CN107006222A - A kind of roller sliding block human assistance non-contact type mechanical hand-electric hawthorn device for picking - Google Patents

Abstract

The invention provides a roller slider artificially assisted non-contact manipulator electric 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 On the handle and hinged with the handle, the picker is composed of a roller, a telescopic rod, a spring and a cutter. , one end of the connecting rod is fixed on the telescopic rod through bolts, and the other end of the connecting rod is connected with the connecting plate on the motor through bolts. There are U-shaped grooves, manual auxiliary handle, turn on the power switch, the motor rotates, driving the cutter to reciprocate, the roller rotates on the hawthorn branch, the cutter cuts off the stalk of the hawthorn, and the hawthorn falls into the collection bag.

Description

A roller slider artificially assisted non-contact manipulator electric hawthorn picker

technical field

The invention relates to a roller slider artificially assisted non-contact manipulator electric hawthorn picker, 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, which is low in picking efficiency and labor-intensive. The third way is to use 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 the rotary knife directly cuts off the branches of hawthorn. Mechanical picking can only be picked along the same plane. The fourth method is that the grabbing hook or the movable and fixed claw is actually a variant of the comb-tooth picking method. Movement damages the surface of the hawthorn. The fifth method is difficult to locate by clamping. The sixth method is picking with a robot. The growth of hawthorn is irregular and there are differences in the size of the hawthorn. Robot picking cannot distinguish the growth age of the hawthorn tree and the growth location of the hawthorn. The robot hand and the hawthorn will always be in surface contact, resulting in clamping force. The clamping parts are different, slippage occurs, the clamping is not tight, the cost is high, and the efficiency is low.

Contents of the invention

A roller slider artificially assisted non-contact manipulator electric 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, the support rod and The handle is hinged, and the cutting knife reciprocates under the drive of the power. The cutting knife moves close to the outer surface of the hawthorn branch, cutting off the stalk and the branch of the hawthorn. When the diameter of the hawthorn branch changes, the roller compresses the spring to drive the cutting. The knife moves along the straight line parallel to the surface of the hawthorn branch, but the cutting angle of the cutter remains unchanged. The stalk of the hawthorn is cut off by the blade of the cutter, and the remaining stalk is attached to the hawthorn fruit without loss of nutrients. No crushing force.

The technical solution is: a roller slider artificially assisted non-contact manipulator electric hawthorn picker, including a handle, a support rod, a spring, a picker and a collection bag, and a spring, a support rod and a picker are fixedly installed on the handle, and the support rod Installed on the handle and hinged with the handle, the picker is composed of a roller, a telescopic rod, a spring, a cutter and a collection bag. The hole is 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 connecting plate on the motor through a bolt, and the blade of the cutter is in the shape of multiple concave small arcs, close to the hawthorn branches On the surface of the surface, loosen the bolt to adjust the relative position between the cutter and the hawthorn branches. There is a U-shaped groove on the outer surface of the roller, and the hawthorn branches are placed in the U-shaped groove. When working in the field, one hand Hold the hawthorn branch to be picked, and apply pressure to the handle of the picker with the other hand. The handle overcomes the pressure of the spring and rotates around the hinge point on the support rod, driving the roller and cutter to open, and placing the roller on the branch of the hawthorn , the hawthorn branch is embedded in the groove of the roller, and the roller rolls on the hawthorn branch. When the diameter of the hawthorn branch changes, a force is applied to the roller. Knife movement, the cutting knife is always close to the surface of the hawthorn branch, non-contact with the hawthorn, only in contact with the hawthorn fruit stem and the surface of the hawthorn branch, the pressure on the handle is released, and the force of the spring fixes the roller on the hawthorn branch. Turn on the power switch, the motor is a micro DC speed regulating motor, the output shaft of the motor is connected with the rotating disk, the rotation of the motor drives the rotating disk to rotate, and an eccentric crank is set on the rotating disk, the rotating disk makes circular motion, while the crank makes linear reciprocating motion, The crank movement drives the cutter to reciprocate, the manual auxiliary handle and the roller rotate on the hawthorn branch, the cutter cuts off the stalk of the hawthorn, and the hawthorn falls into the collection bag.

