CN105027833A - Pedal-driven hickory nut picking device - Google Patents

Abstract

The invention relates to a pedal-driven hickory nut picking device which comprises an action mechanism, a pedal mechanism, a gear transmission mechanism and a picking mechanism. The picking mechanism, the gear transmission mechanism and the pedal mechanism are sequentially connected in a linkage mode. The pedal mechanism is arranged on the action mechanism. The action mechanism is operated by a user to move, the pedal mechanism is driven by foot manpower, linkage between the gear transmission mechanism and the picking mechanism is controlled, and the picking mechanism is used for picking hickory nuts. According to the pedal-driven hickory nut picking device, movement of the hickory nut picking device and conveying of hickory nuts are achieved through the action mechanism, the pedal mechanism is adopted to stably and flexibly drive and control picking, the hickory nuts and trees are not damaged by the adoption of the flexible picking mechanism, and picking is safer on the whole.

Description

A kind of foot-driven walnut picking device

Technical field

The present invention relates to walnut picking device, relate to a kind of foot-driven walnut picking device in particular.

Background technology

Cathay hickory is extremely welcome food in modern market, but its majority grows in the comparatively complicated area of topography-geomorphology, traffic and instrument transport all inconveniences, and hickory is originally as arbor, trunk is high and long, fruit distribution dispersion, and therefore harvesting difficulty is large, with high costs and there is danger, therefore cathay hickory safety is the common technique difficult problem that peasant household and manufacturing enterprise run into efficiently plucking.And existing cathay hickory seed harvester mainly contains safety belt, centipede type ladder, nuts picking device, portable vibration walnut picking device and plucks executing mechanism etc., but be all difficult to the requirement adapting to cathay hickory harvesting.

Summary of the invention

Technical problem to be solved by this invention is: provide a kind of and adopt foot-operated driving so that user regulates the speed as required, adopt the harvesting cathay hickory that soft axle transmission is soft, adjustable height, so that pluck eminence cathay hickory, can be taken action flexibly so that device adapts to the walnut picking device that physical features carries out movable transport.

The present invention is by the following technical solutions: a kind of foot-driven walnut picking device, comprise executing mechanism, footstep mechanism, gear drive and picking mechanism, picking mechanism, gear drive, footstep mechanism connect interlock successively, footstep mechanism is arranged on executing mechanism, by user's operational action, mechanism moves, and by driving footstep mechanism with pin manpower, the interlock of control gear transmission mechanism and picking mechanism, is carried out the harvesting of cathay hickory by picking mechanism, executing mechanism comprises base and is arranged on below base for driving the drive unit of base motions, drive unit comprises the road wheel be arranged on below base and the climbing being arranged on base side wheel, climbing wheel is connected by a swing arm with road wheel, climbing wheel is by swing arm adjustment angle, drive motors and drive motors circuit is provided with in base, drive motors and road wheel are linked by the first link gear, drive motors circuit and drive motors couple, oscillating motor and oscillating motor circuit is provided with in base, oscillating motor and swing arm are linked by the second link gear, oscillating motor circuit and oscillating motor couple, base top has elevating mechanism, and elevating mechanism arranges footstep mechanism and drives footstep mechanism to rise or decline, base bottom is provided with movable stake, and movable stake is stretched out downwards and fixed executing mechanism on the spot, upwards regains executing mechanism movable, footstep mechanism comprises holder, the rotating shaft be arranged on holder, rotatable setting pedal on the rotary shaft and the foot-operated gear train linked with pedal, pedal rotates around rotating shaft and passes through to arrange torsion spring on the rotary shaft and resets, all by riding gear train output kinetic energy when pedal is ridden and when resetting, foot-operated gear train connects gear drive, picking mechanism comprise the flexible axle that one end is connected with gear drive, the swivel head being arranged on the flexible axle other end, be set in flexible axle outside hand lever and be arranged on hand lever end and be positioned at the bag container below swivel head, make flexible axle and swivel head rotate and reverse by interlock when pedal is ridden and when resetting.

Improve as one, drive motors circuit comprises:

First main control chip, for AT89C51 single-chip microcomputer, the base stage of a triode is coupled after the P10 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, the base stage of a triode is coupled after the P11 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, and the P3.2 mouth of this single-chip microcomputer connects a transistor base after coupling a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, the base stage of a triode is coupled after the P3.3 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode,

First on-off circuit, comprise four single-pole double-throw switch (SPDT)s, wherein every two switches are that one group of its one end is all electrically connected with a drive motors, the other end is all electrically connected to power supply, also be coupled with a diode simultaneously, negative electrode and the single-pole double-throw switch (SPDT) of this diode couple, anode is coupled with two switching tubes parallel with one another, the grid of two switching tubes is interconnected and couples with two triodes afterwards, the colelctor electrode of the emitter stage of one of them triode and another triode couples afterwards and switching tube grid couples, power supply is connect after coupling a resistance after the base stage of two triodes is interconnected, also couple the colelctor electrode of a triode simultaneously, the grounded emitter of this triode, base stage is coupled to the I/O mouth of above-mentioned AT89C51 single-chip microcomputer,

