CN108064555B - Strawberry picking device - Google Patents
Strawberry picking device Download PDFInfo
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- CN108064555B CN108064555B CN201810024097.8A CN201810024097A CN108064555B CN 108064555 B CN108064555 B CN 108064555B CN 201810024097 A CN201810024097 A CN 201810024097A CN 108064555 B CN108064555 B CN 108064555B
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- Prior art keywords
- cutter bar
- cross arm
- control mechanism
- mounting
- turntable
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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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- 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
- A01D46/22—Baskets or bags attachable to the picker
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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
- A01D46/243—Accessories specially adapted for manual picking, e.g. ladders, carts
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a strawberry picking device, which comprises a bottom plate, wherein wheels are arranged below the bottom plate to form a walking trolley, and the strawberry picking device is characterized in that a vertical column capable of horizontally rotating is arranged above the upper surface of the bottom plate, a vertical column rotation control mechanism for controlling the rotation angle of the vertical column on the horizontal plane is arranged between the bottom plate and the vertical column, a cross arm is transversely arranged on the vertical column, the cross arm is connected with the vertical column, a cross arm up-and-down movement control mechanism for controlling the up-and-down movement of the cross arm is arranged between the cross arm and the vertical column, a cross arm expansion control mechanism for controlling the cross arm to transversely move is also arranged between the cross arm and the vertical column, the front end of the cross arm; the invention has the advantages of high picking efficiency, better adaptability to various operating environments and better convenience for operators to use in the operating process.
Description
Technical Field
The invention relates to the technical field of agricultural machinery; in particular to a strawberry picking device.
Background
In recent years, the strawberry cultivation area in China is rapidly enlarged, and the strawberries are planted in Heilongjiang, south to Guangdong, east to Shandong, and west to Xinjiang. Therefore, strawberry planting plays an important role in agriculture in China, and the national statistics bureau 2014 annual data show that the national strawberry yield reaches 311.30 ten thousand tons in the current year. The strawberries are very fragile fruits, the picking requirement is high, the strawberries must be picked in time after being ripe, especially in the full-bearing period (about 30 days), the daily ripe amount of the strawberries can reach 150-200 kg per mu, and 2 workers need to work for about 10 h.d < -1 > to finish picking. Strawberry orchards are mostly two kinds of operation modes, and the big-arch shelter is planted in strawberry picking garden and strawberry, and the person often lacks the labour resource after the strawberry harvest period. The complexity and labor intensity of strawberry picking work have become important factors restricting the development of strawberry planting industry. Therefore, modern agricultural technologies are vigorously developing automatic strawberry picking and transporting technologies.
The automatic strawberry picking technology is improved in a plurality of developed countries in Europe and America, but the technology is still immature in China. The foreign commercialized strawberry picking robots are divided into two types, one type is a picking robot based on an overhead strawberry planting method, the robot has extremely high requirements on the working environment, and Chinese strawberry farmers cannot bear overhead construction cost; the other is a large strawberry harvesting agricultural machine, such as the AGROBOT in spain, which has high efficiency but the price of hundred thousand dollars and the high requirement for the working environment, so that the machine cannot be widely used in China. The strawberry cultivation industry in China has the particularity that: the strawberry ridges have no relatively fixed specifications, and the shape difference between the strawberry ridges is large, so that the difficulty in picking the strawberries is increased to a great extent. And the domestic automatic strawberry picking research is limited in the laboratory stage, and has a larger distance from the market.
Therefore, how to provide a strawberry picking device which has a simple structure, high picking efficiency, better adaptability to various working environments and better convenience for operators to use in the working process becomes a problem to be considered and solved by the personnel in the field.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a simple structure, it is efficient to pick, and the multiple operation environment of adaptation that can be better, the strawberry harvesting device that makes things convenient for the operator to use that the operation in-process can be better.
In order to solve the technical problems, the invention adopts the following technical scheme:
a strawberry picking device comprises a bottom plate, wherein wheels are arranged below the bottom plate to form a walking trolley, and the strawberry picking device is characterized in that a vertical column capable of horizontally rotating is arranged above the upper surface of the bottom plate, a vertical column rotation control mechanism used for controlling the rotation angle of the vertical column on the horizontal plane is arranged between the bottom plate and the vertical column, a cross arm is transversely arranged on the vertical column, the cross arm is connected with the vertical column, a cross arm up-and-down movement control mechanism used for controlling the up-and-down movement of the cross arm is arranged between the cross arm and the vertical column, a cross arm expansion control mechanism used for controlling the cross arm to transversely move is also arranged between the cross arm and the vertical column, the front end of the;
the walking trolley is also provided with a camera shooting positioning system, and the positioning information output end of the camera shooting positioning system is connected with the upright post rotation control mechanism, the cross arm up-down movement control mechanism, the cross arm stretching control mechanism and the shearing clamping device.
