CN108029341B - Pipeline creeping mechanism and fruit picking robot - Google Patents
Pipeline creeping mechanism and fruit picking robot Download PDFInfo
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- CN108029341B CN108029341B CN201711349370.6A CN201711349370A CN108029341B CN 108029341 B CN108029341 B CN 108029341B CN 201711349370 A CN201711349370 A CN 201711349370A CN 108029341 B CN108029341 B CN 108029341B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
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- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
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Abstract
The invention discloses a pipeline creeping mechanism and a fruit picking robot, comprising: a solenoid valve mounting plate; the rear ends of the plurality of peristaltic solenoid valves are fixedly arranged on the solenoid valve mounting plate, and the front ends of the plurality of peristaltic solenoid valves are arranged opposite to the wide-mouth pipeline; wherein, the wriggling solenoid valve includes: the valve seat comprises a bottom plate, a first vertical plate and a second vertical plate which are fixed above the bottom plate and arranged in parallel, and a lower plate arranged below the bottom plate; the coil is arranged on the bottom plate and is close to the first vertical plate; the upper valve rod is arranged in front of the second vertical plate and penetrates through the second vertical plate; the upper valve magnet is arranged behind the second vertical plate and adsorbs the upper valve rod; go up the valve head, go up the valve head and set up in last valve rod front end, correspond the setting with the sunken section of wide mouthful pipeline. The advantages are that: the pipeline peristaltic mechanism can drive the bulging section and the sinking section of the wide-mouth pipeline to be repeatedly replaced, and the transmission efficiency of the fruits and the smoothness of the fruit transmission are improved.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a pipeline creeping mechanism and a fruit picking robot.
Background
The fruit production country in China is also the first great fruit consumption country in the world. The rapid development of fruit growing industry has increased the market demand for orchard machinery. The labor force used in the picking operation accounts for 33-50% of the labor force used in the whole production process, and most of the fruit picking in China is still carried out manually at present. The picking operation is complex, the seasonality is strong, if the manual picking is used, the efficiency is low, the labor amount is large, the fruit is easy to damage, and if the manual picking is not enough, the economic loss can be caused. With the development of the robot technology, the defects of labor force, labor intensity reduction, labor comfort improvement and labor danger reduction of workers are hopefully solved, and in addition, the economic benefit of fruit growers is improved, so that the improvement of the mechanization degree of picking operation has important significance.
The current fruit picking robot focuses on picking single fruit or protecting the fruit, so that the picking is inconvenient and the picking efficiency is low. In the fruit picking robot, the pipeline creeping mechanism is matched with the fruit conveying mechanism for use, and is an important component of the fruit picking robot.
Therefore, there is a need to develop a tube creeping mechanism and a fruit picking robot which are more convenient for pushing the fruit conveying mechanism to convey.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention provides a pipeline peristaltic mechanism and a fruit picking robot, which can realize the purpose of driving a fruit conveying mechanism to transport rapidly through the arrangement of a plurality of peristaltic electromagnetic valves.
According to an aspect of the present invention there is provided a tube peristaltic mechanism comprising:
a solenoid valve mounting plate;
the rear ends of the plurality of peristaltic solenoid valves are fixedly arranged on the solenoid valve mounting plate, and the front ends of the plurality of peristaltic solenoid valves are arranged opposite to the wide-mouth pipeline;
wherein the peristaltic solenoid valve comprises:
the valve seat comprises a bottom plate, a first vertical plate and a second vertical plate which are fixed above the bottom plate and arranged in parallel, and a lower plate arranged below the bottom plate;
the coil is arranged on the bottom plate and is close to the first vertical plate;
the upper valve rod is arranged in front of the second vertical plate and penetrates through the second vertical plate;
the upper valve magnet is arranged behind the second vertical plate and used for adsorbing the upper valve rod;
and the upper valve head is arranged at the front end of the upper valve rod and corresponds to the recessed section of the wide-mouth pipeline.
According to another aspect of the present invention there is provided a fruit picking robot comprising:
the lifting device comprises a fine adjustment lifting mechanism and a quick lifting mechanism, and is arranged at the top of the quick lifting mechanism;
a picking module disposed at a top of the fine adjustment lift mechanism;
the hand cart is arranged at the bottom of the quick lifting mechanism;
one end of the fruit transmission module is connected to the picking module, and the other end of the fruit transmission module penetrates through the quick lifting device and is communicated to the top of the hand cart;
wherein, the fruit conveying module comprises the pipeline peristaltic mechanism;
and the fruit branch separation module is arranged in the middle of the fruit transmission module.
The pipeline creeping mechanism has the advantages that: during the circular telegram, go up the valve head and leave the section of having swelled of wide mouthful pipeline, under the effect of interlock connecting rod, lower valve head and the vertical section contact of wide mouthful pipeline, during the outage, under reset spring's effect, go up the valve head and press close to the section of having swelled, under the effect of interlock connecting rod, lower valve head and the vertical section separation of wide mouthful pipeline, the section of having swelled and the vertical section of drive wide mouthful pipeline replace repeatedly, improve the transmission efficiency of fruit and the smooth and easy nature of fruit transmission.
The conduit peristaltic mechanism of the present invention has other features and advantages which will be apparent from or are set forth in more detail in the accompanying drawings and the following detailed description which are incorporated herein, and which together serve to explain certain principles of the present invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
Fig. 1 shows a schematic structural view of a pipeline peristaltic mechanism according to an exemplary embodiment of the present invention.
Fig. 2 shows a schematic structural view of a peristaltic solenoid valve according to an exemplary embodiment of the present invention.
Fig. 3 shows a schematic block diagram of a fruit picking robot according to another embodiment of the present invention.
