CN108633465B - Auxiliary artificial fruit rapid picking device - Google Patents

Abstract

The invention discloses an auxiliary artificial fruit quick picking device, comprising a rod body, a shearing mechanism and a collection bag, the shearing mechanism is fixedly arranged at the head end of the rod body, and the shearing mechanism comprises shears with openings at the upper and lower ends. A cutting cavity, a flip cover and a driving mechanism, the collection bag is connected with the lower end opening of the shear cavity body, the flip covers are arranged in pairs and hinged on both sides of the upper end opening of the shear cavity body, the flip cover The edge of the front end is provided with a cutting edge. When the flip cover is turned over to the shearing cavity, the cutting edge of the flip cover is tangent to form an included angle with an opening downward of less than 180°, and the driving mechanism is used to drive the flip cover to flip. . The picking device first squeezes, then cuts, and then collects, which has the effect of "protecting" the fruit first and then picking, and ensures the success rate of the fruit being picked.

Description

Auxiliary artificial fruit rapid picking device

technical field

The invention relates to a fruit picking device, in particular to an auxiliary artificial fruit quick picking device, which belongs to the technical field of agricultural harvesting.

Background technique

The general structure of the existing picking device for picking fruits growing on the branches is as follows, including a main pole and a round frame fixed on the top of the main pole, and the periphery of the round frame is sealed and connected to the mouth of a fruit bag , the circular frame is also fixed with a scissors device, the scissors device is composed of a fixed blade and a movable blade, the fixed blade is fixed on the top of the main rod, the movable blade is hinged with the fixed blade, the fixed blade and the movable blade There is a reset spring loop between them to make it closed. This device uses the scissors device to be fixed on a main rod, and the scissors are opened by pulling a rope. The scissors cut off the branches of the fruit under the action of the reset spring, and the fruit directly falls off into the fruit bag. This structure has the following problems: the scissors device of this structure is generally a purely mechanical manual operation device, which requires two hands to work at the same time to pick the fruit, and one hand cannot be freed for other work; the picked fruit is directly placed on the In the storage bag under the scissors, on the one hand, when the fruit is continuously picked, the impact between the fruits will cause the fruit to be damaged. The number of fruits decreases. After picking for a while, you have to put them down to collect the fruits, and then continue to pick them, which affects the continuity of fruit picking and reduces the work efficiency of workers; the fruit stems are cut off by scissors, and then the fruits are separated from the branches to achieve the picking effect. However, when the device is lifted up for picking, due to the obstruction of the cloth bag and the fruit on the branch, it is impossible to accurately find the position of the fruit stem for cutting; or some fruits grow on the branches or fruits that are in close contact with the branches, at this time extremely It is possible that the scissors will cut the fruit or touch the fruit, causing damage to the fruit and failure of picking.

There are also improved devices for the above-mentioned structures in the prior art. For example, the grab-type fruit picking end effector and fruit picking execution device disclosed in Chinese Patent CN206713439U include a U-shaped bracket and a linear cylinder fixedly connected to the bottom of the U-shaped bracket. The linear cylinder has a piston rod that can pass through the U-shaped bracket and is arranged in the direction of the opening of the U-shaped bracket. The top of the piston rod is fixedly connected with a mounting seat, and the end of the mounting seat away from the piston rod is fixedly connected with a suction cup, and the bottom of the suction cup is provided with a suction cup. The air hole, the top of the mounting seat is provided with an air intake port, the interior of the mounting seat is provided with an air intake channel extending from the air intake port to a position corresponding to the air intake hole and communicated with the air intake hole, and the air intake port is communicated with a The suction pipe for suction, the position of the U-shaped bracket at its opening is equipped with a shearing device capable of cutting branches. The invention is simple in structure and convenient to use, and by grasping the fruit tightly and then cutting the branches, the collision damage caused by the shaking of the fruit is avoided, and the picking quality of the fruit is improved. However, the structure of the device is complicated, multiple actuators are required to work together, and the device is heavy, so it is not suitable for manual picking for a long time.

SUMMARY OF THE INVENTION

In view of the defects of the prior art, the present invention provides an auxiliary artificial fruit rapid picking device, which solves the problem of fruit damage during the fruit picking process and simplifies the device structure.