Oscillating motor circuit comprises:

Second main control chip, for AT89C51 single-chip microcomputer, the base stage of a triode is coupled after the P10 mouth of this single-chip microcomputer of P10 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, the base stage of a triode is coupled after the P11 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, P3.2 and the P3.3 mouth of this single-chip microcomputer is all coupled with an encoder;

Second switch circuit, comprise two single-pole double-throw switch (SPDT)s, its one end is all electrically connected with an oscillating motor, the other end is all electrically connected to power supply, also be coupled with a diode simultaneously, negative electrode and the single-pole double-throw switch (SPDT) of this diode couple, anode is coupled with switching tube, the grid of switching tube and two triodes couple, the colelctor electrode of the emitter stage of one of them triode and another triode couples afterwards and switching tube grid couples, power supply is connect after coupling a resistance after the base stage of two triodes is interconnected, also couple the colelctor electrode of a triode simultaneously, the grounded emitter of this triode, base stage is coupled to the P2.0 mouth of above-mentioned AT89C51 single-chip microcomputer.

Improve as one, first link gear comprises planetary reduction gear, with the co-axially fixed driving pinion of input shaft of planetary reduction gear, is socketed in transmission gear in drive motors rotating shaft and for the sprocket wheel with road wheel chain drive, driving pinion is meshed with transmission gear; Second link gear comprise power transmission shaft, with the co-axially fixed sprocket wheel of power transmission shaft and the bearing that is set on power transmission shaft, swing arm is fixedly connected with bearing, bearing is coaxially fixed with master gear, master gear is engaged with pinion, and pinion and oscillating motor rotating shaft are coaxially fixed.

Improve as one, foot-operated gear train comprises the arc-shaped rack that is arranged on pedal bottom and is arranged on the special shape gear on holder, and special shape gear two sides have the annular latch that matches with arc-shaped rack respectively and are connected the annular output gear coordinated with gear drive.

Improve as one, gear drive comprises big column gear, small cylinder gear, large conical gear and small conical gear, by the first power transmission shaft interlock between annular output gear and big column gear, linked by second driving shaft between small cylinder gear and large conical gear; Big column gear and small cylinder gear engaged transmission, large conical gear and small conical gear engaged transmission, small conical gear is provided with soft axle transmission axle, the hinged flexible axle of soft axle transmission axle.

Improve as one, swivel head is provided with through hole, is equipped with stretchy nylon rope in through hole, stretchy nylon rope rotates impact cathay hickory with swivel head.

Improve as one, hand lever is telescopic structure, is provided with clip in hand lever, and flexible axle rotates in clip.

Beneficial effect of the present invention: by the setting of road wheel, by the rotation of swing arm, can pack up climbing wheel in the process that walnut picking device is advanced, make picker can in mild landform rapid movement, when when running into irregular terrain profiles, by the setting of climb wheel and swing arm, just can adjust the angle of climbing between wheel with road wheel by swing arm, namely the angle between climbing wheel and ground, walnut picking device so just can be made effectively to adapt to irregular terrain profiles, some gradients can be climbed up or cross some little gullies, make walnut picking device mobility stronger, can effectively transport and activity, and by the setting of drive motors and the first link gear, just can drive road wheel quick rotation, so just effectively can drive the quick movement of picker, by the setting of drive motors circuit, just better can control drive motors action, by the setting of oscillating motor, just can swing arm be effectively driven to swing up and down, just constantly can adjust the angle between swing arm and horizontal plane, the setting of oscillating motor circuit just effectively can drive the rotation of oscillating motor, an effect controlled is reached to the rotation of oscillating motor, like this when there is climb and fall, just the second link gear can be driven to drive swing arm to swing up and down by oscillating motor, climbing wheel is placed into eminence or the lower on slope, then picker is taken to slope place by climbing wheel, just effectively can complete the process of climbing or descending, picker is made to adapt to the landform of cathay hickory growth, near the position that can arrive hickory place.Adopt elevating mechanism can adjust height, be convenient to the cathay hickory that user plucks eminence, avoid the dangerous way such as climbing, safer carries out cathay hickory harvesting.Employing activity stake can fix executing mechanism, makes picker monolithic stability, prevents picker from moving, and user standpoint is stable safety can pluck on picker.Adopt foot-driven mode, manpower is converted to the power that swivel head rotates impact cathay hickory, good stability, be not subject to the restriction of power supply or circuit, flexibility ratio is high, and user can according to the difference of the cathay hickory position that will pluck, the speed that instant adjustment is foot-operated, the rotating speed of swivel head is changed flexibly, realizes better plucking impact effect, and avoid the defect of original power-actuated picker damage tree branches.Adopt soft shaft design, harvesting cathay hickory that can be softer, does not damage cathay hickory or branches and leaves, and has expansion, adaptability and kinetic energy efficiency better compared with the firm axle pattern in traditional design.Achieve cathay hickory on the whole and pluck safe more, more flexibly stable, do not damage fruit and trees, be convenient to the effect of transporting.

Accompanying drawing explanation

Fig. 1 is the structural representation of foot-driven walnut picking device of the present invention.