Fig. 4 shows a schematic block diagram of a picking apparatus according to another embodiment of the invention.
Fig. 5 shows a schematic block diagram of a picking sleeve drive mechanism according to another embodiment of the invention.
Fig. 6 shows a schematic block diagram of a picking gantry according to another embodiment of the invention.
Fig. 7 shows a schematic block diagram of a picking sleeve and knife according to another embodiment of the invention.
Fig. 8 shows a schematic block diagram of a picking sleeve according to another embodiment of the invention.
Fig. 9 shows a schematic block diagram of a picking tooth bar according to another embodiment of the present invention.
Fig. 10 shows a schematic block diagram of a picking apparatus according to another embodiment of the invention.
Fig. 11 shows a schematic configuration diagram of a lifting device according to another embodiment of the present invention.
Fig. 12 is a schematic structural view showing a rapid elevating mechanism according to another embodiment of the present invention.
Fig. 13 is a schematic configuration diagram showing a fine adjustment lift mechanism according to another embodiment of the present invention.
Fig. 14 is a schematic structural view showing a vertical lift mechanism according to another embodiment of the present invention.
Fig. 15 shows a schematic configuration diagram of a horizontal movement mechanism according to another embodiment of the present invention.
Fig. 16 shows a schematic block diagram of a fruit branch separating device according to another embodiment of the present invention.
Fig. 17 shows a schematic block diagram of a fruit conveying mechanism and a fruit branch separating device according to another embodiment of the present invention.
Fig. 18 shows a schematic block diagram of a fruit conveying mechanism according to another embodiment of the present invention.
Fig. 19 shows a schematic block diagram of a tool according to another embodiment of the invention.
Description of reference numerals:
71. a peristaltic solenoid valve; 72. a solenoid valve mounting plate; 711. a coil; 712. a valve seat; 713. an upper slide block; 714. a return spring; 715. an upper valve stem; 716. an upper valve head; 717. a lower valve stem; 718. a linkage connecting rod rotating shaft; 719. a linkage connecting rod; 720. a lower valve head; 721. sucking iron on the upper valve; 722. a lower slide block;
1. a picking device; 2. fine adjustment of the lifting mechanism; 3. a fast lifting mechanism; 4. a fruit branch separating device; 5. a robot chassis; 11. picking a frame; 12. a crank; 13. the crank is connected with a connecting rod in parallel; 14. a sleeve link; 15. picking the sparse guide rod; 16. a pipe rack; 17. a gear lever; 18. picking a toothed bar; 21. a hydraulic pump motor; 22. a hydraulic oil tank; 23. a hydraulic pump; 24. finely adjusting the lifting mechanism mounting platform; 31. an upper support frame; 32. a sliding rod is arranged; 33. a first scissor link; 34. a lower support frame; 35. a threaded slide bar; 36. a lower sliding rod; 37. a threaded slider; 242. a movable frame; 243. a hydraulic cylinder; 244. a horizontal moving platform; 246. lifting and stabilizing the telescopic rod; 2452. a driving bevel gear shaft; 2451. a first bevel gear shaft; 2455. a second bevel gear shaft; 2454. a lifting screw rod; 2453. lifting the screw rod sleeve; 111. a crank shaft; 112. a stop lever chute; 182. picking the sleeve; 183. a second lip; 185. a cutter; 1821. a pipe rack mounting groove; 1812. a wave-shaped cam; 1723. a branch rail; 1531. a lever moving cam; 171. the branch is fastened with the stop lever;
41. an inlet; 42. a rotation unit; 43. a power unit; 44. an outlet; 45. a sieve plate; 46. enclosing plates; 47. a fixed mount; 6. a fruit conveying mechanism; 7. a conduit peristaltic mechanism; 61. a tee pipe 61, a tee pipe; 62. a transverse conduit; 63. connecting a pipeline; 64. a wide mouth pipe; 65. fixing a baffle plate; 66. an outlet conduit;
1851. an upper blade; 1852. a lower blade; 1853. a return spring; 1854. a blade pin shaft fixing hole; 1856. a picking knife rest.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
According to an aspect of the present invention, there is provided a tube peristaltic mechanism, comprising:
a solenoid valve mounting plate;
the rear ends of the plurality of peristaltic solenoid valves are fixedly arranged on the solenoid valve mounting plate, and the front ends of the plurality of peristaltic solenoid valves are arranged opposite to the wide-mouth pipeline;
wherein, the wriggling solenoid valve includes:
the valve seat comprises a bottom plate, a first vertical plate and a second vertical plate which are fixed above the bottom plate and arranged in parallel, and a lower plate arranged below the bottom plate;
the coil is arranged on the bottom plate and close to the first vertical plate;
the upper valve rod is arranged in front of the second vertical plate and penetrates through the second vertical plate;
the upper valve magnet is arranged behind the second vertical plate and adsorbs the upper valve rod;
go up the valve head, go up the valve head and set up in last valve rod front end, correspond the setting with the sunken section of wide mouthful pipeline.
Wherein, the solenoid valve mounting panel carries out rigid connection through sheet metal frame, bolt and nut with fruit transport mechanism's fixed stop.
Wherein, go up the valve magnet and pass through reset spring elastic connection with last valve stem, first riser fixed connection is on the solenoid valve mounting panel, through bolt or screw and solenoid valve mounting panel fixed connection.
When the power is switched on, the upper valve iron absorbs the upper valve rod to drive the upper valve head to leave the concave section of the wide-mouth pipeline, and when the power is switched off, the upper valve rod is pushed out under the action of the reset spring, and the upper valve head is close to the concave section.
As the preferred scheme, be equipped with the slider on the upper valve magnet, the side of bottom plate is equipped with the interlock connecting rod pivot.