In the technical scheme, an operator can push the walking trolley to reach a designated position to pick up the strawberries, after the walking trolley reaches the designated position, the shooting positioning system arranged on the walking trolley can position the strawberries to be picked, the cutting and clamping device realizes cutting and clamping of the fruit bases of the positioned strawberries, and the picking of the positioned strawberries is completed; in the process, the shearing and clamping device needs to extend to the positioned strawberries, and the vertical column rotation control mechanism, the cross arm up-and-down movement control mechanism and the cross arm telescopic control mechanism act together, so that the shearing and clamping device has the rotation freedom degree, the vertical translation freedom degree and the horizontal translation freedom degree, and can cover a three-dimensional picking space; therefore, the whole strawberry picking device is higher in picking efficiency, the working strength of an operator can be reduced, meanwhile, the strawberry picking device can be better suitable for various working environments, and the strawberry picking device is more convenient for the operator to use in the working process.
Preferably, the shearing and clamping device comprises a blade and a blade control mechanism for controlling the cutting of the blade.
Therefore, the cutting of the strawberry pedicels is realized through the cutting edge, and the strawberry pedicel picking device has the advantage of high picking efficiency.
Preferably, the cutting edge control mechanism comprises a mounting seat, the mounting seat is connected to the front end of the cross arm, a mounting structure is arranged on the mounting seat, a left cutter bar and a right cutter bar are mounted on the mounting structure, the left cutter bar and the right cutter bar are hinged to each other, cutting edges of the two cutting edges are mounted on the left cutter bar and the right cutter bar respectively and are arranged oppositely, and an elastic mechanism is arranged between the left cutter bar and the right cutter bar so that one ends, far away from the cross arm, of the left cutter bar and the right cutter bar can be opened to form a V-shaped shearing opening; the left cutter bar and the right cutter bar are also connected with a shearing control mechanism, and the shearing control mechanism can drive the left cutter bar and the right cutter bar to be closed so as to enable the two cutting edges to complete shearing movement;
like this, install the cutting edge on left and right cutter arbor to left and right cutter arbor can form "V" shape cutting opening, can make things convenient for more to cut off the fruit base of strawberry realization, can be better aim at the strawberry fruit base in "V" shape cutting opening, can accomplish strawberry picking work better, improves and picks efficiency.
The left cutter bar and the right cutter bar are respectively provided with at least one mounting section with a rectangular cross section, the cutting edge is mounted on the upper surface of the mounting section, a clamping block is mounted on the lower surface of the mounting section and is opposite to the cutting edge, and when the two cutting edges are closed and the strawberry pedicles are cut, the two clamping blocks can be closed and clamp the strawberry pedicles;
therefore, the whole shearing and clamping device is simple in structure and high in strawberry picking efficiency; and realize the back of cutting off to the strawberry fruit base at the cutting edge, the grip block can carry out the centre gripping to the strawberry fruit base, can the effectual strawberry that reduces directly fall the risk on ground, can make each strawberry keep intact as far as, has also guaranteed the quality of picking when the strawberry is picked efficiency and is improved.
The mounting structure comprises a mounting shaft which is vertically and upwardly arranged, the mounting shaft is fixedly connected to a mounting seat, a left cutter bar driving disc and a right cutter bar driving disc which are arranged in a stacked mode are sleeved on the mounting shaft in a horizontally rotatable mode, and the left cutter bar driving disc is located above the right cutter bar driving disc; the left cutter bar is fixedly connected to the left cutter bar driving disc, and the right cutter bar is fixedly connected to the right cutter bar driving disc; the lower surface of the pressure plate is attached to and supported by the upper end surface of the left cutter bar driving disc;
therefore, the left and right cutter bars are convenient to install, and the structure is simpler and more compact.
A first axial force bearing is arranged between the left cutter bar driving disc and the right cutter bar driving disc and sleeved on the mounting shaft;
therefore, the friction force between the left cutter bar and the right cutter bar during rotation is reduced, the strawberry picking action can be smoother, and the clamping stagnation phenomenon between the left cutter bar and the right cutter bar can be effectively reduced; the picking efficiency is improved.
First radial force bearing bearings are arranged between the left cutter bar driving disc and the mounting shaft and between the right cutter bar driving disc and the mounting shaft, inner rings of the first radial force bearing bearings are fixedly sleeved on the mounting shaft, and outer rings of the two first radial force bearing bearings are respectively clamped and fixed on the left cutter bar driving disc and the right cutter bar driving disc;
therefore, the left and right cutter bars rotate more smoothly relative to the mounting shaft; the clamping stagnation phenomenon between the left cutter bar and the right cutter bar can be effectively reduced; the picking efficiency is improved.
