CN107535185A - The rotary and lifting retractor device of one elite stand fruit picking machine device people - Google Patents
The rotary and lifting retractor device of one elite stand fruit picking machine device people Download PDFInfo
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- CN107535185A CN107535185A CN201710912205.0A CN201710912205A CN107535185A CN 107535185 A CN107535185 A CN 107535185A CN 201710912205 A CN201710912205 A CN 201710912205A CN 107535185 A CN107535185 A CN 107535185A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 33
- 230000003028 elevating effect Effects 0.000 claims abstract description 16
- 239000000203 mixture Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000003306 harvesting Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to the rotary and lifting retractor device of an elite stand fruit picking machine device people, including slew gear, elevating mechanism and telescoping mechanism；Slew gear controls clamping vibration device to be rotated around the centre of gyration, adjusts the orientation of clamping vibration device；Elevating mechanism is used to adjust height of the clamping vibration device apart from ground；Described telescoping mechanism is used to adjust the distance between clamping vibration device and trunk；The advantages of present invention has stabilized structure, and position adjustments scope is wide, and control mode is reliable and stable；It can accurately realize and the fruit tree of all directions and different height is clamped, vibrated and plucked, picking efficiency is high.
Description
Technical field
The invention belongs to field of agricultural robots, it is related to the rotary and lifting retractor device of an elite stand fruit picking machine device people.
Background technology
Industry of planting forest or fruit tress has obvious economic benefit and ecological benefits, in recent years with the continuous development of forest and fruit, into
The important industry got rich for new rural village development construction and peasant's extra earning.Industry of planting forest or fruit tress is that technology-intensive type is mutually tied with labour-intensive
The industry of conjunction, the main method of the woods fruit of China's harvesting at present are plucked by artificial harvesting, or using simple aid, i.e.,
Branch is beaten using pole, allows mellow fruit to drop, is regathered in container.Above-mentioned picking method operating efficiency is low, work
Intensity is big, and due to the shortage of labour, causes a large amount of mellow fruits timely to be plucked, efficiency of crop is always
It is relatively low.Therefore, woods fruit harvesting mechanization turns into the emphasis studied both at home and abroad.At present, several picking machines designed both at home and abroad, though
Harvesting function can be so realized, but the clamping vibration head position adjustments scope of picking machine is small, it is impossible to realize to all directions
Fruit tree clamped, vibrated and plucked, and picking efficiency is low.
The content of the invention
The invention provides the rotary and lifting retractor device of an elite stand fruit picking machine device people, for adjusting clamping vibration device
Position, realize that the clamping vibration mechanism of existing woods fruit picking machine is clamped, vibrated and plucked to the fruit tree of all directions, carry
High picking efficiency.The present invention may be mounted on existing woods fruit picking machine and the hitch frame of existing tractor on or mobile platform
On, the Picker arm as woods fruit picking machine uses, and has good versatility.
The rotary and lifting retractor device of one elite stand fruit picking machine device people, including slew gear, elevating mechanism and telescoping mechanism；
Described slew gear control clamping vibration device rotates around the centre of gyration, adjusts the orientation of clamping vibration device；Described
Elevating mechanism is used to adjust height of the clamping vibration device apart from ground；Described telescoping mechanism is used to adjust clamping vibration device
The distance between trunk.
Described slew gear includes deceleration hydraulic motor, turntable bearing, rotary table and gear；Described deceleration hydraulic pressure
Motor is used to drive slew gear to rotate, and completes divertical motion, gear is provided with deceleration hydraulic motor axle；Described turntable shaft
Hold and be divided into outer ring and inner ring, outer ring is arranged on the traction vehicle frame or mobile platform of existing tractor；Inner ring with the gear teeth and with
Gear is engaged, and rotary table is provided with inner ring；Pinion rotation drives rotary table to rotate.