Preferably, the peristaltic solenoid valve further comprises:
the lower valve rod is connected with the upper valve magnet through a linkage connecting rod, penetrates through the lower plate and is provided with a lower sliding block;
the linkage connecting rod is rotationally connected with the linkage connecting rod rotating shaft, an upper sliding groove and a lower sliding groove are arranged on the linkage connecting rod, and the upper sliding groove and the lower sliding groove are respectively connected with the upper sliding block and the lower sliding block in a sliding manner;
lower valve head, lower valve head set up in lower valve rod front end, correspond the setting with the bloated section of wide mouthful pipeline.
Wherein, the front of the upper valve head and the lower valve head is provided with an elastic part.
Preferably, the elastic part may be a high-density sponge or rubber.
The elastic part enables the spring force of the reset spring to be dispersed, has a buffering effect, is not easy to damage wide-mouth pipelines, and can also comprise an upper valve head and a lower valve head which are not damaged, so that the service life of the peristaltic solenoid valve is prolonged.
Preferably, the upper valve head and the lower valve head are semicircular and comprise an upper semicircular part and a lower semicircular part which are fixedly connected with each other.
The diameter of the upper semicircular part is smaller than that of the lower semicircular part, the plane of the upper semicircular part is aligned with that of the lower semicircular part, and an elastic part is arranged in front of the plane.
Preferably, the upper chute and the lower chute are both waist-shaped holes or oval-shaped holes.
As the preferred scheme, wide mouthful pipeline includes a plurality of consecutive intercommunications swell section and sunken section, and swell section and sunken section are under pipeline peristaltic mechanism's drive and are alternated repeatedly.
During the circular telegram, the upper valve magnet adsorbs the valve rod, drives the valve head and leaves the sunken section of wide mouthful pipeline, and under the effect through the interlock connecting rod, lower valve head contacts with the section of having bulged of wide mouthful pipeline, and during the outage, under reset spring's effect, will go up the valve rod and release, goes up the valve head and presses close to sunken section, and under the effect through the interlock connecting rod, lower valve head separates with the section of having bulged of wide mouthful pipeline, and the section of having bulged of drive wide mouthful pipeline and sunken section replace repeatedly.
The pipeline creeping mechanism can drive the bulging section and the sinking section of the wide-mouth pipeline to be repeatedly replaced, and improves the transmission efficiency of the fruits and the smoothness of the fruit transmission.
According to another aspect of the present invention there is provided a fruit picking robot comprising:
a lifting device;
the picking module is arranged at the top of the fine adjustment lifting mechanism;
the hand cart is arranged at the bottom of the quick lifting mechanism;
one end of the fruit transmission module is connected to the picking module, and the other end of the fruit transmission module penetrates through the quick lifting device and is communicated to the top of the hand cart;
the fruit conveying module comprises the pipeline creeping mechanism;
and the fruit branch separation module is arranged in the middle of the fruit transmission module.
Example 1
Fig. 1 shows a schematic structural view of a pipeline peristaltic mechanism according to an exemplary embodiment of the present invention. Fig. 2 shows a schematic structural view of a peristaltic solenoid valve according to an exemplary embodiment of the present invention.
As shown in fig. 1 and 2, the peristaltic mechanism for a pipeline of the present embodiment includes:
a solenoid valve mounting plate 72;
the rear ends of the peristaltic solenoid valves 71 are fixedly arranged on the solenoid valve mounting plate 72, and the front ends of the peristaltic solenoid valves 71 are arranged opposite to the wide-mouth pipeline;
wherein the peristaltic solenoid valve 71 comprises:
the valve seat 712, the valve seat 712 includes a bottom plate, a first vertical plate and a second vertical plate fixed above the bottom plate and arranged in parallel, and a lower plate arranged below the bottom plate;
the coil 711 is arranged on the bottom plate and close to the first vertical plate;
the upper valve stem 715 is arranged in front of a second vertical plate and penetrates through the second vertical plate;
the upper valve magnet 721, the upper valve magnet 721 is arranged behind the second vertical plate and adsorbs the upper valve rod 715;
go up valve head 716, go up valve head 716 sets up in last valve stem 715 front end, corresponds the setting with the sunken section of wide mouthful pipeline.
The upper valve iron 721 is elastically connected with the upper valve stem 715 through a return spring 714, and the first vertical plate is fixedly connected to the solenoid valve mounting plate 72 through a bolt.
Further, the upper valve iron 721 is provided with an upper slider 713, and the side surface of the bottom plate is provided with a linkage connecting rod rotating shaft 718.
A peristaltic solenoid valve 71 of the present embodiment further includes:
the lower valve rod 717 is connected with the upper valve sucker 721 through a linkage connecting rod 719, the lower valve rod 717 penetrates through the lower plate, and a lower sliding block 722 is arranged on the lower valve rod 717;
a linkage connecting rod 719, the linkage connecting rod 719 is rotatably connected with the linkage connecting rod rotating shaft 718, the linkage connecting rod 719 is provided with an upper sliding chute and a lower sliding chute, and the upper sliding chute and the lower sliding chute are respectively connected with the upper sliding block 713 and the lower sliding block 722 in a sliding manner;
Wherein, upper valve head 716 and lower valve head 720 the place ahead are equipped with elastic component, and elastic component adopts the high density sponge in this embodiment for the buffering.
The elastic part disperses the spring force of the return spring 714, wide-mouth pipelines are not easy to damage, the elastic part can also comprise an upper valve head 716 and a lower valve head 720 which are not damaged, and the service life of the peristaltic solenoid valve 72 is prolonged.
In this embodiment, the upper valve head 716 and the lower valve head 720 are semi-circular, and include an upper semi-circular portion and a lower semi-circular portion fixedly connected to each other.