The shearing control mechanism comprises two pull ropes, and one ends of the two pull ropes are correspondingly connected to the left cutter bar driving disc and the right cutter bar driving disc one by one; the other ends of the two pull ropes are connected with a pull rope mechanism, and the pull rope mechanism can pull the pull ropes to drive the left cutter bar and the right cutter bar to be closed;
therefore, the shearing control mechanism is simple in structure and can conveniently drive the left and right cutter bars at a longer distance.
The pull rope mechanism comprises a stepping motor fixedly mounted on the cross arm, a power output shaft of the stepping motor is vertically arranged, a winding reel is fixedly sleeved on the power output shaft of the stepping motor, and the pull rope is fixedly connected to the winding reel;
like this, the structure is more reliable, and the installation is more reasonable, makes things convenient for overall structure's arrangement.
Two stay cords are connected after respectively bypassing a reel on the spool, but the vertical pivoted installation of reel is in on the mount pad.
Thus, the risk of clamping stagnation of the pull rope can be reduced, and the reliability of the whole device is improved.
Preferably, the upright post rotation control mechanism comprises a turntable, the turntable is horizontally and rotatably mounted above the bottom plate through a turntable mounting structure fixedly arranged on the bottom plate, and the upright post is fixedly arranged on the turntable; still include carousel rotation driving motor, carousel rotation driving motor fixed mounting is on the bottom plate, and carousel rotation driving motor's power output shaft and carousel transmission are connected and can drive the carousel horizontal rotation.
Like this, carousel rotation driving motor drives the carousel and rotates in the horizontal direction, and the rotation of carousel on the horizontal direction can drive the stand and rotate in the horizontal direction to make and cut clamping device and can rotate on the horizontal direction, cut clamping device and will pick the strawberry to each angle better, can effectual reduction worker's intensity of labour, improve strawberry picking efficiency.
As optimization, the turntable rotation driving motor is vertically and fixedly arranged on the bottom plate, a turntable driving gear is fixedly sleeved on a power output shaft of the turntable rotation driving motor, the turntable is of an external gear structure, and the turntable driving gear are in meshing transmission.
Thus, the turntable rotation driving motor drives the turntable driving gear to rotate, and the turntable driving gear drives the turntable to rotate; the power of the rotary table rotation driving motor is transmitted to the rotary table through a group of meshed gears, and the rotary table rotation driving device has the advantages of simple structure, reliable transmission and high transmission efficiency.
Preferably, the turntable mounting structure comprises a turntable mounting shaft, the turntable mounting shaft is vertically arranged and fixed on the bottom plate, a second axial force bearing is sleeved on the turntable mounting shaft, a abdicating hole for the turntable mounting shaft to pass through is formed in the turntable, the abdicating hole for the turntable to lean against is sleeved on the turntable mounting shaft, and the lower surface of the turntable abuts against the upper end surface of the second axial force bearing;
the second bearing radial force bearing is arranged between the second bearing axial force bearing and the turntable; the abdicating hole is a stepped hole, the upper end of the second radial force bearing extends into the abdicating hole, the upper end face of the second radial force bearing abuts against the stepped face of the abdicating hole, and the lower end face of the second radial force bearing abuts against the upper end face of the second axial force bearing.
Therefore, the second bearing axial force bearing can bear the gravity of the turntable, the friction force applied to the turntable during rotation is smaller, and the turntable can be conveniently rotated;
bear the radial force bearing through the second that sets up and can make the carousel rotate more steadily, reduce the friction of the hole of stepping down on the carousel and carousel installation axle.
As optimization, the cross arm up-and-down movement control mechanism comprises a vertical sliding groove arranged on the stand column, a bearing sliding table capable of vertically sliding is mounted on the vertical sliding groove, and the cross arm is connected to the bearing sliding table; the vertical driving mechanism of the sliding table is fixedly connected to one end of the upright post, and the working end of the vertical driving mechanism of the sliding table is connected with the bearing sliding table and can drive the bearing sliding table to vertically move;
the vertical driving mechanism of the sliding table comprises a sliding table driving motor fixedly connected to the upper end of the upright post, the power output end of the sliding table driving motor is in transmission connection with a vertically arranged lead screw, and the lead screw is in transmission connection with the bearing sliding table.