Described elevating mechanism includes lifting support frame, lifting hydraulic cylinder, lifting carriage frame, sprocket wheel, chain, roller and U
Shape bolt.The two root posts that described lifting support frame is fixed on rotary table both sides by Symmetrical vertical form；Lifting support frame
It can be rotated with rotary table, lifting support frame plays a part of support to whole elevating mechanism；Described lifting hydraulic cylinder is used for
Elevating mechanism lifting is driven, lifting hydraulic cylinder bottom is vertically fixed on rotary table；Lifting hydraulic cylinder positioned at two columns it
Between, and the distance of two columns of distance is equal；Lifting hydraulic cylinder top is arranged with two sprocket wheels that can be rotated；Each sprocket wheel is matched somebody with somebody
Unification bar chain is used to drive lifting carriage frame to move up and down；Chain across connecting lifting carriage frame after sprocket wheel and lifting is solid respectively
Determine frame；Two chain is symmetrical arranged；Described lifting carriage frame both sides are placed in two columns by the movable card of roller respectively
Side；Lifting carriage frame passes through roller and the movable connection of lifting support frame；Lifting hydraulic cylinder is flexible to drive chain to move up and down, from
And lifting carriage frame is driven to be slided up and down along lifting support frame；Lifting carriage frame is provided with chute one, and the underface of chute one is set
There is pin hole, lifting carriage frame connects telescoping mechanism by the roller bolt in chute one with the pin in pin hole；Raise-lower hydraulic
Cylinder lower end is fixed on rotary table, and middle part is fixed on lifting support frame further through U bolt.
Described telescoping mechanism uses scissor type telescopic arm configuration, including telescopic hydraulic cylinder, inner supporting rod, outer pole, suspension
Frame, pin and roller bolt.Described inner supporting rod connects the scissor type telescopic arm of composition movable telescopic with outer pole by pin
Structure；By rolling the chute one of pin connection lifting carriage frame, inner supporting rod is connected the inner outer pole of telescoping mechanism by pin
The pin hole of lifting carriage frame；Described telescopic hydraulic cylinder is used to drive telescoping mechanism to complete stretching motion, telescopic hydraulic cylinder two
The mode being connected through the hinge is held to be connected respectively on two inner supporting rods of lifting carriage frame；Described hanger bracket side is set
There is chute two, chute two is arranged right below pin hole, and hanger bracket passes through the pin in the roller bolt and pin hole in chute two
The outer end of inner supporting rod and outer pole is connected respectively, and the lower end of hanger bracket mounts the clamping vibration device of existing woods fruit picking machine.Stretch
The quantity of inner supporting rod and outer pole in contracting mechanism is plucked the distance of woods fruit and increased and decreased as needed, to adapt to different flexible length
Degree regulation.
The present invention has the advantages that stabilized structure, position adjustments scope are wide, and rotary and lifting retractor device uses hydraulic control,
With control mode it is reliable and stable the characteristics of.
Brief description of the drawings
Fig. 1 is the overall structure diagram of rotary and lifting retractor device
Fig. 2 is slew gear schematic diagram
Fig. 3 is lift telescopic mechanism front view
Fig. 4 is lift telescopic mechanism side view
Fig. 5 is lift telescopic mechanism top view
Fig. 6 is telescopic hydraulic cylinder connected mode schematic diagram
In figure：
1. 6. inner supporting rod of rotary table 2. lifting support frame, 3. lifting carriage frame, 4. sprocket wheel, 5. chain, 7. outer pole
8. the roller of 11. deceleration hydraulic motor of hanger bracket 9. turntable bearing, 10. gear, 12. lifting hydraulic cylinder 13.U shapes bolt 14.
15. the roller bolt of 16. pin of telescopic hydraulic cylinder 17.
Embodiment
Patent of the present invention is described further below in conjunction with the accompanying drawings.As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6,
Described slew gear includes deceleration hydraulic motor 11, turntable bearing 9, rotary table 1 and gear 10.Described deceleration hydraulic pressure horse
It is used to drive slew gear to rotate up to 11, so as to complete divertical motion, gear 10 is installed on deceleration hydraulic motor axle；Described
Turntable bearing 9 divides can be installed on tractor-drawn vehicle frame or mobile platform for outer ring and inner ring, outer ring, and inner ring carries the gear teeth
And engaged with gear 10, rotary table 1 is installed on inner ring；Gear 10, which rotates, drives rotary table 1 to rotate.
