolt. The trapezoidal structure is convenient for cutting the stalk and fruit needles along the curved surface. When the rotary cutter rotates, the cuttings will not be adhered and accumulated, which will affect the picking efficiency and damage the hawthorn fruit. Loosen the bolt to adjust the relative position of the rotary cutter and the hawthorn branch. There is a U-shaped groove on the outer circular surface of the roller, and the hawthorn branches are placed in the U-shaped groove. When working in the field, hold the hawthorn branches to be picked with one hand, and hold the hawthorn branches to be picked with the other hand. The handle exerts pressure, and the handle overcomes the pressure of the spring to rotate around the hinge point on the support rod, driving the roller and the rotary cutter to open, and the roller is placed on the hawthorn branch, and the hawthorn branch is embedded in the groove of the roller, and the roller is on the hawthorn branch Rolling up, when the diameter of the hawthorn branch changes, the force is applied to the roller. The roller has a floating profiling function, which compresses the spring on the telescopic rod, and then drives the rotary cutter to move. The rotary cutter always moves close to the surface of the hawthorn branch. Non-contact with the hawthorn, only contact with the stalk of the hawthorn and the surface of the hawthorn branch, release the pressure on the handle, the force of the spring fixes the roller on the hawthorn branch, turn on the power switch, the micro DC speed regulating motor drives the rotary cutter to rotate , artificial auxiliary handle, the roller rotates on the hawthorn branch, the rotary cutter cuts off the hawthorn fruit stalk, and the hawthorn falls into the collection bag.

According to the manual-assisted non-contact manipulator hawthorn picker with rollers, the rollers and cutters are arranged in pairs, and the rollers can be dislocated and not arranged on the same vertical line.