Fig. 2 is the circuit diagram of drive motors circuit in Fig. 1.

Fig. 3 is the circuit diagram of oscillating motor circuit in Fig. 1.

Fig. 4 is the overall structure figure of the first link gear in Fig. 1.

Fig. 5 is the overall structure figure of the second link gear in Fig. 1.

Embodiment

Below in conjunction with accompanying drawing, specific embodiments of the invention are elaborated.

As shown in Fig. 1,2,3,4,5, it is the specific embodiment of foot-driven walnut picking device of the present invention.This embodiment comprises executing mechanism 1, footstep mechanism 2, gear drive 3 and picking mechanism 4, picking mechanism 4, gear drive 3, footstep mechanism 2 connect interlock successively, footstep mechanism 2 is arranged on executing mechanism 1, moved by user's operational action mechanism 1, and by driving footstep mechanism 2 with pin manpower, the interlock of control gear transmission mechanism 3 and picking mechanism 4, is carried out the harvesting of cathay hickory by picking mechanism 4, the drive unit 12 that executing mechanism 1 comprises base 11 and is arranged on for driving base 11 to move below base 11, drive unit 12 comprises the road wheel 12a be arranged on below the base 11 and climbing being arranged on base 11 side wheel 12b, climbing wheel 12b and road wheel 12a is connected by a swing arm 13, climbing wheel 12b adjusts angle by swing arm 13, drive motors 11a and drive motors circuit 11b is provided with in base 11, drive motors 11a and road wheel 12a is linked by the first link gear 11c, drive motors circuit 11b and drive motors 11a couples, oscillating motor 11d and oscillating motor circuit 11e is provided with in base 11, oscillating motor 11d and swing arm 13 are linked by the second link gear 11f, oscillating motor circuit 11e and oscillating motor 11d couples, base 11 top has elevating mechanism 14, elevating mechanism 14 arranged footstep mechanism 2 and drive footstep mechanism 2 to rise or decline, base 11 bottom is provided with movable stake 15, and movable stake 15 is stretched out downwards and fixed executing mechanism 1 on the spot, upwards regains executing mechanism 1 movable, footstep mechanism 2 comprises holder 21, the rotating shaft 22 be arranged on holder 21, the rotatable foot-operated gear train 24 being arranged on the pedal 23 on rotating shaft 22 and linking with pedal 23, pedal 23 is rotated around rotating shaft 22 and is resetted by the torsion spring 25 be arranged on rotating shaft 22, when pedal 23 is ridden and reset time all by ride gear train 24 output kinetic energy, foot-operated gear train 24 connects gear drive 3, picking mechanism 4 comprise the flexible axle 41 that one end is connected with gear drive 3, the swivel head 42 being arranged on flexible axle 41 other end, be set in flexible axle 41 outside hand lever 43 and be arranged on hand lever 43 end and be positioned at the bag container 44 below swivel head 42, make flexible axle 41 and swivel head 42 rotate and reverse by interlock when pedal 23 is ridden and when resetting.The present invention by executing mechanism 1, specifically arranges road wheel 12a, by the rotation of swing arm 13, climbing can be taken turns 12b and pack up in the process that walnut picking device is advanced, make picker can in mild landform rapid movement, when when running into irregular terrain profiles, the setting of 12b and swing arm 13 is taken turns by climbing, just can adjust the angle of climbing between wheel 12b and road wheel 12a by swing arm 13, namely the angle between climbing wheel 12b and ground, walnut picking device so just can be made effectively to adapt to irregular terrain profiles, some gradients can be climbed up or cross some little gullies, make walnut picking device mobility stronger, can effectively transport and activity, and pass through the setting of drive motors 11a and the first link gear 11c, just can drive road wheel 12a quick rotation, so just effectively can drive the quick movement of picker, by the setting of drive motors circuit 11b, just better can control drive motors 11a action, by the setting of oscillating motor 11d, swing arm 13 just can be effectively driven to swing up and down, just constantly can adjust the angle between swing arm 13 and horizontal plane, the setting of oscillating motor circuit 11e just effectively can drive the rotation of oscillating motor 11d, an effect controlled is reached to the rotation of oscillating motor 11d, like this when there is climb and fall, just the second link gear 11f can be driven to drive swing arm 13 to swing up and down by oscillating motor 11d, climbing wheel 12b is placed into eminence or the lower on slope, then picker is taken to slope place by climbing wheel 12b, just effectively can complete the process of climbing or descending, picker is made to adapt to the landform of cathay hickory growth, near the position that can arrive hickory place.Adopt elevating mechanism 14 can adjust height, be convenient to the cathay hickory that user plucks eminence, avoid the dangerous way such as climbing, safer carries out cathay hickory harvesting.Employing activity stake 15 can fix executing mechanism 1, makes picker monolithic stability, prevents picker from moving, and user standpoint is stable safety can pluck on picker.Adopt foot-driven mode, manpower is converted to the power that swivel head rotates impact cathay hickory, good stability, be not subject to the restriction of power supply or circuit, flexibility ratio is high, and user can according to the difference of the cathay hickory position that will pluck, the speed that instant adjustment is foot-operated, the rotating speed of swivel head 42 is changed flexibly, realizes better plucking impact effect, and avoid the defect of original power-actuated picker damage tree branches.Concrete footstep mechanism 2 have employed the structure that rotating shaft 22, pedal 23 and foot-operated gear train 24 match, user's foot-treadle 23 makes it rotate around rotating shaft 22, drive the rotation of foot-operated gear train 24, foot-operated gear train 24 drives to gear drive 3, until picking mechanism 4, realize swivel head 42 in picking mechanism 4 and rotate impact harvesting cathay hickory.The action of the foot-treadle 23 of user exports revolving force driven rotary 42 rotates forward of a forward, and when pedal 23 upwards time resetted by the power of torsion spring 25, this is foot-operated gear train 24 reverse drive, swivel head 42 can be made to reversely rotate, form reverse rotation shots, have the action of forward and reverse twice impact cathay hickory, be more conducive to the impact improved cathay hickory and pluck success rate; And compared to the steering force exported time foot-operated, the reset of torsion spring 25 rotates impact force and is less than foot-operated impact force, be also convenient to the cathay hickory that user according to circumstances impacts diverse location.The design of pedal 23 also helps the control of user to rotary speed, when firmly trampling, output is rotated faster impact cathay hickory, torsion spring 25 is resetted and also can slowly mention pin by user and carry out control rate, be convenient to the impact of the cathay hickory of dealing with differing maturity.Adopt the design of flexible axle 41 in picking mechanism 4, harvesting cathay hickory that can be softer, does not damage cathay hickory or branches and leaves, and has expansion, adaptability and kinetic energy efficiency better compared with the firm axle pattern in traditional design; Arrange hand lever 43 to be convenient to protect inner flexible axle 41 and be convenient to allow user's hand grip operate; Arrange swivel head 42 pairs of cathay hickory to impact, the connection good with flexible axle 41 coordinates, and the force continued by the mode rotated shoots down cathay hickory, receives by the bag container 44 being arranged on bottom the cathay hickory shot down.The present invention achieves cathay hickory on the whole and plucks safe more, more flexibly stable, does not damage fruit and trees, is convenient to the effect of transporting.