Described elevating mechanism includes lifting support frame 2, lifting hydraulic cylinder 12, lifting carriage frame 3, sprocket wheel 4, chain 5, rolling
Wheel 14 and U bolt 13.Described lifting support frame 2 is vertically fixed on rotary table 1, can be rotated with rotary table 1, lifting
Support frame 2 plays a part of support to whole elevating mechanism；Described lifting hydraulic cylinder 12 is used to drive elevating mechanism to lift, and rises
The top of descending liquid cylinder pressure 12 is provided with sprocket wheel 4；Chain 5 connects lifting carriage frame 3 across sprocket wheel 4；Described lifting carriage frame 3 is installed
In the side of lifting support frame 2, sprocket wheel 4 and chain 5 coordinate for lifting lifting carriage frame 3；Installed on described lifting carriage frame 3
There is roller 14, lifting carriage frame 3 passes through roller 14 and 2 movable connection of lifting support frame, under the drive of chain 5, lifting carriage
Frame 3 can slide up and down along lifting support frame 2；Lifting carriage frame 3 is provided with chute one, and chute one is arranged right below pin hole,
Lifting carriage frame 3 connects telescoping mechanism by the pin 16 in the roller bolt 17 and pin hole in chute one；Lifting hydraulic cylinder 12
Lower end is fixed on rotary table 1, and middle part is fixed on lifting support frame 2 further through U bolt 13.
Described telescoping mechanism uses scissor type telescopic arm configuration, including telescopic hydraulic cylinder 15, inner supporting rod 6, outer pole 7,
Hanger bracket 8, pin 16 and roller bolt 17.Described inner supporting rod 6 and outer pole 7 connects composition movable telescopic by pin 16
Scissor type telescopic arm configuration；The outer pole 7 of telescoping mechanism one end is connected to by roller bolt 17 on the chute of lifting carriage frame 3,
Inner supporting rod 6 is connected to by pin 16 on the pin hole of lifting carriage frame 3；Described telescopic hydraulic cylinder 15 is used to drive telescopic machine
Structure completes stretching motion, and the mode that the both ends of telescopic hydraulic cylinder 15 are connected through the hinge is connected respectively to close to lifting carriage frame 3
On two inner supporting rods 6；The described side of hanger bracket 8 is provided with chute two, and chute two is arranged right below pin hole, and hanger bracket 8 is logical
The pin 16 crossed in roller bolt 17 and pin hole in chute two connects inner supporting rod 6 and the outer end of outer pole 7 respectively, hanger bracket 8
Lower end mounts the clamping vibration device of existing woods fruit picking machine.The quantity of inner supporting rod 6 and outer pole 7 in telescoping mechanism is according to reality
Border needs to increase and decrease, and is adjusted with adapting to different collapsing lengths.
In use, according to being actually needed, the clamping vibration device of the invention with existing woods fruit picking machine is connected；Deceleration liquid
Pressure motor driving slew gear rotates, and turns to the direction for needing to pluck；Then lifting hydraulic cylinder driving elevating mechanism lifting, is adjusted
Save the height for needing to pluck；Telescopic hydraulic cylinder driving telescoping mechanism is stretched out, and regulation telescoping mechanism is reached where harvesting woods fruit
Distance, coordinate clamping vibration device harvesting woods fruit.
The rotary and lifting retractor device of an elite stand fruit picking machine of the invention has stabilized structure, and position adjustments scope is wide, control
The advantages that mode processed is reliable and stable.Can accurately realize the fruit tree of all directions and different height is clamped, vibrate and
Harvesting, picking efficiency are high.