The diameter of the upper semicircular part is smaller than that of the lower semicircular part, the upper semicircular part is aligned with the plane of the lower semicircular part, and the high-density sponge is arranged in front of the plane and used for buffering.
In this embodiment, the upper chute and the lower chute are waist-shaped holes.
During the circular telegram, last valve is inhaled iron 721 and is adsorbed valve rod 715, it leaves the sunken section of wide mouthful pipeline to drive valve head 716, under the effect through interlock connecting rod 719, lower valve head 720 contacts with the section of bulging of wide mouthful pipeline, during the outage, under reset spring 714's effect, release last valve rod 715, go up valve head 716 and press close to sunken section, under the effect through interlock connecting rod 719, lower valve head 720 separates with the section of bulging of wide mouthful pipeline, the section of bulging and the sunken section of drive wide mouthful pipeline replace repeatedly.
Example 2
As shown in fig. 1 to 19, the fruit picking robot includes:
a robot chassis 5;
the lifting device is arranged on the top of the robot chassis 5;
the picking device 1 is arranged at the top of the lifting device;
one end of the fruit conveying mechanism is connected to the bottom of the picking device 1, and the other end of the fruit conveying mechanism is communicated with the fruit branch separating device;
the fruit branch separating device 4 is arranged at the top of the robot chassis 5;
wherein, picking device includes picking frame 11, picking rack bar 18, picking sleeve 182, picking sleeve drive mechanism, cutter 185, picking frame 11 sets up at the elevating gear top, picking rack bar 18 sets up perpendicularly in picking frame 11, picking sleeve 182 is located picking rack bar 18, picking sleeve drive mechanism one end is fixed in picking frame 11 other end and is fixed in picking sleeve 182, picking sleeve drive mechanism can drive picking sleeve 182 along the axis direction reciprocating motion of picking rack bar 18, the one end of cutter 185 passes picking sleeve 182 and connects picking rack bar 18.
Specifically, the robot is driven to move by the robot chassis 5, more preferably, the bottom of the robot chassis can be provided with universal wheels and a positioning rod to stabilize the robot, and the picking device 1 is driven to ascend and descend by the lifting device; fruits are picked through the picking device 1, and the picked fruits are conveyed to the top of the robot chassis 5 through the fruit conveying mechanism and the fruit branch separating device 4. Picking device 1 drives picking sleeve 182 reciprocating motion in the axial direction through picking sleeve drive mechanism, and then drives the motion of picking ratch 18, and cutter 185 realizes tailorring the branch through picking ratch 18, and the fruit after tailorring falls into fruit conveying mechanism and retrieves, can pick fruit fast, has improved picking efficiency simultaneously greatly.
The picking machine frame 11 is a rectangular plate, a stop lever sliding groove 112 and a crank groove which are parallel to each other are arranged along the long edge direction of the rectangular plate, and a plurality of crank rotating shafts 111 are arranged on the inner side surface of the crank groove at equal intervals.
Picking rack bar 18 is a plurality of, and picking rack bar 18 is the semicylinder pole, and the semicylinder pole is equipped with the wave cam 1812 of perpendicular to semicylinder, and a plurality of picking rack bars 18 correspond with the position of a plurality of crank pivot 111 in proper order, and the semicylinder of picking rack bar 18 vertically sets up in the broadside surface of rectangular plate.
The picking sleeves 182 are multiple, openings are formed in the walls of the picking sleeves 182 along the axial direction, the picking sleeves 182 are sleeved on the picking toothed rods 18, the wavy cams 1812 are arranged at the openings, and one end of the cutter 185 penetrates through the openings to be connected to the wavy cams 1812.
Picking sleeve drive mechanism, picking sleeve drive mechanism include crank 12, crank parallel link 13, sleeve connecting rod 14, crank 12 one end crank pivot 111 is connected, and the other end is connected with crank parallel link 13, and sleeve connecting rod 14 one end is connected with picking sleeve 182, and the other end is connected with crank parallel link 13.
Further, the picking device further comprises: the picking and capturing mechanism comprises a plurality of blocking rods 17, the blocking rods 17 are arranged on blocking rod sliding rods in parallel at equal intervals, the blocking rod sliding rods and the picking toothed rods 18 are staggered in parallel at equal intervals and arranged in blocking rod sliding chutes 112, and the picking and capturing picking machine framework can move along the blocking rod sliding chutes 112.
Wherein, the top of the stop lever 17 is provided with a first lip, and the top of the picking sleeve 182 is provided with a second lip 183.
More preferably, the lower part of the picking frame 1 is provided with a crank driving device, and the crank driving device is connected with the crank 12.
More preferably, the side surface of the frame on the upper side of the plurality of crank rotating shafts 111 is provided with a plurality of picking guide rods 15.
Further, a pipe rack installation groove 1821 is formed in the lower side of the picking sleeve 182, one end of the pipe rack 16 is disposed on the picking rack 18 in the pipe rack installation groove 1821, and the other end of the pipe rack 16 is disposed on the lower side of the plurality of blocking rods 17.
More preferably, a frame supporting seat 113 is arranged below the picking frame 11, and a blocking rod moving push rod is arranged below the blocking rod 17.
Furthermore, the ends of the plurality of bars 17 are provided with branch bars 1723 perpendicular to the bars.