According to the roller slider artificially assisted non-contact manipulator electric hawthorn picker, 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 Far greater than the tensile strength of the hawthorn. During the process of the hawthorn stalk falling off from the hawthorn, it will produce a tearing force on the hawthorn, causing the flesh at the joint between the hawthorn and the hawthorn stalk to fall off. A roller slider artificially assisted non-contact manipulator electric The hawthorn picker can achieve variable-diameter picking. The cutter moves on the outer surface of the hawthorn branch to cut off the fruit stalk of the hawthorn. Most of the stalk remains on the fruit. The hawthorn fruit does not touch the cutter, and there is no relationship between the two. Movement, no damage to the surface of the hawthorn, and the stem part remains on the hawthorn, which cannot be realized by the existing picking technology. The cutting angle of the cutter is adjusted by the bolt. When the diameter of the branch of the hawthorn changes, the spring is compressed by the roller to drive the cutter. Move along the straight line parallel to the surface of the hawthorn branch, but the cutting angle of the cutter remains unchanged. The hawthorn fruit stalk can only be cut off by the tip of the cutter, and there is no squeezing force on the surface of the hawthorn fruit. It is on the hawthorn branch. It is a rolling non-contact picking method with different structures and principles. The roller and cutter can also be set individually, or they can be used in combination, which is flexible and convenient. Picking efficiency is low, and the picking knife of the present application moves in parallel along the branch surface, cuts off the fruit stalk, and the roller moves on the branch to realize variable-diameter picking. The pressure produces relative motion, which can only be picked on one plane, while air-suction picking, the airflow cannot enter between the clustered fruits. The tough fruit stalk is detached, and the airflow determines that the picking of hawthorn cannot be realized. For clamping picking, the picking pole is held high by hand. The center of gravity of the pole is located in the middle and upper part. When the hand is held high for a long time, the picking pole shakes, the line of sight deviates, and the positioning is not correct. Accurate, low picking efficiency, hawthorn branch growth angles are different, through rotating clamping, dynamic rotating fingers to clamp static and different angles of hawthorn, it is difficult to clamp smoothly, hand-held electric scissors, so that the hawthorn stalk is located Between the two scissors, 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 is harmful to hawthorn The tree is seriously damaged, which will affect the growth and output of several trees in the next year. The vibration picking of the eccentric block is a deformation of the vibration knocking type. While the application is moving forward, the roller can also rotate on the branch at the same time. All hawthorns grow on the branches, whether it is a side branch or a side branch, the fruit stalk and the branch are connected to realize the rotation of the 360-degree cutter. For picking, 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, but only perform mechanical actions. The picking of hawthorn is not regular, and it is impossible to follow the prescribed procedures. Humans are animals with thinking and perception. The growth years of hawthorn are different, and the tensile strength of their fruit stalks is different. Robot picking cannot distinguish the growth age of hawthorn trees. The growth position of the hawthorn, the robotic 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. In contact with the surface of the hawthorn fruit, the picking efficiency is low. Picking one by one, the growth of hawthorn on the branches has no rules to follow, and it is impossible to grow on the same plane. The number of hawthorns is different, and they are clustered into ears, so that the hawthorns of each ear do not grow on the same plane. Even if mechanical pruning is implemented, mechanical harvesting is difficult to achieve. Mechanical harvesting is nothing more than cutting off the hawthorn branches directly with scissors or rotary knives. It can only be picked along the same plane, which cannot be done by robots at present, but this application just takes advantage of this point to cut off the fruit stalk directly by rolling the roller on the branch, and the non-contact manipulator can realize the picking of multiple fruit ears at one time, that is, more than two fruit ears Picking, symmetrical cutting knife, no contact between the cutting knife and the surface of the hawthorn fruit, the roller has a floating profiling function, variable diameter picking, and overcomes the extrusion phenomenon of the hawthorn, which is currently impossible for robots. The existing technical solutions are not the same as this application The technical solutions are different in principle and structure, and the details determine the success or failure of the technical solutions.

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 cutter moves along the surface of the hawthorn branch to cut off the hawthorn fruit stalk. The roller has a floating profiling function to realize variable diameter movement. The cutter cuts the hawthorn fruit stalk without squeezing the hawthorn fruit. pressure effect.

Description of drawings

Fig. 1 is a schematic structural diagram of a manual-assisted non-contact electric hawthorn picker with roller sliders and reduced-diameter branches according to an embodiment of the present invention.