Therefore, the sliding table vertical driving mechanism can drive the bearing sliding table to vertically move, and the movement of the bearing sliding table in the vertical direction can drive the transverse arm to vertically move, so that the shearing and clamping device can vertically move, the shearing and clamping device can better pick strawberries at all heights, the labor intensity of workers can be effectively reduced, and the strawberry picking efficiency is improved;
adopt slip table driving motor drive lead screw to rotate, the lead screw drives bearing slip table vertical removal again, has simple structure, advantage that transmission efficiency is high.
As optimization, xarm flexible control mechanism is including setting up the transverse guide structure on the bearing slip table, the xarm is installed on the transverse guide structure, still include the flexible actuating mechanism of xarm, the flexible actuating mechanism fixed connection of xarm is in on the bearing slip table, just the flexible actuating mechanism's of xarm work end links to each other with the xarm and can drive the xarm and remove along its self length direction.
Like this, the flexible actuating mechanism of xarm can drive the xarm lateral shifting of installing on the transverse guide structure to make and cut clamping device and can transversely remove, cut clamping device and will be picked the strawberry on each horizontal position better, can effectual reduction worker's intensity of labour, improve strawberry picking efficiency.
Preferably, the transverse guide rail structure comprises a transverse guide rail fixedly connected to the bearing sliding table, a transverse sliding block is mounted on the transverse guide rail, and the cross arm is fixedly connected to the transverse sliding block;
the transverse guide rail structure also comprises two guide wheels which can vertically rotate through a mounting bracket and are mounted above the cross arm, the two guide wheels are arranged at intervals along the length direction of the cross arm, the diameter of the guide wheels in the horizontal direction is parallel to the cross arm, and the outer circumferential surface of each guide wheel can be in rolling fit with the upper surface of the cross arm;
the upper surface of the cross arm is also provided with a guide groove along the length direction, the section of the guide groove is of a rectangular structure with an open upper end, and the outer circumferential surface of the guide wheel can be in rolling fit with the bottom surface of the guide groove;
the mounting bracket is in a U-shaped structure reversely buckled on the cross arm, and two ends of the mounting bracket are fixedly connected to the bearing sliding table;
the flexible actuating mechanism of xarm includes that fixed connection has the xarm driving motor on the bearing slip table, and the fixed cover has connect xarm drive gear on xarm driving motor's power output shaft, is equipped with one section rack section on the xarm, the rack section with xarm drive gear meshing transmission.
In this way, the transverse guide rail arranged on the bearing sliding table and the transverse sliding block arranged on the transverse guide rail are used for connecting the transverse arm with the bearing sliding table in a sliding manner, and the transverse sliding block has the advantages of simple connecting structure, reliable guiding and convenience in processing and manufacturing;
the guide wheel is arranged to slidably guide the cross arm, so that the running track of the cross arm is more accurate, and the work is more reliable;
the guide groove is matched with the guide wheel, so that the guide wheel has a fixed track, and the transverse displacement of the cross arm is more accurate;
the mounting bracket is in a U-shaped structure, and has the advantages of convenience in mounting, stability and reliability;
the cross arm driving motor drives the cross arm driving gear, and the cross arm driving gear drives the cross arm to move, so that the structure is simple, and power transmission is reliable.
As optimization, a strawberry containing basket with an upward opening is further arranged on the bottom plate.
Like this, the convenience is collected the strawberry of picking, and is transported, can improve and pick efficiency.
Drawings
Fig. 1 is a front view of an embodiment of the present invention.
Fig. 2 is a top view of bitmap 1.
Fig. 3 is a left side view of fig. 1.
Fig. 4 is a schematic structural view of the shearing and clamping device in fig. 1.
Fig. 5 is a top view of fig. 4.
Fig. 6 is a sectional view a-a of fig. 5.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In the specific implementation: as shown in fig. 1 to 6, a strawberry picking device comprises a bottom plate 1, wheels 2 are arranged below the bottom plate to form a walking trolley, and the strawberry picking device is characterized in that a vertical column 3 capable of horizontally rotating is arranged above the upper surface of the bottom plate, a vertical column rotation control mechanism for controlling the rotation angle of the vertical column on the horizontal plane is arranged between the bottom plate and the vertical column, a cross arm 4 is transversely arranged on the vertical column 3, the cross arm is connected with the vertical column, a cross arm up-down movement control mechanism for controlling the up-down movement of the cross arm is arranged between the cross arm and the vertical column, a cross arm telescopic control mechanism for controlling the cross arm to transversely move is also arranged between the cross arm and the vertical column, a shearing clamping device is also arranged at the front end of;
the walking trolley is also provided with a camera shooting positioning system, and the positioning information output end of the camera shooting positioning system is connected with the upright post rotation control mechanism, the cross arm up-down movement control mechanism, the cross arm stretching control mechanism and the shearing clamping device.