The picking catching mechanism moves in the blocking rod sliding groove, the blocking rod can adjust the distance between the blocking rod and the picking toothed rod, the first lip edge and the second lip edge are fixed on the picking sleeve and the blocking rod, fruits can be conveniently fixed above the first lip edge and the second lip edge, the picking transmission mechanism drives the picking sleeve of the picking mechanism to reciprocate along the axis direction, the picking sleeve drives the picking cutter to reciprocate along the picking toothed rod, the blade push rod of the picking cutter moves along the wave cam, two superposed blade edges on the picking cutter are staggered and aligned when in cutting, branches and trunks on the lower portion of the fruits are sheared, the sheared fruits roll into a pipeline frame beside the picking cutter, picking actions are completed, the picking sleeves work simultaneously, and a plurality of picking cutters are arranged on each picking sleeve, so that large-batch picking is realized. Through set up a plurality of sparse guide arms of picking directly over picking mechanism, insert from the fruit tree lower extreme when fruit picking device inserts and insert the crown of a tree, a plurality of sparse guide arms of picking can support great branch on picking the cutter, expose fruit between first lip limit and second lip limit as far as, and then make the branch of fruit lower extreme fully contact with picking the cutter, improve and pick efficiency to prevent that the cutter from damaging fruit. The fruit picking device is arranged above the fine adjustment lifting table, one end of the moving push rod is connected with the blocking rod of the picking and catching mechanism through the blocking rod, the other end of the moving push rod is inserted into the arc-shaped groove of the rod moving cam on the fine lifting table, the fine lifting platform driving device drives the fine lifting platform to move horizontally, the picking and catching mechanism is driven to move along the sliding groove, the blocking rod is close to the picking sleeve, and the first lip edge and the second lip edge are in contact with and fixed with fruits.
Further, the lifting device includes: a fast lifting mechanism 3 and a fine adjustment lifting mechanism 2; the quick lifting mechanism 3 comprises a lower support frame 34, an upper support frame 31, a first shear frame connecting rod 33, a second shear frame connecting rod, a fine adjustment lifting mechanism mounting platform 24, a threaded sliding block 37 and a threaded sliding rod 35; the first shear frame connecting rod 33 and the second shear frame connecting rod are arranged on two sides of the lower supporting frame 34, the fine adjustment lifting mechanism mounting platform 24 is arranged at the top of the upper supporting frame 31, the threaded sliding block 37 is arranged on the lower supporting frame 34, and one end of the threaded sliding rod 35 is connected to the threaded sliding block 37 in a threaded manner; the fine lift mechanism is disposed on the fine lift mechanism mounting platform 24.
The fine adjustment lifting mechanism comprises a hydraulic pump 23, a hydraulic pump mounting rack, a vertical lifting mechanism and a horizontal moving mechanism.
Wherein, the hydraulic pump 23 mounting rack is arranged on the fine adjustment lifting mechanism mounting platform 24, and the hydraulic pump 23 is arranged on the hydraulic pump mounting rack; the vertical lifting mechanism comprises a driving bevel gear shaft 2452, a first bevel gear shaft 2451, a second bevel gear shaft 2455 and a lifting rod 245, one end of the driving bevel gear shaft 2452 is connected to the output end of the hydraulic pump 23, one end of the first bevel gear shaft 2451 is meshed with one end of the driving bevel gear shaft 2451, the second bevel gear shaft 2455 is meshed with the other end of the first bevel gear shaft 2451, one end of the lifting rod 245 is meshed with one end of the second bevel gear shaft 2455, and the lifting rod 245 can be driven to ascend or descend by the rotation of the driving bevel gear shaft 2452.
The horizontal moving mechanism includes a horizontal moving platform 244, a moving frame 242 and a hydraulic cylinder 243, the horizontal moving platform 244 is fixed on the top of the lifting rod 245, the moving frame 242 is slidably disposed on the top of the horizontal moving platform 244, one end of the hydraulic cylinder 243 is connected to the horizontal moving platform 244, and the other end is connected to the moving frame 242.
Picking apparatus 1 is disposed atop a mobile rack 242.
Wherein, the top of the moving frame 242 is provided with a shift lever moving cam 1531, the shift lever moving cam 1531 is provided with an arc-shaped slot, and the shift lever moving push rod arranged at the bottom of the picking sleeve transmission mechanism is inserted into the arc-shaped slot and can slide along the arc-shaped slot.
Particularly, picking sleeve drive mechanism bottom and being provided with branch and step up pin 171, branch step up pin 171 inserts and establishes in the arc wall of pin removal cam 1531, when picking sleeve drive mechanism drive and picking the sleeve and being reciprocating motion, can avoid picking sleeve and branch and mechanical equipment to take place rigid mechanical contact through the setting of arc wall.
More preferably, the first and second scissors connecting rods 33 and 33 respectively include a first scissors rod and a second scissors rod, and one end of the first scissors rod is hinged to one end of the second scissors rod.
More preferably, the lower support frame 34 includes a pair of lower support slide rails, a lower fixing rod and a lower slide bar 36, the middle of the lower support slide rails is provided with a sliding slot, the pair of lower support slide rails are respectively disposed on two sides of the lower fixing rod, and two ends of the lower slide bar are respectively disposed on the lower support slide rails.
The upper supporting frame 31 includes a pair of upper supporting slide rails, an upper fixing rod and an upper slide bar 32, a sliding groove is arranged in the middle of each upper supporting slide rail, the pair of upper supporting slide rails are respectively arranged on two sides of the upper fixing rod, and two ends of each upper slide bar 32 are respectively arranged on the lower supporting slide rails.
The first scissors connecting rod 33 and the second scissors connecting rod are arranged on two sides of the lower support frame 34, one end of the first scissors connecting rod 33 is connected to the lower slide bar 36, the other end of the first scissors connecting rod is connected to the upper slide bar 32, one end of the second scissors connecting rod is connected to the lower fixing rod, and the other end of the second scissors connecting rod is connected to the upper fixing rod.
The threaded sliding block is arranged on the lower sliding rod 36, and one end of the threaded sliding rod 35 is connected with the threaded sliding block 37 in a threaded mode.