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

detailed description

Example.

A roller slider artificially assisted non-contact manipulator electric hawthorn picker, including a handle 1, a support rod 3, a spring 5, a picker and a collection bag, and a spring 5, a support rod 3 and a picker are fixedly installed on the handle 1, and the support Rod 3 is installed on the handle 1, and is hinged with handle 1, picker is made up of roller 6, telescopic rod 4, spring 5 and cutter 7 and collecting bag, and spring 5 is compression spring, and telescopic rod 4 one end is connected with roller 6, The other end passes through the through hole provided on the spring 5 and the handle 1 and is 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 connecting plate on the motor through a bolt 9. The blade of the cutter 7 is a plurality of small arcs, close to the surface of the hawthorn branch 2, loosen the bolt 9 to adjust the relative position of the cutter 7 and the hawthorn branch 2, and a U-shaped groove is arranged on the outer circular surface of the roller 6 The hawthorn branch 2 is placed in the U-shaped groove. When working in the field, one hand holds the hawthorn branch 2 to be picked, and the other hand applies pressure to the handle 1 of the picker. The handle 1 overcomes the pressure of the spring 5 Rotate around the hinge point on the support rod 3, drive the roller 6 and the cutter 7 to open, place the roller 6 on the hawthorn branch, the hawthorn branch 2 is embedded in the groove of the roller 6, and the roller 6 rolls on the hawthorn branch 2, When the diameter of the branches 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 movement of the cutter 7. The cutter 7 is always close to the hawthorn branch 2. The surface movement removes the pressure applied to the handle 1, the force of the spring 5 fixes the roller 6 on the hawthorn branch 2, the power switch is turned on, the motor rotates, and the cutter 7 is driven to reciprocate, and the manual auxiliary handle 1, the roller 6 is on the hawthorn branch 2, the cutting knife 7 cuts off the stalk of the hawthorn, and the hawthorn falls into the collection bag. After a hawthorn branch is picked, pressure is applied to the handle 1, and the handle 1 overcomes the pressure of the spring 5 and rotates around the hinge point on the support rod 3. , drive the roller 6 and the cutter 7 to open, and the hawthorn picker is taken away from the branches that have been picked, repeat the above-mentioned work process, and pick other hawthorn branches 2 successively.

Claims (2)

1. a kind of roller sliding block human assistance non-contact type mechanical hand-electric 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 harvesting Device, 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 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 bullet 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 flexible Bar（4）On, connecting rod（8）The other end pass through bolt（9）Couple with the gusset piece on motor, cutting knife（7）Blade in multiple Recessed small arc-shaped, press close to hawthorn branch（2）Surface, unclamp bolt（9）Adjust cutting knife（7）With hawthorn branch（2）Relative position Put, in roller（6）Periphery be provided with U-shaped groove, hawthorn branch（2）Be placed in the groove of U-shaped, during farm work, One hand holds the hawthorn branch to be plucked（2）, handle of the another hand to device for picking（1）Apply pressure, handle（1）Overcome bullet Spring（5）Pressure around support bar（3）On pin joint rotate, drive roller（6）And cutting knife（7）Open, by roller（6）It is placed in mountain On the branch of short, bristly hair or beard, hawthorn branch（2）Insertion roller（6）Groove in, roller（6）In hawthorn branch（2）It is upper to roll, work as hawthorn Branch diameter change when, pair roller（6）Apply active force, roller（6）With floating copying function, expansion link is compressed（4）On The spring of setting（5）, and then drive cutting knife（7）Motion, cutting knife（7）All the time hawthorn branch is pressed close to（2）Apparent motion, release pair Handle（1）Application pressure, spring（5）Active force by roller（6）It is fixed on hawthorn branch（2）On, turn on the power switch, electricity Machine rotates, and drives cutting knife（7）Move back and forth, human assistance handle（1）, roller（6）In hawthorn branch（2）It is upper to rotate, cutting knife（7） The carpopodium of hawthorn is cut off, hawthorn is fallen into collecting bag.

2. a kind of roller sliding block human assistance non-contact type mechanical hand-electric hawthorn device for picking as described in claim 1, it is special Levy and be：Roller（6）And cutting knife（7）It is arranged in pairs.