As a kind of embodiment of improvement, drive motors circuit 11b comprises:

First main control chip 1a, for AT89C51 single-chip microcomputer, the base stage of a triode is coupled after the P10 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, the base stage of a triode is coupled after the P11 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, and the P3.2 mouth of this single-chip microcomputer connects a transistor base after coupling a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, the base stage of a triode is coupled after the P3.3 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode,

First on-off circuit 1b, comprise four single-pole double-throw switch (SPDT)s, wherein every two switches are that one group of its one end is all electrically connected with a drive motors 11a, the other end is all electrically connected to power supply, also be coupled with a diode simultaneously, negative electrode and the single-pole double-throw switch (SPDT) of this diode couple, anode is coupled with two switching tubes parallel with one another, the grid of two switching tubes is interconnected and couples with two triodes afterwards, the colelctor electrode of the emitter stage of one of them triode and another triode couples afterwards and switching tube grid couples, power supply is connect after coupling a resistance after the base stage of two triodes is interconnected, also couple the colelctor electrode of a triode simultaneously, the grounded emitter of this triode, base stage is coupled to the I/O mouth of above-mentioned AT89C51 single-chip microcomputer,

Oscillating motor circuit 11e comprises:

Second main control chip 1c, for AT89C51 single-chip microcomputer, the base stage of a triode is coupled after the P10 mouth of this single-chip microcomputer of P10 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, the base stage of a triode is coupled after the P11 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, P3.2 and the P3.3 mouth of this single-chip microcomputer is all coupled with an encoder;

Second switch circuit 1d, comprise two single-pole double-throw switch (SPDT)s, its one end is all electrically connected with an oscillating motor 11d, the other end is all electrically connected to power supply, also be coupled with a diode simultaneously, negative electrode and the single-pole double-throw switch (SPDT) of this diode couple, anode is coupled with switching tube, the grid of switching tube and two triodes couple, the colelctor electrode of the emitter stage of one of them triode and another triode couples afterwards and switching tube grid couples, power supply is connect after coupling a resistance after the base stage of two triodes is interconnected, also couple the colelctor electrode of a triode simultaneously, the grounded emitter of this triode, base stage is coupled to the P2.0 mouth of above-mentioned AT89C51 single-chip microcomputer.

As a kind of embodiment of improvement, first link gear 11c comprises planetary reduction gear 11c1, with the co-axially fixed driving pinion 11c2 of planetary reduction gear 11c1 power shaft, is socketed in the transmission gear 11c3 in drive motors 11a rotating shaft and is meshed with transmission gear 11c3 for the sprocket wheel 11c4 with road wheel 12a chain drive, driving pinion 11c2; Second link gear 11f comprise power transmission shaft 11f1, with the co-axially fixed sprocket wheel 11c4 of power transmission shaft 11f1 and the bearing 11f2 that is set on power transmission shaft 11f1, swing arm 13 is fixedly connected with bearing 11f2, bearing 11f2 is coaxially fixed with master gear 11f3, master gear 11f3 is engaged with pinion 11f4, and pinion 11f4 and oscillating motor 11d rotating shaft are coaxially fixed.