More preferably, the first scissors rod of the first scissors rod 33 and the first scissors rod of the second scissors rod are provided with positioning nails at the middle portions, and the second scissors rod of the first scissors rod and the second scissors rod of the second scissors rod are provided with positioning nails at the middle portions.
More preferably, a reinforcing bar is arranged at the hinged position of the first scissors bar and the second scissors bar.
More preferably, the device further comprises a driving device, wherein the driving device is arranged on the lower support frame and can drive the threaded sliding rod to rotate so as to drive the lower fixing rod and the lower sliding rod to approach or separate from each other.
More preferably, there are two first bevel gear shafts 2451, two second bevel gear shafts 2455 and two lifting rods 245, the two first bevel gear shafts 2451 are respectively engaged with the bevel gears on the two sides of the driving bevel gear shaft 2455, the two second bevel gear shafts 2455 are respectively engaged with the other ends of the two first bevel gear shafts 2451, and the two lifting rods 245 are respectively engaged with the other ends of the two second bevel gear shafts 2455.
More preferably, two horizontal moving mechanisms are provided, and are respectively disposed on the tops of the two lifting rods 245.
More preferably, the vertical lift mechanism further comprises a lift stabilizing telescoping rod 246, the lift stabilizing telescoping rod 246 being connected to the mobile frame 242 at one end and the fine lift mechanism mounting platform 24 at the other end.
More preferably, the number of the elevation stabilizing expansion rods 246 is plural.
More preferably, the installation direction of the first bevel gear shaft 2451 is perpendicular to the driving bevel gear shaft 2452, the installation direction of the second bevel gear shaft 2455 is perpendicular to the first bevel gear shaft 2451, and the installation direction of the lifting rod 245 is perpendicular to the second bevel gear shaft 2455.
More preferably, the fine adjustment lifting mechanism further comprises a hydraulic pump motor 21 and a hydraulic oil tank 22, wherein the hydraulic pump motor 21 and the hydraulic oil tank 22 are arranged on the fine adjustment lifting mechanism mounting platform 24.
More preferably, the lifting rod 245 comprises a lifting lead screw 245 and a lifting lead screw sleeve 2453, one end of the lifting lead screw 2454 is engaged with the second bevel gear shaft 2455, the other end is connected to the lifting lead screw sleeve 2453, and the lifting lead screw sleeve 2453 is connected to the horizontal moving platform 244.
Specifically, the threaded slide rod is driven to rotate through the arrangement of the threaded slide block and the threaded slide rod, the first shear frame connecting rod and the second shear frame connecting rod are driven to unfold and fold, the height between the lower supporting frame and the upper supporting frame is adjusted, and the upper supporting frame is quickly adjusted to lift; through the setting of vertical lift mechanism initiative bevel gear axle, first bevel gear axle, second bevel gear axle and lifter, through the lift of a plurality of bevel gear axle transmission control lifter, the position of accurate control vertical direction.
Specifically, the position in the horizontal direction is accurately and quickly adjusted by hydraulic control by the provision of the horizontal movement mechanism hydraulic cylinder 243.
Specifically, two first bevel gear shafts 2451 and two second bevel gear shafts 2455 are driven to rotate by one driving bevel gear shaft 2452, so that the lifting of the two lifting rods is controlled, the vertical heights of the two horizontal moving mechanisms are adjusted, the processing speed of the lifting scissors frame is improved, the energy is saved, and the working efficiency of the equipment is improved.
Specifically, the threaded slide rod is driven to rotate through the arrangement of the threaded slide block and the threaded slide rod, the lower slide rod is driven to be close to or far away from the lower fixed rod through the sliding groove, and further the first shear frame connecting rod and the second shear frame connecting rod are driven to unfold and fold, so that the height between the lower support frame and the upper support frame is adjusted, and the lifting of the upper support frame is quickly adjusted; through the setting up of lower carriage, upper bracket, first scissors frame connecting rod and second scissors frame connecting rod make quick elevating gear firm while simple structure, easily maintenance and maintenance can high-efficiently avoid the emergence of trouble.
Specifically, the lifting stabilizing telescopic rods can be multiple, more preferably 3-5, the supporting capacity of the horizontal moving mechanism is improved through the arrangement of the lifting stabilizing telescopic rods, the lifting rod and the bevel gear shaft are prevented from bearing excessive pressure to cause the lifting shear frame to send faults, and the lifting stabilizing telescopic rods can follow the lifting rod to ascend and descend to enable the lifting shear frame to run more stably.
Wherein, fruit transport mechanism includes: the fruit conveying mechanism 6 comprises a conveying pipeline, a connecting pipeline, a wide-mouth pipeline 64 and an outlet pipeline 66 which are sequentially connected, and the conveying pipeline is arranged on the pipeline frame to connect the fruit conveying mechanism 6 with the picking device; the pipeline peristaltic mechanism 7 comprises an electromagnetic mounting plate 72 and a plurality of peristaltic solenoid valves 71 arranged on the electromagnetic mounting plate 72, wherein the plurality of peristaltic solenoid valves 71 are arranged corresponding to the wide-mouth pipelines 64 of the fruit conveying mechanism 6 and used for driving the fruit conveying mechanism 6.
The conveying pipeline comprises a three-way pipeline 61 and a pair of transverse pipelines 62, the three-way pipeline 61 comprises two input ports and one output port, the pair of transverse pipelines 62 are respectively connected to the two input ports, and the transverse pipelines 62 are arranged on one side of the picking sleeve 182; one end of the connecting pipeline 63 is connected to the output port, and the other end of the connecting pipeline 63 is communicated with one end of the wide-mouth pipeline 64; a wide-mouthed pipe 64, the other end of the wide-mouthed pipe 4 being connected to one end of an outlet pipe 66; an outlet pipe 64, the other end of the outlet pipe 64 is connected to the inlet of the fruit branch separating device 4; the fixed baffle 65 is fixedly connected with the side surface of the wide-mouth pipeline 64; wherein a pair of transverse ducts 62 are arranged on the duct rack by means of snap-in.
