CN107567819B - Flexible matrimony vine picking device of bionic structure - Google Patents
Flexible matrimony vine picking device of bionic structure Download PDFInfo
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- CN107567819B CN107567819B CN201710105681.1A CN201710105681A CN107567819B CN 107567819 B CN107567819 B CN 107567819B CN 201710105681 A CN201710105681 A CN 201710105681A CN 107567819 B CN107567819 B CN 107567819B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The invention discloses a flexible wolfberry picking device with a bionic structure, which comprises a gull-wing door bracket and vibrating picking units, wherein each vibrating picking unit comprises a gull-wing door skeleton, vibrating frames, vibrating rod groups fixedly arranged on each vibrating frame and perpendicular to the vibrating frames, a driving motor fixed on the gull-wing door skeleton, and a cam mechanism connected with the driving motor, and the driving motor and the cam mechanism form a vibration generating device. According to the characteristics of growth structure mode, fruit distribution mode and the like of the Chinese wolfberry plants, a multi-surface multi-area picking structure is designed, and flexible comb brush rods which are made of flexible materials and can be expanded and contracted are arranged on the vibrating rod group. The invention adopts the brush vibration mode operation of the flexible contact brush to replace the traditional rigid contact operation mode with the branches, can finish the low-loss and high-efficiency picking operation of the medlar, reduce the damage to the branches, leaves, flowers and fruits of the medlar plant and the damage to the ripe fruits, improve the fruit quality of the picked fruits, and is also suitable for the picking of other shrubs.
Description
Technical Field
The invention relates to the field of agricultural equipment, in particular to a flexible wolfberry picking device with a bionic structure.
Background
The medlar belongs to the berries of infinite inflorescences, the fruit of the medlar is harvested for multiple times, and the summer fruit, the voltaic fruit and the autumn fruit are harvested for multiple times, wherein the summer fruit is optimal, however, the flowers, the raw fruit and the ripe fruit coexist when the summer fruit and the voltaic fruit are harvested, and the harvesting difficulty is very high.
The medlar belongs to berries, the water content of the mature medlar is higher, the fruits are soft, the ripe fruits are easy to damage and darkly hurt due to mechanized batch operation picking in a conventional vibration mode, and the picking efficiency and the quality of the picked fruits are affected. The damaged and darkly damaged fruits can turn black after being dried, and the nutritional value and the economic value of the medlar are greatly influenced.
The existing medlar picking machine is mainly designed for portable miniaturized harvesting, has low efficiency and cannot thoroughly liberate labor force. The device designed on the basis of the mechanical oscillation principle for large-scale mechanized operation has the problems of low harvesting efficiency, high fruit damage rate, damage influence on the later-stage results of the medlar tree and the like; the picking machine designed by adopting the airflow type principle is difficult to control fruit picking by airflow pertinently because the Chinese wolfberry branches are staggered and overlapped and the fruits are arranged in disorder, and the problem of the mechanical oscillation principle also exists.
Disclosure of Invention
The invention aims to solve the technical problems of difficult mechanical picking, low picking efficiency, high breakage rate and gradual shortage of labor force of the traditional Chinese wolfberry flexible picking device with a bionic structure, and meets the urgent requirements of the state on improvement of the technical level of agricultural equipment.
The technical scheme of the invention is as follows:
the flexible wolfberry picking device comprises a gull-wing door bracket and two vibrating picking units which are connected to the gull-wing door bracket through gull-wing door hydraulic support rods, wherein each vibrating picking unit comprises a gull-wing door skeleton, a plurality of rectangular vibrating frames arranged above the gull-wing door skeleton, vibrating rod groups which are fixedly arranged on each vibrating frame and are perpendicular to the vibrating frames, a driving motor which is fixed on the gull-wing door skeleton, and a cam mechanism which is connected with the driving motor, and the driving motor and the cam mechanism form a vibration generating device; each gull wing door skeleton is provided with two groups of driving motors, each group of driving motors corresponds to one vibration frame respectively, each group of driving motors is correspondingly connected with one group of cam mechanism, a cam of the cam mechanism is fixedly connected with an output shaft of the corresponding driving motor, a driven wheel of the cam mechanism is fixedly connected with the corresponding vibration frame, and the output shaft of each group of driving motors is in parallel relation with the corresponding vibration frame; the vibration rod group include a plurality of actuating cylinders that are fixed in on the vibration frame and a plurality of and correspond the actuating cylinder be connected and with the perpendicular tubular vibration unit of vibration frame, tubular vibration unit including the bobbin, set up in the bobbin and with the push rod that the piston rod of actuating cylinder is connected, and the inner be fixed in on the push rod outer wall and the outer tip stretches out the flexible comb brush pole of multiturn outside the bobbin, the vibration direction of tubular vibration unit is along the official axis direction, flexible comb brush and direct contact brush operations such as plant branch, leaf, flower, fruit.