The camera shooting positioning system is a binocular camera shooting positioning system, the binocular camera shooting positioning system comprises two cameras 5 installed outwards in the visual angle direction and a controller connected with the two cameras, and the stand column rotation control mechanism, the cross arm up-down movement control mechanism, the cross arm telescopic control mechanism and the shearing clamping device are connected with the controller.
In the technical scheme, an operator can push the walking trolley to reach a designated position to pick up the strawberries, after the walking trolley reaches the designated position, the shooting positioning system arranged on the walking trolley can position the strawberries to be picked, the cutting and clamping device realizes cutting and clamping of the fruit bases of the positioned strawberries, and the picking of the positioned strawberries is completed; in the process, the shearing and clamping device needs to extend to the positioned strawberries, and the vertical column rotation control mechanism, the cross arm up-and-down movement control mechanism and the cross arm telescopic control mechanism act together, so that the shearing and clamping device has the rotation freedom degree, the vertical translation freedom degree and the horizontal translation freedom degree, and can cover a three-dimensional picking space; therefore, the whole strawberry picking device is higher in picking efficiency, the working strength of an operator can be reduced, meanwhile, the strawberry picking device can be better suitable for various working environments, and the strawberry picking device is more convenient for the operator to use in the working process.
In this embodiment, the shearing module includes a blade 6 and a blade control mechanism for controlling the cutting of the blade.
Therefore, the cutting of the strawberry pedicels is realized through the cutting edge, and the strawberry pedicel picking device has the advantage of high picking efficiency.
In this specific embodiment, the cutting edge control mechanism includes a mounting base 7, the mounting base is connected to the front end of the cross arm, a mounting structure is provided on the mounting base, a left cutter bar 8 and a right cutter bar 9 are mounted on the mounting structure, the left cutter bar and the right cutter bar are hinged to each other, cutting edges 6 are respectively mounted on the left cutter bar and the right cutter bar, and cutting edges of the two cutting edges are arranged oppositely, and an elastic mechanism is provided between the left cutter bar and the right cutter bar so that one ends of the left cutter bar and the right cutter bar, which are far away from the cross arm, can be opened to form a V-shaped shearing opening; the left cutter bar and the right cutter bar are also connected with a shearing control mechanism, and the shearing control mechanism can drive the left cutter bar and the right cutter bar to be closed so as to enable the two cutting edges to complete shearing movement;
like this, install the cutting edge on left and right cutter arbor to left and right cutter arbor can form "V" shape cutting opening, can make things convenient for more to cut off the fruit base of strawberry realization, can be better aim at the strawberry fruit base in "V" shape cutting opening, can accomplish strawberry picking work better, improves and picks efficiency.
The left cutter bar and the right cutter bar are respectively provided with at least one mounting section with a rectangular cross section, the cutting edge is mounted on the upper surface of the mounting section, a clamping block 10 is mounted on the lower surface of the mounting section and is opposite to the cutting edge, and when the two cutting edges are closed and shearing is completed on strawberry pedicles, the two clamping blocks can be closed and clamp the strawberry pedicles;
therefore, the whole shearing and clamping device is simple in structure and high in strawberry picking efficiency; and realize the back of cutting off to the strawberry fruit base at the cutting edge, the grip block can carry out the centre gripping to the strawberry fruit base, can the effectual strawberry that reduces directly fall the risk on ground, can make each strawberry keep intact as far as, has also guaranteed the quality of picking when the strawberry is picked efficiency and is improved.
The mounting structure comprises a mounting shaft 11 which is vertically and upwardly arranged, the mounting shaft is fixedly connected to a mounting seat, a left cutter bar driving disc 12 and a right cutter bar driving disc 13 which are arranged in a stacked mode are horizontally sleeved on the mounting shaft in a rotating mode, and the left cutter bar driving disc is located above the right cutter bar driving disc; the left cutter bar is fixedly connected to the left cutter bar driving disc, and the right cutter bar is fixedly connected to the right cutter bar driving disc; the cutter bar driving plate is characterized by further comprising a pressing plate 14, wherein the pressing plate is connected to the upper end of the mounting shaft, and the lower surface of the pressing plate is attached to and supported by the upper end surface of the left cutter bar driving plate;
therefore, the left and right cutter bars are convenient to install, and the structure is simpler and more compact.
A first axial force bearing 15 is arranged between the left cutter bar driving disc and the right cutter bar driving disc, and the first axial force bearing is sleeved on the mounting shaft;
therefore, the friction force between the left cutter bar and the right cutter bar during rotation is reduced, the strawberry picking action can be smoother, and the clamping stagnation phenomenon between the left cutter bar and the right cutter bar can be effectively reduced; the picking efficiency is improved. The first axial force bearing is a thrust ball bearing.