More preferably, the wide-mouth conduit 64 comprises a plurality of sequentially communicated bulged sections and recessed sections, which are repeatedly replaced under the drive of the conduit peristaltic mechanism.
More preferably, the peristaltic solenoid valve 71 comprises: the valve seat 712, the valve seat 712 includes a bottom plate, a first vertical plate and a second vertical plate fixed above the bottom plate and arranged in parallel, and a lower plate arranged below the bottom plate; the coil 711 is arranged on the bottom plate and close to the first vertical plate; the upper valve stem 715 is arranged in front of a second vertical plate and penetrates through the second vertical plate; the upper valve magnet 721, the upper valve magnet 721 is set up behind the second riser, absorb the upper valve stem 715; an upper valve head 716, the upper valve head 716 is arranged at the front end of the upper valve stem 715 and is arranged corresponding to the concave section of the wide-mouth pipe 64.
More preferably, the upper valve iron 721 is connected to the upper valve stem 715 via a return spring 714.
More preferably, the upper valve iron 721 is provided with an upper slider 713.
More preferably, the bottom plate is provided with a link lever rotating shaft 718.
More preferably, the peristaltic solenoid valve 71 further comprises: the lower valve rod 717 is connected with the upper valve sucker 721 through a linkage connecting rod 719, the lower valve rod 717 penetrates through the lower plate, and a lower sliding block is arranged on the lower valve rod 717; a linkage connecting rod 719, the linkage connecting rod 719 is rotatably connected with the linkage connecting rod rotating shaft 718, the linkage connecting rod 719 is provided with an upper sliding chute and a lower sliding chute, and the upper sliding chute and the lower sliding chute are respectively connected with the upper sliding block 713 and the lower sliding block 722 in a sliding manner; lower valve head 720, lower electromagnetic head set up in lower valve rod 717 front end, correspond the setting with the bloated section of wide mouth pipeline 65.
Specifically, when the peristaltic solenoid valve 71 is powered on, the upper valve magnet 721 adsorbs the upper valve stem 715 to drive the upper valve head 716 to leave the concave section of the wide-mouth pipe, the lower valve head 720 is in contact with the bulging section of the wide-mouth pipe under the action of the linkage connecting rod 719, when the power is off, the upper valve stem 715 is pushed out under the action of the return spring 714, the upper valve head 716 is close to the concave section, the lower valve head 720 is separated from the bulging section of the wide-mouth pipe under the action of the linkage connecting rod 719, and the bulging section and the concave section of the wide-mouth pipe are driven to be repeatedly replaced.
More preferably, the branch separating means 4 comprise: the sieve plate 45, the sieve plate 45 includes many horizontal bars; the enclosing plate 46, the enclosing plate 46 is arranged on the sieve plate 45, and the inlet 41 and the outlet 44 are arranged on the enclosing plate 46; the rotating unit 42 is arranged inside the coaming 46 and above the sieve plate 45; the power unit 43 is arranged below the sieve plate 45, and the power unit 43 is connected with the rotating unit 42; wherein the outlet duct of the fruit conveying means 6 is connected to the inlet 41 of the branch separating device 6.
More preferably, the branch separating means 4 further comprise: the fixed frame 47 and the fixed frame 47 are arranged below the sieve plate 45, and the fruit branch separating mechanism 4 is fixed on the quick lifting mechanism 3 through the fixed frame 47.
More preferably, the plurality of cross bars are arranged in the same direction, and the plurality of cross bars are sequentially spaced at a first distance.
More preferably, the first distance is 5cm.
More preferably, the rotation unit 42 includes: a rotating shaft disposed at the center of the sieve plate 45; the blades are uniformly arranged on the rotating shaft.
More preferably, the plurality of blades is 3 blades.
More preferably, the power unit 43 is connected to the rotating shaft.
More preferably, the power unit 43 is a hydraulic motor.
More preferably, the screen 45 is a metal screen.
More preferably, the inlet 41 is connected to the fruit conveying means 6.
Specifically, the fruits, the branches and the leaves are automatically separated through the matching of the rotating unit 43 and the sieve plate 45, the mechanical picking efficiency is improved, the labor intensity of workers is reduced, the fruit branch separation efficiency is improved, the labor risk of the workers is reduced, and the fruits, the branches and the leaves are prevented from being scratched.
Specifically, the power unit 43 is connected with the rotating shaft, the plurality of blades are uniformly and fixedly arranged on the rotating shaft, the power unit 43 sequentially drives the rotating shaft and the blades on the rotating shaft to rotate, picked fruits enter the sieve plate 45 from the inlet, the rotating unit 42 rotates, branches and leaves naturally hang below the plurality of cross bars of the sieve plate 45, the fruits continuously rotate along with the two adjacent blades, the branches and leaves are broken, and the fruits are output from the outlet 44.
More preferably, the cutter 185 includes: a picking blade rest 1856, a blade pin shaft fixing hole 1854 is arranged in the middle of the picking blade rest 1856.
The upper blade 1851 is symmetrically provided with two rows of blade grooves at the side edge of the upper blade 1851, the axis of the upper blade 1851 is provided with a transverse fixed slide block and a pin shaft hole, and the pin shaft hole is connected with the blade pin shaft fixed hole through a pin shaft.