Each gull wing door skeleton comprises a gull wing door-shaped frame and a plurality of vibrating rod group sliding support frames connected to the gull wing door-shaped frame, wherein the vibrating rod group sliding support frames and the vibrating frames are grid-shaped rectangular plates and are overlapped up and down; the vibrating rod groups slide supporting frames form a multi-surface coaming structure with the bottom end not closed, and the vibrating plates form a multi-surface coaming structure overlapped up and down, so that the multi-angle vibration picking requirement is met; and a group of driving motors are fixedly arranged on each vibrating rod group sliding support frame.
The driving motors comprise driving motors with opposite rotation directions of two output shafts, the cam mechanism comprises two cam units, the two driving motors are respectively positioned in the middle of two opposite sides of each vibrating rod group sliding support frame, driven wheels of the two cam units are respectively and fixedly connected to the middle of two opposite sides of each vibrating frame, and a cam of each cam unit is fixedly connected with the output shaft of the corresponding driving motor and is in friction rolling contact with the driven wheels of the cam unit.
The vibrating rod group sliding support frame on be provided with vibrating rod group location mounting hole, every tubular vibrating unit all passes corresponding vibrating rod group location mounting hole.
The tubular vibrating units are arranged in a matrix, the corresponding lengths of the tubular vibrating units are set according to the structural sizes of different parts of plants, the intervals of the tubular vibrating unit arrays are set according to the plant structures of different types of Chinese wolfberry trees, the corresponding intervals are set, and the bristle lengths are set to corresponding adaptation lengths according to the push-out strokes of different types of Chinese wolfberry plants and different picking periods.
The tubular vibration unit comprises a plurality of sections of tubes in threaded connection, brushing fixing rings are arranged in each section of tube, a plurality of flexible brushing rods which are distributed in an annular mode are fixedly connected to the brushing fixing rings, and the push rods sequentially penetrate through the brushing fixing rings of each section of tube and are fixedly connected with the brushing fixing rings.
The vibration generating device also comprises spring dampers connected between the four corners of the vibration frame and the corresponding gull-wing door frameworks, and the bottom end of each spring damper is propped against the upper end surface of the gull-wing door frameworks.
The bottom edges of the gull-wing door brackets are respectively provided with an electric lock for fixedly connecting the gull-wing door framework.
The invention has the advantages that:
(1) The invention adopts the vibrating rod group with the flexible brushing rods to make large-area flexible brushing contact with the Chinese wolfberry plants, the distance and the number between each circle of flexible brushing rods are set according to the structures of Chinese wolfberry fruits, branches, trunks and the like, and the flexible brushing rods can set different extension lengths according to different Chinese wolfberry varieties and different harvesting periods;
(2) The vibration generating device comprises the spring damper, the plurality of groups of driving motors and the cam mechanism, and can accurately control the triggering and transmission of vibration for the vibration operation of each vibration rod group, reduce the influence of the vibration of the mechanism and the complex environment on the vibration unit, easily control the amplitude and frequency of the flexible comb brush rod transmitted to the plant, improve the picking effect and efficiency and reduce the breakage rate;
(3) The rotation movement directions of the vibration generating device are opposite, tangential acting forces generated by the vibration mechanism in the movement process can be mutually counteracted, the vibration frequency and the vibration amplitude of the harvesting unit mechanism in different harvesting vibration directions can be accurately controlled, and the influence caused by part errors of the mechanism is reduced.
Drawings
Fig. 1 is a schematic view of the structure of the present invention in the working state.
Fig. 2 is a schematic diagram of the structure in the standby state of the present invention.
Fig. 3 is a schematic structural view of the gull-wing door bracket of the present invention.
Fig. 4 is a schematic view of the structure of the vibratory picking unit of the present invention.
Fig. 5 is a partially enlarged schematic view of the vibration generating device of the present invention.
Fig. 6 is a schematic side view of the cam mechanism of the present invention.
Fig. 7 is a schematic view of the structure of the tubular vibration unit and the driving cylinder of the present invention.