First radial force bearing bearings 16 are arranged between the left cutter bar driving disc and the mounting shaft and between the right cutter bar driving disc and the mounting shaft, inner rings of the first radial force bearing bearings are fixedly sleeved on the mounting shaft, and outer rings of the two first radial force bearing bearings are respectively clamped and fixed on the left cutter bar driving disc and the right cutter bar driving disc;
therefore, the left and right cutter bars rotate more smoothly relative to the mounting shaft; the clamping stagnation phenomenon between the left cutter bar and the right cutter bar can be effectively reduced; the picking efficiency is improved. The first radial force bearing is a deep groove ball bearing.
The shearing control mechanism comprises two pull ropes 17, and one ends of the two pull ropes are correspondingly connected to the left cutter bar driving disc and the right cutter bar driving disc one by one; the other ends of the two pull ropes are connected with a pull rope mechanism, and the pull rope mechanism can pull the pull ropes to drive the left cutter bar and the right cutter bar to be closed;
therefore, the shearing control mechanism is simple in structure and can conveniently drive the left and right cutter bars at a longer distance.
The pull rope mechanism comprises a stepping motor 18 fixedly mounted on the cross arm, a power output shaft of the stepping motor is vertically arranged, a winding reel 19 is fixedly sleeved on the power output shaft of the stepping motor, and the pull rope is fixedly connected to the winding reel;
like this, the structure is more reliable, and the installation is more reasonable, makes things convenient for overall structure's arrangement.
Wherein, two stay cords are connected on the spool after respectively bypassing a reel 20, but reel 20 vertical pivoted installs on the mount pad.
Thus, the risk of clamping stagnation of the pull rope can be reduced, and the reliability of the whole device is improved.
In this embodiment, the pillar rotation control mechanism includes a turntable 21, the turntable is horizontally rotatably mounted above the bottom plate via a turntable mounting structure fixedly disposed on the bottom plate 1, and the pillar 3 is fixedly disposed on the turntable 21; still include carousel rotation driving motor 22, carousel rotation driving motor fixed mounting is on the bottom plate, and carousel rotation driving motor's power output shaft and carousel transmission are connected and can drive the carousel horizontal rotation.
Like this, carousel rotation driving motor drives the carousel and rotates in the horizontal direction, and the rotation of carousel on the horizontal direction can drive the stand and rotate in the horizontal direction to make and cut clamping device and can rotate on the horizontal direction, cut clamping device and will pick the strawberry to each angle better, can effectual reduction worker's intensity of labour, improve strawberry picking efficiency.
In this embodiment, the vertical fixed setting of carousel rotation driving motor is on the bottom plate, and fixed the cup joint have carousel drive gear 23 on carousel rotation driving motor's power output shaft, the carousel is external gear structure, carousel and carousel drive gear meshing transmission.
Thus, the turntable rotation driving motor drives the turntable driving gear to rotate, and the turntable driving gear drives the turntable to rotate; the power of the rotary table rotation driving motor is transmitted to the rotary table through a group of meshed gears, and the rotary table rotation driving device has the advantages of simple structure, reliable transmission and high transmission efficiency.
In this specific embodiment, the turntable mounting structure includes a turntable mounting shaft 24, the turntable mounting shaft is vertically arranged and fixed on the bottom plate, a second axial force bearing 25 is sleeved on the turntable mounting shaft, a abdicating hole for the turntable mounting shaft to pass through is formed in the turntable, the abdicating hole in which the turntable leans against is sleeved on the turntable mounting shaft, and the lower surface of the turntable abuts against the upper end surface of the second axial force bearing;
a second radial force bearing 26 is further included, the second radial force bearing being disposed between the second axial force bearing and the turntable; the abdicating hole is a stepped hole, the upper end of the second radial force bearing extends into the abdicating hole, the upper end face of the second radial force bearing abuts against the stepped face of the abdicating hole, and the lower end face of the second radial force bearing abuts against the upper end face of the second axial force bearing.
Therefore, the second bearing axial force bearing can bear the gravity of the turntable, the friction force applied to the turntable during rotation is smaller, and the turntable can be conveniently rotated;
bear the radial force bearing through the second that sets up and can make the carousel rotate more steadily, reduce the friction of the hole of stepping down on the carousel and carousel installation axle. The second radial force bearing is a deep groove ball bearing, and the second axial force bearing is a thrust ball bearing.