In patents 2013207953131, 200420010332X and 200810138684X, the use of grabbing hooks or movable and fixed claws is essentially a variant of the comb-tooth picking method. When picking, the hawthorn is located between the two comb teeth of the picking comb, and the comb teeth of the picking comb are in contact with the hawthorn. , the comb teeth and the surface of the hawthorn produce mutual extrusion force, and the hawthorn moves on the surface of the comb teeth, which damages the surface of the hawthorn, and the surface of the damaged hawthorn becomes oxidized and black, which affects the quality of picking and the product quality of the hawthorn. Secondly, the tensile strength of the hawthorn stalk It is far greater than the tensile strength of hawthorn. When the hawthorn stalk falls off from the hawthorn, it will produce tearing force on the hawthorn, causing the flesh at the joint between the hawthorn and the hawthorn stalk to fall off. A roller artificially assisted non-contact manipulator for hawthorn picking The cutting tool can achieve variable-diameter picking. The cutting knife moves on the outer surface of the hawthorn branch to cut off the fruit stalk of the hawthorn, and most of the fruit stalk remains on the fruit. There is no damage to the surface of the hawthorn, and the stalk is left on the hawthorn, which cannot be realized by the existing picking technology. The cutting angle of the cutter is adjusted by the bolt. The straight line on the surface of the branch moves in a parallel direction, but the cutting angle of the cutter remains unchanged. The stalk of the hawthorn can only be cut off by the blade at the tip of the cutter, and there is no squeezing force on the surface of the hawthorn fruit. This kind of rolling non-contact picking has different structures and different principles. The roller and cutter can also be set individually, or they can be used in combination, which is flexible and convenient. In addition, it is difficult to accurately locate the mechanical picking, and the efficiency of manual picking is low. The picking knife of the present application moves in parallel along the surface of the branch, cuts off the fruit stalk, and the roller moves on the branch to realize variable-diameter picking. Other forms of comb picking, flexible picking, and clamping picking all exert extrusion force on the surface of the hawthorn, With relative movement, it can only be picked on one plane, but with air-suction picking, the airflow cannot enter between the clustered fruits. The handle is detached, and the air flow determines that the picking of hawthorn cannot be realized. For clamping picking, the picking rod is held high by hand. The center of gravity of the rod is located in the upper middle. If the hand is held high for a long time, the picking rod will shake, the line of sight will deviate, and the positioning will be inaccurate. The efficiency is low, the growth angles of the hawthorn branches are different, through the rotating clamping, the dynamic rotating finger clamps the static and different angles of the hawthorn, it is difficult to clamp smoothly, and the hand-held electric scissors make the hawthorn fruit stalk between the two scissors Among them, hawthorn fruit clusters, each growing at a different angle, can only cut one at a time, there are technical problems in precise positioning, labor-intensive, vibration and knocking, it is a destructive picking method, which seriously damages the hawthorn tree , affect the growth and yield of several trees in the next year, and the eccentric block vibrating picking is a deformation of the vibrating knocking type. While the application is moving forward, the roller can also rotate on the branches at the same time. All hawthorns are It grows on the branches, no matter it is a side branch or a side branch, it is connected with the branch by the fruit stalk to realize the rotary picking of the 360-degree cutter, Because the growth angles of hawthorn branches are inconsistent, the fingers of the robot cannot replace humans in picking. The fingers of the robot are multi-joint mechanisms made of metal materials. There is no image thinking, and they only perform mechanical actions. Regular, it is impossible to follow the prescribed procedures, and humans are animals with thinking and perception. The growth years of hawthorns are different, and the tensile strength of their fruit stalks is different. Robot picking cannot distinguish the growth age of hawthorn trees, and the growth location of hawthorns. , the robot hand and the hawthorn will always be in surface contact, resulting in a clamping force. The clamping parts are different, there will be slippage, and the clamping will not be tight. The surface contact, the picking efficiency is low, single picking, the growth of hawthorn on the branches has no rules to follow, it is impossible to grow on the same plane, the heights are different, the growth positions of hawthorn on the branches are different, the number of hawthorns per ear different, and clustered into ears, the hawthorns of each ear are not grown on the same plane. Even if mechanical pruning is implemented, mechanical picking is difficult to achieve. Mechanical picking is nothing more than cutting off the hawthorn branches directly with scissors or rotary knives. Mechanical picking can only be done along the Picking on the same plane is currently impossible for robots, but this application just takes advantage of this point to cut off the fruit stalks directly by rolling the rollers on the branches, and the non-contact manipulator realizes the picking of multiple fruit ears at one time, that is, more than two fruit ears are picked symmetrically. The cutter has no contact with the surface of the hawthorn fruit, the roller has a floating profiling function, and the diameter is changed for picking, which overcomes the extrusion phenomenon of the hawthorn, which cannot be done by robots at present. The existing technical solution is the same as the technical solution of this application. The principle and structure are different, and the details determine the success or failure of the technical solution.

The present invention has the following advantages.

1. Small in size and light in weight, it is not only suitable for trunk picking, but also for side branches and side branches, and is easy to operate.

2. The picking speed is fast and the efficiency is high. The cutting knife moves along the surface of the hawthorn branch to cut off the hawthorn fruit stalk. The roller has the function of floating profiling to realize the variable diameter movement without squeezing the hawthorn fruit.

Description of drawings

Fig. 1 is a schematic structural diagram of a non-contact manipulator hawthorn picker according to an embodiment of the present invention.

In the figure 1, handle 2, hawthorn branch 3, support rod 4, telescopic rod 5, spring 6, roller 7, rotary cutter 8, connecting rod 9, bolt.

detailed description

Example.