As shown in Figure 2, the first main control chip 1a that the present embodiment adopts is AT89C51 single-chip microcomputer, because road wheel 12a is opened loop control, thus the road wheel 12a on 51 Single-chip Controlling both sides is only adopted, as shown in the figure, master element in first on-off circuit 1b is single-pole double-throw switch (SPDT), all the other elements are auxiliary element, drive motors 11a in the present embodiment is provided with 2, be oppositely arranged on the both sides of executing mechanism 1 respectively, each drive motors 11a is supporting simultaneously arranges two single-pole double-throw switch (SPDT)s as control element, one of them single-pole double-throw switch (SPDT) controls the forward current of supply drive motors 11a, another single-pole double-throw switch (SPDT) controls the reversing the current of supply drive motors 11a, thus the drive motors 11a that the present embodiment adopts is brushless electric machine, like this when needs drive executing mechanism 1 to advance, first main control chip 1a outputs signal single-pole double-throw switch (SPDT), and (single-pole double-throw switch (SPDT) that the present embodiment adopts is magnetic latching relay, its coil is coupled to P10 as illustrated in the drawing, P11, P3.2, P3.3, the break-make of magnetic latching relay is controlled by these four pins of single-chip microcomputer, a pin controls two magnetic latching relay coils) place, signal sends from 51 single-chip microcomputers, through the multistage amplifier circuit be made up of 3 triodes as shown in the figure, this signal is amplified, after signal amplifies, be input to IGBT single tube carry out PWM, and then to match incompatible driving drive motors 11a with single-pole double-throw switch (SPDT), if now four coils control the forward circuit that motor connected by single-pole double-throw switch (SPDT) simultaneously, so just there will be the PWM ripple being supplied to two drive motors 11a simultaneously and rotating forward, so two drive motors 11a will rotate forward simultaneously, such executing mechanism 1 will advance movement, when executing mechanism 1 needs to retreat time, first main control chip 1a outputs signal single-pole double-throw switch (SPDT) place, be supplied to the PWM ripple that two drive motors 11a reverse simultaneously, at this moment two drive motors 11a will reverse simultaneously, such executing mechanism 1 will fall back, when main control chip outputs signal single-pole double-throw switch (SPDT) place, a drive motors 11a is provided to rotate forward PWM ripple, another drive motors 11a reversion PWM ripple is provided, such executing mechanism 1 will be turned, like this by the setting of drive motors 11a drive circuit, executing mechanism 1 just can be effectively driven to advance, retreat and turned.

After above-mentioned drive motors 11a rotates, first link gear 11c will action, in the present embodiment, first link gear 11c is provided with two, be oppositely arranged on the relative both sides of executing mechanism 1 respectively, the road wheel 12a of corresponding interlock respective side, as shown in Figure 4, when drive motors 11a rotates, drive motors 11a will drive transmission gear 11c3 to rotate, transmission gear 11c3 drives driving pinion 11c2 to rotate further, driving pinion 11c2 drives the power shaft of planetary reduction gear 11c1 to rotate afterwards, planetary reduction gear 11c1 exports from output shaft after this being rotated and slowing down, because the present embodiment middle sprocket 11c4 is coaxially fixed on planetary reduction gear 11c1 output shaft, so sprocket wheel 11c4 will rotate, simultaneously because each road wheel 12a and climbing wheel 12b is provided with sprocket wheel 11c4, and connected by chain between each sprocket wheel 11c4, so in sprocket wheel 11c4 on planetary reduction gear 11c1 output shaft rotates, road wheel 12a and climbing wheel 12b will be driven to rotate, executing mechanism 1 so just can be effectively driven to advance, retreat and turned.

As shown in Figure 3, the oscillating motor 11d drive circuit of the present embodiment comprises the second main control chip 1c and second switch circuit 1d, in the present embodiment, in view of coal mine explosion-proof requirement, oscillating motor 11d only arranges one, simultaneously according to the angle needs of swing arm 13, this motor is similarly brushless electric machine, and it rotates forward; The principle of reversion and speed governing is identical with drive motors 11a drive circuit, and thus repeat no more, difference is, as shown in the figure, by the P3.2 of single-chip microcomputer; P3.3 and P3.4 is all connected to a shaft-position encoder, as the A of shaft-position encoder; B; C three-phase current, the outer interruption P3.2 pin INT0 because A is connected, so the external interrupt that each voltage pulse caused can trigger single-chip microcomputer is rotated in swing arm.Interrupt subfunction (adopting the rising edge of INT0 to interrupt) herein by establishment INT0, just can realize accurate calculating shaft-position encoder being exported to pulse number, after converting, namely obtain the precise angular displacement that turning cylinder turns over.The swing arm 13 of shaft-position encoder and executing mechanism 1 is coaxially installed, and therefore, carries out phase demodulation, just can differentiate swing arm 13 forward or reverse by two-way voltage pulse signal A and B of the phase difference 90 degree exported shaft-position encoder.During rotating forward, the advanced B signal of phase place 90 degree of a-signal, during a-signal rising edge, B signal is low level.During reversion, the phase place of a-signal delays B signal 90 degree, and during a-signal rising edge, B signal is high level.Therefore, interrupt by middle INT0 the voltage levels reading B signal in subfunction, just can differentiate turning to of shaft-position encoder, that is the turning to of swing arm 13, during rotating forward, step-by-step counting adds 1, and during reversion, step-by-step counting subtracts 1.