The technical scheme of the present invention is as follows: an auxiliary artificial fruit quick picking device, comprising a rod body, a shearing mechanism and a collection bag, the shearing mechanism is fixedly arranged on the head end of the rod body, and the shearing mechanism includes openings at the upper and lower ends. A shearing cavity, a flip cover and a driving mechanism, the collection bag is connected with the lower end opening of the shearing cavity, the flip covers are arranged in pairs and hinged on both sides of the upper opening of the shearing cavity, the The front edge of the flip cover is provided with a cutting edge. When the flip cover is flipped toward the shearing cavity, the cutting edge of the flip cover is tangent to form an included angle with an opening downward of less than 180°, and the driving mechanism is used to drive the Flip the flap.

Preferably, the angle formed by the tangent cutting edges of the flip cover is 90°˜135°.

Further, the driving mechanism includes a motor and a crank connecting rod mechanism, the motor is fixed on the side wall of the shearing cavity, one end of the crank connecting rod mechanism is connected with the rotating shaft of the motor, and the other end of the crank connecting rod mechanism is connected with the rotating shaft of the motor. The flip cover is hinged, and the crank link mechanism pulls the flip cover to flip along the hinge axis between the flip cover and the shearing cavity when the motor rotating shaft rotates.

Further, the driving mechanism includes a motor and a crank connecting rod mechanism, the side wall of the shearing cavity is provided with a vertical first chute, and the first chute is provided with a first chute that can slide along the first chute. The motor is fixed on the side wall of the shearing cavity, one end of the crank connecting rod mechanism is connected with the rotating shaft of the motor, and the other end of the crank connecting rod mechanism is connected with the first sliding block, so The first sliding block is hinged with the merged end of the Y-shaped link, and the bifurcated end of the Y-shaped link is hinged with the flip cover.

Further, a synchronous linkage mechanism is included, and the pair of flip covers are flipped simultaneously through the synchronous linkage mechanism.

Further, the synchronous linkage mechanism includes a second chute and a second slider that can slide along the second chute, the second chute is vertically arranged on the side wall of the shearing cavity, and the first The two sliding blocks are hinged with one end of the paired synchronizing links, and the other ends of the synchronizing links are hinged with the flip cover.

Preferably, the rod body is a telescopic rod.

The advantages of the technical solution provided by the present invention are: when the cutting edges of the flip cover are tangent and merged, an included angle with an opening downward of less than 180° is formed, and the included angle enables the flip cover to produce an inclination to the fruits growing on the branches during the flipping process. The pressure pressed into the shear cavity ensures that the fruit stem is accurately cut off when the cutting edge is cut without cutting the fruit itself, which has the effect of "protecting" the fruit before picking. Compared with the picking device with the scissors structure in the prior art, the fruit is squeezed first, then cut, and collected, so as to ensure the success rate of fruit picking. Compared with the picking device with a suction cup device, it can also protect the fruit, but the mechanical structure is simpler, the weight of the device is significantly reduced, the internal structure is easy to manufacture, the failure rate is low, there is no requirement for users to use, and it is easy to operate. Safe and reliable. For some fruits that grow on the branches or are in close contact with the branches, the traditional shearing and picking device cannot effectively pick them, but the device of the present invention can be easily picked without damage to the fruit. The picking device is connected with a telescopic rod, which has greater flexibility to the picking range, is convenient to shrink, and is easy to carry manually.

Description of drawings

Figure 1 is a schematic structural diagram of an auxiliary artificial fruit rapid picking device.

Figure 2 is a schematic diagram of the structure of the shearing mechanism.

FIG. 3 is a schematic diagram of the driving mechanism of the embodiment.

FIG. 4 is a schematic side view of the driving mechanism and the synchronous linkage mechanism according to the embodiment.

FIG. 5 is a schematic diagram of the structure of the flip cover.

FIG. 6 is a schematic diagram of the initial state and the closed state of the flip cover.

Figure 7 is a schematic diagram of the first example of fruit picking.

Figure 8 is a schematic diagram of the second example of fruit picking.

Detailed ways

The present invention will be further described below in conjunction with the examples, but it is not intended to limit the present invention.