Claims (4)
1. the rotary and lifting retractor device of an elite stand fruit picking machine device people, it is characterised in that including slew gear, elevating mechanism and
Telescoping mechanism；Described slew gear control clamping vibration device rotates around the centre of gyration, adjusts the side of clamping vibration device
Position；Described elevating mechanism is used to adjust height of the clamping vibration device apart from ground；Described telescoping mechanism arrives for regulation
Pluck the distance of woods fruit；
Described slew gear includes deceleration hydraulic motor, turntable bearing, rotary table and gear；Described deceleration hydraulic motor
For driving slew gear to rotate, gear is installed on deceleration hydraulic motor axle；Described turntable bearing is divided into outer ring and inner ring；
Inner ring is engaged with the gear teeth and with gear, and rotary table is provided with inner ring；Pinion rotation drives rotary table to rotate；
Described elevating mechanism includes lifting support frame, lifting hydraulic cylinder, lifting carriage frame, sprocket wheel, chain, roller and U-shaped spiral shell
Bolt；The two root posts that described lifting support frame is fixed on rotary table both sides by Symmetrical vertical form；Described lifting support
Frame is vertically fixed on rotary table, can be rotated with rotary table, and lifting support frame plays the work of support to whole elevating mechanism
With；Described lifting hydraulic cylinder is used to drive elevating mechanism to lift, and lifting hydraulic cylinder top is arranged with two chains that can be rotated
Wheel；Each sprocket wheel is used to drive lifting carriage frame to move up and down with unification bar chain；Chain is across connection lifting respectively after sprocket wheel
Travelling carriage and down fixing rack；Described lifting carriage frame both sides are placed on the inside of two columns by the movable card of roller respectively；
Lifting carriage frame passes through roller and the movable connection of lifting support frame；Lifting hydraulic cylinder is flexible to drive chain to move up and down, so as to
Lifting carriage frame is driven to be slided up and down along lifting support frame；Lifting carriage frame is provided with chute one, and chute one is arranged right below
Pin hole, lifting carriage frame connect telescoping mechanism by the roller bolt in chute one with the pin in pin hole；Lifting hydraulic cylinder
Lower end is fixed on rotary table, and middle part is fixed on lifting support frame further through U bolt；
Described telescoping mechanism uses scissor type telescopic arm configuration, including telescopic hydraulic cylinder, inner supporting rod, outer pole, hanger bracket, pin
Nail and roller bolt；Described inner supporting rod connects the scissor type telescopic arm configuration of composition movable telescopic with outer pole by pin；
The inner outer pole of telescoping mechanism passes through pin connection lifting and slided by rolling the chute one of pin connection lifting carriage frame, inner supporting rod
The pin hole of moving frame；Described telescopic hydraulic cylinder is used to drive telescoping mechanism to complete stretching motion, and telescopic hydraulic cylinder both ends pass through
Hinged mode is connected respectively on two inner supporting rods of lifting carriage frame；Described hanger bracket side is provided with chute
Two, chute two is arranged right below pin hole, and hanger bracket is connected respectively by the pin in the roller bolt and pin hole in chute two
Connect the outer end of inner supporting rod and outer pole.
2. the rotary and lifting retractor device of elite stand fruit picking machine device people as claimed in claim 1, it is characterised in that described
Two chain is symmetrical arranged.
3. the rotary and lifting retractor device of elite stand fruit picking machine device people as claimed in claim 1, it is characterised in that described
Lifting hydraulic cylinder is between two columns, and the distance of two columns of distance is equal.