Fig. 8 is a schematic view of the working mechanism and vibration direction of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
1-4, a flexible wolfberry picking device with a bionic structure comprises a gull-wing door bracket 1 and two vibration picking units which are connected to the gull-wing door bracket through gull-wing door hydraulic support rods 2, wherein each vibration picking unit comprises a gull-wing door-shaped frame 3, two vibration rod group sliding support frames 4 which are connected to two obtuse angle surfaces of the gull-wing door-shaped frame 3, two rectangular vibration frames 5 which are respectively arranged above the vibration rod group sliding support frames 4 and are overlapped with the vibration rod group sliding support frames 4 up and down, a vibration rod group 6 which is fixedly arranged on each vibration frame 5 and is perpendicular to the vibration frame, a driving motor 7 which is fixedly arranged on the vibration rod group sliding support frames 4, a cam mechanism 8 which is connected with the driving motor 7, and a spring damper 10, wherein the driving motor 7, the cam mechanism 8 and the spring damper 10 form a vibration generating device, and the spring damper 10 is connected between four corners of each vibration frame 5 and the corresponding vibration rod group sliding support frames 4; the bottom edges of the gull-wing door brackets 1 are provided with electric locks 9 (see figure 3) for fixedly connecting the gull-wing door-shaped frames 3; the vibrating rod group sliding support frame 4 and the vibrating frame 5 are grid-shaped rectangular plates and are overlapped up and down; referring to fig. 5-6, a driving motor 7 is fixedly arranged in the middle of two opposite sides of each vibrating rod set sliding support frame 4, the rotation directions of the output shafts of the two driving motors 7 are opposite, a set of cam mechanism 8 comprises two cam units, driven wheels 82 of the two cam units are respectively and fixedly connected in the middle of two opposite sides of each vibrating frame 5, a cam 81 of each cam unit is fixedly connected with the output shaft of the corresponding driving motor 7 and is in friction rolling contact with the driven wheel 82 thereof, and the output shaft of the driving motor 7 is in parallel relation with the corresponding vibrating frame 5; referring to fig. 7, the vibration rod group 6 includes a plurality of driving cylinders 61 fixed on the vibration frame 5 and a plurality of tubular vibration units connected with the corresponding driving cylinders 61, the plurality of tubular vibration units are arranged in a matrix and are perpendicular to the vibration frame 5, wherein vibration rod group positioning holes are formed in the vibration rod group sliding support frame 4, each tubular vibration unit passes through the corresponding vibration rod group positioning hole, the tubular vibration unit includes a six-section threaded tube 62, a push rod 63 arranged in the tube 62 and connected with a piston rod of the driving cylinder 61, and flexible comb rods 65 with inner ends fixed on the outer wall of the push rod 63 through fixing rings 64 and outer ends extending out of the tube 62, and each circle of flexible comb rods 65 forms a cone structure extending downwards; the driving cylinder 61 is a hydraulic cylinder, and the driving motor 7 is a hydraulic motor.
The working principle of the invention is as follows: according to the growth structure mode of the Chinese wolfberry plants and the distribution mode of Chinese wolfberry fruits, a plurality of vibration harvesting working surfaces are arranged for multi-surface multi-region vibration picking, a flexible comb rod 65 which can extend, expand and retract is arranged on the vibration rod group 6, when picking, the vibration rod group 6 is contracted by the gull wing gate hydraulic rod 2 and inserted into the Chinese wolfberry plants, a small hydraulic cylinder 61 at the upper end of the vibration rod group 6 pushes a push rod 63 in a tube 62 to move, the flexible comb rod 65 is pushed out of the tube 62 and expands in a radiation manner, and the flexible comb rod 65 is contacted with branches, leaves, flowers, fruits, ripe fruits and the like of the Chinese wolfberry plants; then the vibration generating device consisting of the hydraulic motor 7 and the cam mechanism 8 drives the vibration rod group 6 to vibrate along the tube axis direction of the tubular vibration unit (see figure 8), and the flexible brushing rod 65 transmits specific vibration to the Chinese wolfberry plants by controlling the amplitude and frequency of the vibration, so that the mature Chinese wolfberry can be flexibly vibrated without damage or with low damage to other parts of the Chinese wolfberry, and the low-damage efficient picking of the Chinese wolfberry is realized; after picking, the small hydraulic cylinder 61 at the upper end of the vibrating rod group 6 pulls the push rod 63 in the tube 62 to retract, the flexible comb rod 65 is retracted into the tube 62, the hydraulic rod 2 is lifted up through the gull-wing door, the vibrating rod group 6 is pulled out of the Chinese wolfberry plants, and the preparation is made for picking of the next Chinese wolfberry plant.