I is connected outer interrupt INT 1, so swing arm 13 is rotated when zero crossing, can trigger the external interrupt INT1 of single-chip microcomputer.Interrupt subfunction (adopting the rising edge of INT1 to interrupt) herein by establishment INT1, the correction to swing arm 13 zero degree point can be realized, with the deviation of correction angle displacement.

Swing arm 13 angular displacement computing formula is:

$\begin{array}{c}\mathrm{\θ}=\frac{2{\mathrm{\πD}}_{count}}{N}\\ =\frac{\mathrm{\π}}{180}{D}_{count}\end{array}$

Wherein, θ is the angular displacement of swing arm 13, D _countfor counted number of pulses, N be shaft-position encoder rotate a circle export umber of pulse, N=360 herein.

According to the angular displacement that shaft-position encoder in certain hour rotates, the angular speed of turning cylinder just can be tried to achieve.If ω is the average angular rate in T time, because the time period calculated needed for angular speed is enough little, so average angular rate can be approximately real-time angular speed.

Swing arm 13 angular speed computing formula is:

$\mathrm{\ω}=\frac{\mathrm{\θ}\left(n\right)-\mathrm{\θ}(n-1)}{T}$

Wherein, ω is the average angular rate in T time, θ (n) is the angular displacement of nT moment swing arm 13, such executing mechanism 1 just can adjust required for swing arm 13 according to the height on slope accurately and climb or the distance declined, so just effectively climbing wheel 12b can be placed into accurately and effectively eminence or the lower on slope, then carried out the effect of climbing by the drive of climbing wheel 12b, the existing wheeled executing mechanism 1 compared in background technology has stronger landform adaptive capacity.

After above-mentioned oscillating motor 11d rotates, second link gear 11f will action, as shown in Figure 5, after oscillating motor 11d rotates, it will drive pinion 11f4 to rotate, then pinion 11f4 drives master gear 11f3 to rotate, master gear 11f3 will be with dynamic bearing 11f2 to rotate, bearing 11f2 drives swing arm 13 to rotate, so just effectively can reach oscillating motor 11d drives swing arm 13 to detour the effect of driving wheel 12a center rotating, and be all connected with power transmission shaft 11f1 by bearing 11f2 with master gear 11f3 due to swing arm 13, so rotation between swing arm 13 and master gear 11f3 and the rotation between power transmission shaft 11f1 are separate, thus power transmission shaft 11f1 is driven to rotate at sprocket wheel 11c4, and then in the process driving road wheel 12a to rotate, swing arm 13 can not be moved thereupon, so just effectively can ensure that executing mechanism 1 swing arm 13 in the process of advancing there will not be by the problem with motion.

As a kind of embodiment of improvement, foot-operated gear train 24 comprises the arc-shaped rack 24a being arranged on pedal 23 bottom and the special shape gear 24b be arranged on holder 21, and special shape gear 24b two sides have the annular latch 24b1 that matches with arc-shaped rack 24a respectively and are connected the annular output gear 24b2 coordinated with gear drive 3.Both sides are adopted to have the important running part of special shape gear 24b as foot-operated gear train 24 of annular tooth respectively, coordinated with annular latch 24b1 by the arc-shaped rack 24a of pedal 23 bottom, coordinated with annular output gear 24b2 by the first power transmission shaft 3a of gear drive 3, hologamy is good, interference between tooth and tooth is little, improves transmission effect while reducing wear.Arc-shaped rack 24a adapts to the shape of special shape gear 24b, and when pedal 23 rotates around rotating shaft 22, arc-shaped rack 24a rotates and coordinates with special shape gear 24b.

As a kind of embodiment of improvement, gear drive 3 comprises big column gear 31, small cylinder gear 32, large conical gear 33 and small conical gear 34, linked by the first power transmission shaft 3a between annular output gear 24b2 and big column gear 31, linked by second driving shaft 3b between small cylinder gear 32 and large conical gear 33; Big column gear 31 and small cylinder gear 32 engaged transmission, large conical gear 33 and small conical gear 34 engaged transmission, small conical gear 34 is provided with soft axle transmission axle 35, the hinged flexible axle 41 of soft axle transmission axle 35.Between annular output gear 24b2 and big column gear 31, the design of interlock and interlock between soft axle transmission axle 35 and flexible axle 41 makes gear drive 3 achieve the interlock of footstep mechanism 2 and picking mechanism 4, transmit with realizing power, link big column gear 31 successively that arrange, small cylinder gear 32, large conical gear 33 and small conical gear 34 constitute kinetic energy buffering and adjust function again, and the connection cooperation of pinion is taken turns to through canine tooth, achieve the slow-speed of revolution to high-revolving adjustment, namely the cooperation among a small circle of footstep mechanism 2 place gear rotates, just can realize the multipurpose rotary of flexible axle 41, practicality is good, be convenient to footstep mechanism 2 and picking mechanism 4 with the use of.On the other hand, the set-up mode of this gear drive 3 is conducive to arranging many group picking mechanisms 4 and is mated, as the many group small cylinder gears 32 that circumferentially arranges from big column gear 31 coordinate, each group of small cylinder gear 32 connects respective large conical gear 33, small conical gear 34, soft axle transmission axle 35, then pick out picking mechanism 4, namely achieve the effect that multiple picking mechanism 4 is plucked simultaneously, many people can be coordinated simultaneously to pluck, increase work efficiency, and structure is simply convenient to realize.