The lower blade 1852, the lower blade 1852 include the lower blade push rod and set up in the last cutting edge on lower blade push rod both sides limit, are equipped with first spout, spring staple and second spout on the axis of lower blade push rod in proper order, and horizontal fixed sliding block sets up in first spout, and the round pin axle sets up in the second spout, is equipped with reset spring 1853 between spring staple and the round pin axle, and the lower blade can follow first spout and second spout and reciprocate.
More preferably, evasion return springs 1853 are symmetrically arranged at both sides of the blade pin fixing hole.
More preferably, the evasion return spring buckle is provided with a return spring 1853, and the steel wire of the return spring 1853 is tightly attached to both sides of the upper blade.
More preferably, the picking blade holder 1856 is a semicircular piece, the lower portion of which is provided with a folded edge, and both ends of the folded edge are provided with mounting and fixing screw holes.
More preferably, picking blade holders 1856 are mounted on picking sleeve 182 by mounting fixture screw holes.
More preferably, the upper blade 1851 is oval-shaped.
More preferably, the blade groove is in the shape of a barb.
More preferably, the blade groove is offset from the upper blade edge when the spring is relaxed and the blade groove is aligned with the upper blade edge when the spring is compressed.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the illustrated embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (6)
1. A tube peristaltic mechanism, comprising:
a solenoid valve mounting plate;
the rear ends of the plurality of peristaltic solenoid valves are fixedly arranged on the solenoid valve mounting plate, and the front ends of the plurality of peristaltic solenoid valves are arranged opposite to the wide-mouth pipeline;
wherein the peristaltic solenoid valve comprises:
the valve seat comprises a bottom plate, a first vertical plate and a second vertical plate which are fixed above the bottom plate and arranged in parallel, and a lower plate arranged below the bottom plate;
the coil is arranged on the bottom plate and is close to the first vertical plate;
the upper valve rod is arranged in front of the second vertical plate and penetrates through the second vertical plate;
the upper valve magnet is arranged behind the second vertical plate and used for adsorbing the upper valve rod;
the upper valve head is arranged at the front end of the upper valve rod and corresponds to the concave section of the wide-mouth pipeline;
an upper sliding block is arranged on the upper valve magnet;
the side surface of the bottom plate is provided with a linkage connecting rod rotating shaft;
the peristaltic solenoid valve further comprises:
the lower valve rod is connected with the upper valve magnet through a linkage connecting rod, the lower valve rod penetrates through the lower plate, and a lower sliding block is arranged on the lower valve rod;
the linkage connecting rod is rotationally connected with the linkage connecting rod rotating shaft, an upper sliding groove and a lower sliding groove are arranged on the linkage connecting rod, and the upper sliding groove and the lower sliding groove are respectively connected with the upper sliding block and the lower sliding block in a sliding manner;
the lower valve head is arranged at the front end of the lower valve rod and corresponds to the bulging section of the wide-mouth pipeline;
the wide-mouth pipeline comprises a plurality of bulging sections and a plurality of sunken sections which are communicated in sequence, the bulging sections and the sunken sections are repeatedly replaced under the driving of the pipeline peristaltic mechanism, and the first vertical plate is fixedly connected to the electromagnetic valve mounting plate.
2. The tube peristaltic mechanism of claim 1, wherein the upper valve magnet is resiliently coupled to the upper valve stem via a return spring.
3. The peristaltic mechanism of claim 1, wherein the upper valve head and the lower valve head are provided with a resilient portion in front thereof.
4. The tube peristaltic mechanism of claim 1, wherein the upper valve head and the lower valve head are semi-circular in shape and include an upper semi-circular portion and a lower semi-circular portion fixedly attached to each other.
5. The tube peristaltic mechanism of claim 1, wherein the upper chute and the lower chute are both kidney-shaped or oval-shaped holes.
6. A fruit picking robot, comprising:
the lifting device comprises a fine adjustment lifting mechanism and a quick lifting mechanism, and the fine adjustment lifting mechanism is arranged at the top of the quick lifting mechanism;
a picking module disposed at a top of the fine adjustment lift mechanism;
the hand cart is arranged at the bottom of the quick lifting mechanism;
one end of the fruit transmission module is connected to the picking module, and the other end of the fruit transmission module penetrates through the quick lifting mechanism and is communicated to the top of the hand-held cart;
wherein the fruit transport module comprises the tube peristaltic mechanism of any one of claims 1-5;
and the fruit branch separation module is arranged in the middle of the fruit transmission module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711349370.6A CN108029341B (en) | 2017-12-15 | 2017-12-15 | Pipeline creeping mechanism and fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711349370.6A CN108029341B (en) | 2017-12-15 | 2017-12-15 | Pipeline creeping mechanism and fruit picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108029341A CN108029341A (en) | 2018-05-15 |
| CN108029341B true CN108029341B (en) | 2023-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711349370.6A Active CN108029341B (en) | 2017-12-15 | 2017-12-15 | Pipeline creeping mechanism and fruit picking robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112219558A (en) * | 2020-09-29 | 2021-01-15 | 武汉励耕果园机械有限公司 | Chinese chestnut picking machine |
| CN116106336B (en) * | 2023-04-13 | 2023-06-09 | 河北亿海管道集团有限公司 | Pipe fitting radiographic inspection equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105850364A (en) * | 2016-05-09 | 2016-08-17 | 江西农业大学 | Portable electric fruit picking device |
| CN106961924A (en) * | 2017-05-20 | 2017-07-21 | 乔辉 | Fanout free region fruit picking machine |
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2017
- 2017-12-15 CN CN201711349370.6A patent/CN108029341B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105850364A (en) * | 2016-05-09 | 2016-08-17 | 江西农业大学 | Portable electric fruit picking device |
| CN106961924A (en) * | 2017-05-20 | 2017-07-21 | 乔辉 | Fanout free region fruit picking machine |
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