Referring to Figures 1 to 5, the auxiliary artificial fruit quick picking device involved in this embodiment includes a rod body 1, a shearing mechanism 2 and a collection bag 3. The rod body 1 is a telescopic rod with an adjustable length, so that the fruit to be picked. The shearing mechanism 2 is fixedly arranged on the head end of the rod body 1 . The shearing mechanism 2 includes a shearing cavity 4 with upper and lower ends open, a flip cover 5 and a driving mechanism. The collection bag 3 is connected to the lower end opening of the shearing cavity 4 . The flip covers 5 are hinged on both sides of the upper end opening of the shearing cavity 4, respectively, and the flip covers 5 on both sides are arranged opposite to each other, and cooperate with each other to perform extruded pre-cutting. The front edge of the flip cover 5 is provided with a U-shaped deep groove 6, the U-shaped deep groove 6 is provided with a fastening screw 7, a blade 8 with a cutting edge is inserted into the U-shaped deep groove 6, and the fastening screw 7 is tightened to connect the blade 8 and the flip cover 5 fixedly. . Please refer to Fig. 6. In the initial state of the flip cover 5, the included angle α with the vertical direction is about 15°. When the cutting edge of the flip cover 5 is in contact, an included angle β with an opening downward of less than 180° is formed. The setting achieves a downward pressing effect on the fruit and facilitates picking of fruits at special positions. In this embodiment, the included angle β is set at 90° to 135°.

The driving mechanism is used to drive the flip cover 5 to flip. The driving mechanism includes a motor 9 and a crank link mechanism 10. The motor 9 adopts a worm gear motor with strong torque, which is fixed to the side wall of the shearing cavity 4 through the support frame 11. The side wall of the shearing cavity 4 is provided with a vertical first sliding groove 12 , and a first sliding block 13 that can slide along the first sliding groove 12 is provided in the first sliding groove 12 . One end of the crank connecting rod mechanism 10 is connected with the rotating shaft of the motor 9, the other end of the crank connecting rod mechanism 10 is connected with the first sliding block 13, the first sliding block 13 is hinged with the merging end of the Y-shaped connecting rod 14, and the Y-shaped connecting rod 14 is The bifurcated end is hinged with one of the paired flip covers 5 , and the crank link mechanism 10 pulls the flip cover 5 to flip along the hinge axis between the flip cover 5 and the shear cavity 4 when the motor 9 rotates. The other flip cover of the flip covers 5 arranged in pairs is flipped by a synchronous linkage mechanism. The synchronous linkage mechanism includes a second chute 15 and a second slider 16 that can slide along the second chute 15. The second chute 15 is vertical Set on the side wall of the shearing cavity 4, the second sliding block 16 is hinged with one end of the paired synchronizing rods 17, and the other end of the synchronizing rods 17 is hinged with the flip cover. It should be pointed out that, in order to achieve the purpose of the present invention, the driving mechanism and the synchronous linkage mechanism are not limited to the specific structure of this embodiment. For example, the driving mechanism can directly use a motor to drive the rotation of the hinge shaft of the flip cover and the shearing cavity to drive the flip cover. When flipping, the synchronous linkage mechanism can select mutually meshing gears to be connected with the hinge shafts of the paired flip covers respectively, so as to realize the synchronous flip of the flip covers.

In this example, the cutting edge spacing of the flip cover is 125 mm, and the sampling survey found that the average diameter of popular stone nuts and pome nuts is below 110 mm, which is sufficient for picking fruits in general orchards. Picking by the device of the present invention mainly includes two situations. One is as shown in Figure 7. In the normal picking situation, the fruit stalk is long enough from the branch, the fruit is completely sheathed in the shearing cavity, and then the drive mechanism drives the flip cover Flip, and after the flip cover is closed, the cutting edge cuts off the fruit stem to complete the picking of a fruit. Second, as shown in Figure 8, the fruit stalk is short and grows close to the branch. At this time, the space for the flip cover is limited. Since the cutting edge of the flip cover forms an angle of less than 180° with the opening downward, when the flip cover is turned During the process, the fruit will have a certain downward pressure. After being squeezed, the fruit will slowly enter the shearing cavity. If the fruit and the branch are not firmly connected, the downward pressure exerted by the flip on the fruit during the downward pressing process of the flip cover. It is enough to separate the fruit stem from the branch and pick the fruit; but if the fruit is firmly connected to the branch, and the fruit stem is not separated from the branch during the flipping process of the flip cover, after the final flip is closed, the cutting edge is still cut off the fruit stem and pick. get fruit.

Claims (3)

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

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

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

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