As a kind of embodiment of improvement, swivel head 42 is provided with through hole 45, is equipped with stretchy nylon rope 46 in through hole 45, stretchy nylon rope 46 rotates impact cathay hickory with swivel head 42.Stretchy nylon rope 46 is softer compared to swivel head 42, some comparatively ripe cathay hickory of impact that can be soft, and easily can lay and fall within bag container 44, and can not hurt neighbouring branches and leaves; By swivel head 42 is close, more rigid impact is carried out again for the cathay hickory cannot hit down with stretchy nylon rope 46, thus more efficiently realizes shooting down cathay hickory and reducing the damage to cathay hickory and branches and leaves as far as possible.

As a kind of embodiment of improvement, hand lever 43 is telescopic structure, is provided with clip 47 in hand lever 43, and flexible axle 41 rotates in clip 47.Telescopic hand lever 43 can coordinate the characteristic of flexible axle 41 itself to reach to adjust and control action length, and the cathay hickory of user to differing heights different distributions position can be plucked well.By clip 47, flexible axle 41 is stabilized in hand lever 43, prevents the play on a large scale of flexible axle 41 radial direction, improve flexible axle 41 stability and decrease the wearing and tearing of flexible axle 41 in hand lever 43, ensure flexible axle 41 driven rotary 42 stability rotated simultaneously.

Claims (9)

1. a foot-driven walnut picking device, it is characterized in that: comprise executing mechanism (1), footstep mechanism (2), gear drive (3) and picking mechanism (4), described picking mechanism (4), gear drive (3), footstep mechanism (2) connects interlock successively, described footstep mechanism (2) is arranged on executing mechanism (1), mobile by user's operational action mechanism (1), and by driving footstep mechanism (2) with pin manpower, the interlock of control gear transmission mechanism (3) and picking mechanism (4), the harvesting of cathay hickory is carried out by picking mechanism (4), described executing mechanism (1) comprises base (11) and is arranged on the drive unit (12) of base (11) below for driving base (11) to move, described drive unit (12) comprises the road wheel (12a) being arranged on base (11) below and climbing wheel (12b) being arranged on base (11) side, described climbing wheel (12b) is connected by a swing arm (13) with road wheel (12a), described climbing wheel (12b) is by swing arm (13) adjustment angle, drive motors (11a) and drive motors circuit (11b) is provided with in described base (11), described drive motors (11a) and road wheel (12a) are linked by the first link gear (11c), described drive motors circuit (11b) and drive motors (11a) couple, oscillating motor (11d) and oscillating motor circuit (11e) is provided with in described base (11), described oscillating motor (11d) and swing arm (13) are linked by the second link gear (11f), described oscillating motor circuit (11e) and oscillating motor (11d) couple, described base (11) top has elevating mechanism (14), described elevating mechanism (14) arranged footstep mechanism (2) and drive footstep mechanism (2) to rise or decline, described base (11) bottom is provided with movable stake (15), described movable stake (15) is stretched out downwards and is fixed executing mechanism (1) on the spot, upwards regains executing mechanism (1) movable, described footstep mechanism (2) comprises holder (21), the rotating shaft (22) be arranged on holder (21), the rotatable foot-operated gear train (24) being arranged on the pedal (23) on rotating shaft (22) and linking with pedal (23), described pedal (23) rotates around rotating shaft (22) and resets by being arranged on torsion spring (25) on rotating shaft (22), all by riding gear train (24) output kinetic energy when described pedal (23) is foot-operated and when resetting, described foot-operated gear train (24) connects gear drive (3), described picking mechanism (4) comprises the flexible axle (41) that one end is connected with gear drive (3), the swivel head (42) being arranged on flexible axle (41) other end, is set in the outside hand lever (43) of flexible axle (41) and is arranged on hand lever (43) end and is positioned at the bag container (44) of swivel head (42) below, when described pedal (23) is foot-operated and reset time make flexible axle (41) and swivel head (42) rotate and reverse by interlock.