In the specific embodiment, the cross arm up-and-down movement control mechanism comprises a vertical sliding groove arranged on the upright post, a bearing sliding table 27 capable of vertically sliding is arranged on the vertical sliding groove, and the cross arm 4 is connected to the bearing sliding table; the vertical driving mechanism is fixedly connected to one end of the upright post 3, and the working end of the vertical driving mechanism is connected with the bearing sliding table and can drive the bearing sliding table to vertically move;
the vertical driving mechanism of the sliding table comprises a sliding table driving motor 28 fixedly connected to the upper end of the upright post, the power output end of the sliding table driving motor is in transmission connection with a vertically arranged lead screw 29, and the lead screw is in transmission connection with the bearing sliding table.
Therefore, the sliding table vertical driving mechanism can drive the bearing sliding table to vertically move, and the movement of the bearing sliding table in the vertical direction can drive the transverse arm to vertically move, so that the shearing and clamping device can vertically move, the shearing and clamping device can better pick strawberries at all heights, the labor intensity of workers can be effectively reduced, and the strawberry picking efficiency is improved;
adopt slip table driving motor drive lead screw to rotate, the lead screw drives bearing slip table vertical removal again, has simple structure, advantage that transmission efficiency is high.
In this embodiment, the flexible control mechanism of xarm is including setting up the transverse guide structure on the bearing slip table, the xarm is installed on the transverse guide structure, still includes the flexible actuating mechanism of xarm, the flexible actuating mechanism fixed connection of xarm is in on the bearing slip table 27, just the flexible actuating mechanism's of xarm working end links to each other with the xarm and can drive the xarm and remove along its self length direction.
Like this, the flexible actuating mechanism of xarm can drive the xarm lateral shifting of installing on the transverse guide structure to make and cut clamping device and can transversely remove, cut clamping device and will be picked the strawberry on each horizontal position better, can effectual reduction worker's intensity of labour, improve strawberry picking efficiency.
In this embodiment, the transverse guide rail structure includes a transverse guide rail 30 fixedly connected to the bearing sliding table, a transverse slider 31 is mounted on the transverse guide rail, and the transverse arm is fixedly connected to the transverse slider;
the transverse guide rail structure further comprises two guide wheels 33 which are vertically and rotatably arranged above the cross arm through a mounting bracket 32, the two guide wheels are arranged at intervals along the length direction of the cross arm, the diameter of each guide wheel in the horizontal direction is parallel to the cross arm, and the outer circumferential surface of each guide wheel can be in rolling fit with the upper surface of the cross arm;
the upper surface of the cross arm 4 is also provided with a guide groove along the length direction, the section of the guide groove is of a rectangular structure with an open upper end, and the outer circumferential surface of the guide wheel can be in rolling fit with the bottom surface of the guide groove;
the mounting bracket 32 is in a U-shaped structure which is reversely buckled on the cross arm, and two ends of the mounting bracket are fixedly connected to the bearing sliding table;
the flexible actuating mechanism of xarm includes xarm driving motor 34 of fixed connection on the bearing slip table, and the fixed cover has been connected xarm drive gear 35 on xarm driving motor's power take off shaft, is equipped with one section rack section on the xarm, the rack section with xarm drive gear meshing transmission.
In this way, the transverse guide rail arranged on the bearing sliding table and the transverse sliding block arranged on the transverse guide rail are used for connecting the transverse arm with the bearing sliding table in a sliding manner, and the transverse sliding block has the advantages of simple connecting structure, reliable guiding and convenience in processing and manufacturing;
the guide wheel is arranged to slidably guide the cross arm, so that the running track of the cross arm is more accurate, and the work is more reliable;
the guide groove is matched with the guide wheel, so that the guide wheel has a fixed track, and the transverse displacement of the cross arm is more accurate;
the mounting bracket is in a U-shaped structure, and has the advantages of convenience in mounting, stability and reliability;
the cross arm driving motor drives the cross arm driving gear, and the cross arm driving gear drives the cross arm to move, so that the structure is simple, and power transmission is reliable.
In this embodiment, a strawberry containing basket 36 with an upward opening is further disposed on the bottom plate.
Like this, the convenience is collected the strawberry of picking, and is transported, can improve and pick efficiency.