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a device is picked to flexible matrimony vine of bionic structure which characterized in that: the vibrating picking unit comprises a gull-wing door frame, a plurality of rectangular vibrating frames arranged above the gull-wing door frame, vibrating rod groups fixedly arranged on each vibrating frame and perpendicular to the vibrating frames, a driving motor fixed on the gull-wing door frame and a cam mechanism connected with the driving motor, wherein the driving motor and the cam mechanism form a vibration generating device; each gull wing door skeleton comprises a gull wing door-shaped frame and a plurality of vibrating rod group sliding support frames connected to the gull wing door-shaped frame, wherein the vibrating rod group sliding support frames and the vibrating frames are grid-shaped rectangular plates and are overlapped up and down; each vibrating rod group sliding support frame is fixedly provided with a group of driving motors, each group of driving motors corresponds to one vibrating frame respectively, each group of driving motors is correspondingly connected with one group of cam mechanisms, cams of the cam mechanisms are fixedly connected with output shafts of the corresponding driving motors, driven wheels of the cam mechanisms are fixedly connected with the corresponding vibrating frames, and the output shafts of each group of driving motors are in parallel relation with the corresponding vibrating frames; the vibration rod group include a plurality of actuating cylinders that are fixed in on the vibration frame and a plurality of and correspond actuating cylinder and be connected and with the perpendicular tubular vibration unit of vibration frame, tubular vibration unit including the bobbin, set up in the bobbin and be connected with the piston rod of actuating cylinder push rod and the inner be fixed in on the push rod outer wall and the outer tip stretches out the flexible comb brush pole of multiturn outside the bobbin.
2. The flexible picking device of a biomimetic structure of wolfberry as set forth in claim 1, wherein: the driving motors comprise driving motors with opposite rotation directions of two output shafts, the cam mechanism comprises two cam units, the two driving motors are respectively positioned in the middle of two opposite sides of each vibrating rod group sliding support frame, driven wheels of the two cam units are respectively and fixedly connected to the middle of two opposite sides of each vibrating frame, and a cam of each cam unit is fixedly connected with the output shaft of the corresponding driving motor and is in friction rolling contact with the driven wheels of the cam unit.
3. The flexible picking device of a biomimetic structure of wolfberry as set forth in claim 1, wherein: the vibrating rod group sliding support frame on be provided with vibrating rod group location mounting hole, every tubular vibrating unit all passes corresponding vibrating rod group location mounting hole.
4. The flexible picking device of a biomimetic structure of wolfberry as set forth in claim 1, wherein: the plurality of tubular vibration units are arranged in a matrix.
5. The flexible picking device of a biomimetic structure of wolfberry as set forth in claim 1, wherein: the tubular vibration unit comprises a plurality of sections of tubes in threaded connection, brushing fixing rings are arranged in each section of tube, a plurality of flexible brushing rods which are distributed in an annular mode are fixedly connected to the brushing fixing rings, and the push rods sequentially penetrate through the brushing fixing rings of each section of tube and are fixedly connected with the brushing fixing rings.
6. The flexible picking device of a biomimetic structure of wolfberry as set forth in claim 1, wherein: the vibration generating device also comprises spring dampers connected between the four corners of the vibration frame and the corresponding gull-wing door frameworks, and the bottom end of each spring damper is propped against the upper end surface of the gull-wing door frameworks.
7. The flexible picking device of a biomimetic structure of wolfberry as set forth in claim 1, wherein: the bottom edges of the gull-wing door brackets are respectively provided with an electric lock for fixedly connecting the gull-wing door framework.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710105681.1A CN107567819B (en) | 2017-02-26 | 2017-02-26 | Flexible matrimony vine picking device of bionic structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710105681.1A CN107567819B (en) | 2017-02-26 | 2017-02-26 | Flexible matrimony vine picking device of bionic structure |
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| CN107567819A CN107567819A (en) | 2018-01-12 |
| CN107567819B true CN107567819B (en) | 2023-05-30 |
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| CN201710105681.1A Active CN107567819B (en) | 2017-02-26 | 2017-02-26 | Flexible matrimony vine picking device of bionic structure |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110122070B (en) * | 2019-06-08 | 2021-09-07 | 宁夏福寿康宁大健康生物科技有限公司 | Automatic preparation process of wolfberry fruit pulp |
| CN113455196A (en) * | 2021-07-09 | 2021-10-01 | 苏州新农益科技有限公司 | Fruit picking device |
| CN114467498B (en) * | 2021-12-31 | 2024-08-02 | 湖南省农友机械集团有限公司 | Automatic fruit picking device |
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