4. the rotary and lifting retractor device of elite stand fruit picking machine device people as claimed in claim 1, it is characterised in that in described
The quantity of pole and outer pole is plucked the distance of woods fruit and increased and decreased as needed, is adjusted with adapting to different collapsing lengths.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710912205.0A CN107535185A (en) | 2017-09-29 | 2017-09-29 | The rotary and lifting retractor device of one elite stand fruit picking machine device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710912205.0A CN107535185A (en) | 2017-09-29 | 2017-09-29 | The rotary and lifting retractor device of one elite stand fruit picking machine device people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107535185A true CN107535185A (en) | 2018-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710912205.0A Pending CN107535185A (en) | 2017-09-29 | 2017-09-29 | The rotary and lifting retractor device of one elite stand fruit picking machine device people |
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| Country | Link |
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| CN (1) | CN107535185A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108476873A (en) * | 2018-03-08 | 2018-09-04 | 重庆岁稔生态农业发展有限公司 | Lei Zhu's stays foster method and device |
| CN114698469A (en) * | 2022-04-18 | 2022-07-05 | 华南农业大学 | Black-skin wax gourd picking machine and picking method |
| CN116941422A (en) * | 2023-08-03 | 2023-10-27 | 淮安市福美好农业机械有限公司 | Stable full-automatic apple picking machine with supporting structure |
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|---|---|---|---|---|
| EP1902610A1 (en) * | 2006-09-19 | 2008-03-26 | Martin Nester | Seed harvester |
| KR100869482B1 (en) * | 2007-06-20 | 2008-11-21 | 주식회사수산중공업 | An ascent and descen apparatus for fruit cutting of work party |
| CN102440120A (en) * | 2012-02-04 | 2012-05-09 | 南通市广益机电有限责任公司 | Forest fruit picker |
| CN104202960A (en) * | 2011-12-31 | 2014-12-10 | 山河智能装备股份有限公司 | Fruit picking equipment |
| CN105580560A (en) * | 2014-11-16 | 2016-05-18 | 张桂春 | Apple harvesting robot |
| CN105940863A (en) * | 2016-06-23 | 2016-09-21 | 海南大学 | Solar mango picking machine |
| CN206118441U (en) * | 2016-10-28 | 2017-04-26 | 福建农林大学 | Fruit picking machine |
| CN206149886U (en) * | 2016-11-01 | 2017-05-10 | 福建农林大学 | Fruit picking machine |
| CN207219438U (en) * | 2017-09-29 | 2018-04-13 | 山东农业大学 | The rotary and lifting telescopic device of one elite stand fruit picking machine device people |
-
2017
- 2017-09-29 CN CN201710912205.0A patent/CN107535185A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1902610A1 (en) * | 2006-09-19 | 2008-03-26 | Martin Nester | Seed harvester |
| KR100869482B1 (en) * | 2007-06-20 | 2008-11-21 | 주식회사수산중공업 | An ascent and descen apparatus for fruit cutting of work party |
| CN104202960A (en) * | 2011-12-31 | 2014-12-10 | 山河智能装备股份有限公司 | Fruit picking equipment |
| CN102440120A (en) * | 2012-02-04 | 2012-05-09 | 南通市广益机电有限责任公司 | Forest fruit picker |
| CN105580560A (en) * | 2014-11-16 | 2016-05-18 | 张桂春 | Apple harvesting robot |
| CN105940863A (en) * | 2016-06-23 | 2016-09-21 | 海南大学 | Solar mango picking machine |
| CN206118441U (en) * | 2016-10-28 | 2017-04-26 | 福建农林大学 | Fruit picking machine |
| CN206149886U (en) * | 2016-11-01 | 2017-05-10 | 福建农林大学 | Fruit picking machine |
| CN207219438U (en) * | 2017-09-29 | 2018-04-13 | 山东农业大学 | The rotary and lifting telescopic device of one elite stand fruit picking machine device people |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108476873A (en) * | 2018-03-08 | 2018-09-04 | 重庆岁稔生态农业发展有限公司 | Lei Zhu's stays foster method and device |
| CN114698469A (en) * | 2022-04-18 | 2022-07-05 | 华南农业大学 | Black-skin wax gourd picking machine and picking method |
| CN116941422A (en) * | 2023-08-03 | 2023-10-27 | 淮安市福美好农业机械有限公司 | Stable full-automatic apple picking machine with supporting structure |
| CN116941422B (en) * | 2023-08-03 | 2024-03-19 | 淮安市福美好农业机械有限公司 | Stable full-automatic apple picking machine with supporting structure |
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180105 |