A kind of roller manual auxiliary non-contact manipulator hawthorn picker, including handle 1, support rod 3, spring 5, picker and collection bag, spring, support rod 3 and picker are fixedly installed on handle 1, support rod 3 is installed on On the handle 1, and hinged with the handle 1, the picker is composed of a roller 6, a telescopic rod 4, a spring 5, a rotary cutter 7 and a collection bag, the spring 5 is a compression spring, one end of the telescopic rod 4 is connected with the roller 6, and the other end Through the through hole provided on the spring 5 and the handle 1 and connected with the handle 1, one end of the connecting rod 8 is fixed on the telescopic rod 4 through a bolt 9, and the other end of the connecting rod 8 is connected with the rotary cutter 7 through a bolt 9, and the rotary cutter The blade of knife 7 is trapezoidal, and the long bottom edge of trapezoidal shape is close to the surface of hawthorn branch 2, unclamps bolt 9 and adjusts the relative position of rotary cutter 7 and hawthorn branch 2, is provided with U-shaped on the outer circular surface of roller 6. The groove of the hawthorn branch 2 is placed in the U-shaped groove. When working in the field, hold the hawthorn branch 2 to be picked with one hand, and apply pressure to the handle 1 of the picker with the other hand, and the handle 1 overcomes the spring. The pressure of 5 rotates around the hinge point on the support rod 3, driving the roller 6 and the rotary cutter 7 to open, and the roller 6 is placed on the hawthorn branch, and the hawthorn branch 2 is embedded in the groove of the roller 6, and the roller 6 is in the hawthorn Rolling on the branch 2, when the diameter of the branch of hawthorn changes, an active force is applied to the roller 6. The roller 6 has a floating profiling function, compresses the spring 5 arranged on the telescopic rod 4, and then drives the rotary cutter 7 to move, and the rotary cutter 7 Always move close to the surface of the hawthorn branch 2, release the pressure on the handle 1, the force of the spring 5 fixes the roller 6 on the hawthorn branch 2, turn on the power switch, the rotary cutter 7 rotates, and the manual auxiliary handle 1 and roller 6 Rotate on the hawthorn branch 2, the rotary cutter 7 cuts off the fruit stalk of the hawthorn, and the hawthorn falls into the collection bag. After picking a hawthorn branch, apply pressure to the handle 1, and the handle 1 overcomes the pressure of the spring 5 and wraps around the support rod 3. The hinge point of the hinge rotates to drive the roller 6 and the rotary cutter 7 to open, and the hawthorn picker is taken away from the picked branches, and the above-mentioned work process is repeated to pick other hawthorn branches successively.

Claims (2)

1. a kind of roller human assistance non-contact type mechanical hand hawthorn device for picking, including handle（1）, support bar（3）, spring（5）、 Device for picking and collecting bag, it is characterised in that：In handle（1）Upper fixed installation spring（5）, support bar（3）And device for picking, support bar （3）Installed in handle（1）On, and and handle（1）It is hinged, device for picking is by roller（6）, expansion link（4）, spring（5）And rotary cutting Knife（7）With collecting bag composition, spring（5）For stage clip, expansion link（4）One end and roller（6）Connection, the other end runs through spring （5）And handle（1）The through hole of upper setting and and handle（1）Connection, connecting rod（8）One end pass through bolt（9）It is fixed on expansion link （4）On, connecting rod（8）The other end pass through bolt（9）With rotary cutter（7）Connection, rotary cutter（7）The trapezoidal shape of blade, Hawthorn branch is pressed close on the long base of trapezoidal shape（2）Surface, unclamp bolt（9）Adjust rotary cutter（7）With hawthorn branch（2）'s Relative position, in roller（6）Periphery be provided with U-shaped groove, hawthorn branch（2）Be placed in the groove of U-shaped, field make During industry, a hand holds the hawthorn branch to be plucked（2）, handle of the another hand to device for picking（1）Apply pressure, handle（1） Overcome spring（5）Pressure around support bar（3）On pin joint rotate, drive roller（6）And rotary cutter（7）Open, will roll Wheel（6）It is placed on the branch of hawthorn, hawthorn branch（2）Insertion roller（6）Groove in, roller（6）In hawthorn branch（2）On Roll, when the branch diameter change of hawthorn, pair roller（6）Apply active force, roller（6）With floating copying function, compression Expansion link（4）The spring of upper setting（5）, and then drive rotary cutter（7）Motion, rotary cutter（7）All the time hawthorn branch is pressed close to （2）Apparent motion, release to handle（1）Application pressure, spring（5）Active force by roller（6）It is fixed on hawthorn branch （2）On, turn on the power switch, rotary cutter（7）Rotation, human assistance handle（1）, roller（6）In hawthorn branch（2）It is upper to turn It is dynamic, rotary cutter（7）The carpopodium of hawthorn is cut off, hawthorn is fallen into collecting bag.

2. a kind of roller human assistance non-contact type mechanical hand hawthorn device for picking as described in claim 1, it is characterised in that： Roller（6）And rotary cutter（7）It is arranged in pairs.