2. a kind of foot-driven walnut picking device according to claim 1, is characterized in that: described drive motors circuit (11b) comprising:

First main control chip (1a), for AT89C51 single-chip microcomputer, the base stage of a triode is coupled after the P10 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, the base stage of a triode is coupled after the P11 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, and the P3.2 mouth of this single-chip microcomputer connects a transistor base after coupling a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, the base stage of a triode is coupled after the P3.3 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode,

First on-off circuit (1b), comprise four single-pole double-throw switch (SPDT)s, wherein every two switches are that one group of its one end is all electrically connected with a drive motors (11a), the other end is all electrically connected to power supply, also be coupled with a diode simultaneously, negative electrode and the single-pole double-throw switch (SPDT) of this diode couple, anode is coupled with two switching tubes parallel with one another, the grid of two switching tubes is interconnected and couples with two triodes afterwards, the colelctor electrode of the emitter stage of one of them triode and another triode couples afterwards and switching tube grid couples, power supply is connect after coupling a resistance after the base stage of two triodes is interconnected, also couple the colelctor electrode of a triode simultaneously, the grounded emitter of this triode, base stage is coupled to the I/O mouth of above-mentioned AT89C51 single-chip microcomputer,

Described oscillating motor circuit (11e) comprising:

Second main control chip (1c), for AT89C51 single-chip microcomputer, the base stage of a triode is coupled after the P10 mouth of this single-chip microcomputer of P10 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, the base stage of a triode is coupled after the P11 mouth of this single-chip microcomputer couples a resistance, and the colelctor electrode of this triode connects power supply after coupling an inductance, wherein this inductance is also parallel with a diode, P3.2 and the P3.3 mouth of this single-chip microcomputer is all coupled with an encoder;

Second switch circuit (1d), comprise two single-pole double-throw switch (SPDT)s, its one end is all electrically connected with an oscillating motor (11d), the other end is all electrically connected to power supply, also be coupled with a diode simultaneously, negative electrode and the single-pole double-throw switch (SPDT) of this diode couple, anode is coupled with switching tube, the grid of switching tube and two triodes couple, the colelctor electrode of the emitter stage of one of them triode and another triode couples afterwards and switching tube grid couples, power supply is connect after coupling a resistance after the base stage of two triodes is interconnected, also couple the colelctor electrode of a triode simultaneously, the grounded emitter of this triode, base stage is coupled to the P2.0 mouth of above-mentioned AT89C51 single-chip microcomputer.

3. a kind of foot-driven walnut picking device according to claim 2, it is characterized in that: described first link gear (11c) comprises planetary reduction gear (11c1), with the co-axially fixed driving pinion of planetary reduction gear (11c1) power shaft (11c2), is socketed in transmission gear (11c3) in drive motors (11a) rotating shaft and for the sprocket wheel (11c4) with road wheel (12a) chain drive, described driving pinion (11c2) is meshed with transmission gear (11c3); Described second link gear (11f) comprise power transmission shaft (11f1), with power transmission shaft (11f1) co-axially fixed sprocket wheel (11c4) and the bearing (11f2) that is set on power transmission shaft (11f1), described swing arm (13) is fixedly connected with bearing (11f2), described bearing (11f2) is coaxially fixed with master gear (11f3), described master gear (11f3) is engaged with pinion (11f4), and pinion (11f4) and oscillating motor (11d) rotating shaft are coaxially fixed.

4. a kind of foot-driven walnut picking device according to claim 1 or 2 or 3, it is characterized in that: described foot-operated gear train (24) comprises the arc-shaped rack (24a) being arranged on pedal (23) bottom and the special shape gear (24b) be arranged on holder (21), described special shape gear (24b) two sides have the annular latch (24b1) that matches with arc-shaped rack (24a) respectively and are connected the annular output gear (24b2) coordinated with gear drive (3).

5. a kind of foot-driven walnut picking device according to claim 4, it is characterized in that: described gear drive (3) comprises big column gear (31), small cylinder gear (32), large conical gear (33) and small conical gear (34), by the first power transmission shaft (3a) interlock between described annular output gear (24b2) and big column gear (31), by second driving shaft (3b) interlock between described small cylinder gear (32) and large conical gear (33); Described big column gear (31) and small cylinder gear (32) engaged transmission, described large conical gear (33) and small conical gear (34) engaged transmission, described small conical gear (34) is provided with soft axle transmission axle (35), the hinged flexible axle of described soft axle transmission axle (35) (41).

6. a kind of foot-driven walnut picking device according to claim 1 or 2 or 3 or 5, it is characterized in that: described swivel head (42) is provided with through hole (45), be equipped with stretchy nylon rope (46) in described through hole (45), described stretchy nylon rope (46) rotates impact cathay hickory with swivel head (42).

7. a kind of foot-driven walnut picking device according to claim 4, it is characterized in that: described swivel head (42) is provided with through hole (45), be equipped with stretchy nylon rope (46) in described through hole (45), described stretchy nylon rope (46) rotates impact cathay hickory with swivel head (42).

8. a kind of foot-driven walnut picking device according to claim 6, it is characterized in that: described hand lever (43) is telescopic structure, be provided with clip (47) in described hand lever (43), described flexible axle (41) rotates in clip (47).

9. a kind of foot-driven walnut picking device according to claim 7, it is characterized in that: described hand lever (43) is telescopic structure, be provided with clip (47) in described hand lever (43), described flexible axle (41) rotates in clip (47).