Claims (8)
1. A strawberry picking device comprises a bottom plate (1), wheels (2) are arranged below the bottom plate to form a walking trolley, and the strawberry picking device is characterized in that a vertical column (3) capable of horizontally rotating is arranged above the upper surface of the bottom plate, a vertical column rotation control mechanism used for controlling the rotation angle of the vertical column on the horizontal plane is arranged between the bottom plate and the vertical column, a cross arm (4) is transversely arranged on the vertical column (3), the cross arm is connected with the vertical column, a cross arm up-and-down movement control mechanism used for controlling the up-and-down movement of the cross arm is arranged between the cross arm and the vertical column, a cross arm telescopic control mechanism used for controlling the cross arm to transversely move is also arranged between the cross arm and the vertical column, a shearing clamping device is;
the travelling trolley is also provided with a camera positioning system, and a positioning information output end of the camera positioning system is connected with the upright post rotation control mechanism, the cross arm up-and-down movement control mechanism, the cross arm stretching control mechanism and the shearing and clamping device;
the cutting and clamping device comprises a cutting edge (6) and a cutting edge control mechanism for controlling the cutting edge to cut;
the cutting edge control mechanism comprises a mounting seat (7), the mounting seat is connected to the front end of the cross arm, a mounting structure is arranged on the mounting seat, a left cutter bar (8) and a right cutter bar (9) are mounted on the mounting structure, the left cutter bar and the right cutter bar are hinged to each other, cutting edges (6) are mounted on the left cutter bar and the right cutter bar respectively, cutting edges of the two cutting edges are arranged oppositely, and an elastic mechanism is arranged between the left cutter bar and the right cutter bar so that one ends, far away from the cross arm, of the left cutter bar and the right cutter bar can be opened to form a V-shaped shearing opening; the left cutter bar and the right cutter bar are also connected with a shearing control mechanism, and the shearing control mechanism can drive the left cutter bar and the right cutter bar to be closed so as to enable the two cutting edges to complete shearing movement;
the left cutter bar and the right cutter bar are respectively provided with at least one mounting section with a rectangular cross section, the cutting edge is mounted on the upper surface of the mounting section, a clamping block (10) is mounted on the lower surface of the mounting section and is opposite to the cutting edge, and when the two cutting edges are closed and the strawberry pedicles are sheared, the two clamping blocks can be closed and clamp the strawberry pedicles;
the mounting structure comprises a mounting shaft (11) which is vertically and upwardly arranged, the mounting shaft is fixedly connected to a mounting seat, a left cutter bar driving disc (12) and a right cutter bar driving disc (13) which are arranged in a stacked mode are horizontally sleeved on the mounting shaft in a rotating mode, and the left cutter bar driving disc is located above the right cutter bar driving disc; the left cutter bar is fixedly connected to the left cutter bar driving disc, and the right cutter bar is fixedly connected to the right cutter bar driving disc; the lower surface of the pressure plate is attached to and supported by the upper end surface of the left cutter bar driving disc;
a first axial force bearing (15) is arranged between the left cutter bar driving disc and the right cutter bar driving disc and sleeved on the mounting shaft;
first radial force bearing bearings (16) are arranged between the left cutter bar driving disc and the mounting shaft and between the right cutter bar driving disc and the mounting shaft, inner rings of the first radial force bearing bearings are fixedly sleeved on the mounting shaft, and outer rings of the two first radial force bearing bearings are respectively clamped and fixed on the left cutter bar driving disc and the right cutter bar driving disc;
the shearing control mechanism comprises two pull ropes (17), and one ends of the two pull ropes are correspondingly connected to the left cutter bar driving disc and the right cutter bar driving disc one by one; the other ends of the two pull ropes are connected with a pull rope mechanism, and the pull rope mechanism can pull the pull ropes to drive the left cutter bar and the right cutter bar to be closed;
the pull rope mechanism comprises a stepping motor (18) fixedly mounted on the cross arm, a power output shaft of the stepping motor is vertically arranged, a winding reel (19) is fixedly sleeved on the power output shaft of the stepping motor, and the pull rope is fixedly connected to the winding reel;
two stay cords are connected on the spool after respectively bypassing a reel (20), and the reel (20) can be vertically rotatably installed on the installation seat.
2. A strawberry picking device according to claim 1, characterised in that the upright rotation control mechanism comprises a turntable (21) which is horizontally rotatably mounted above the base plate by a turntable mounting structure fixedly arranged on the base plate (1), the upright (3) being fixedly arranged on the turntable (21); still include carousel rotation driving motor (22), carousel rotation driving motor fixed mounting is on the bottom plate, and carousel rotation driving motor's power output shaft and carousel transmission are connected and can drive the carousel horizontal rotation.
3. A strawberry picking device according to claim 2, wherein the rotary table rotary driving motor is vertically fixed on the bottom plate, a rotary table driving gear (23) is fixedly sleeved on a power output shaft of the rotary table rotary driving motor, the rotary table is of an external gear structure, and the rotary table is in meshing transmission with the rotary table driving gear.
4. A strawberry picking device according to claim 2, wherein the turntable mounting structure comprises a turntable mounting shaft (24), the turntable mounting shaft is vertically arranged and fixed on the bottom plate, a second axial force bearing (25) is sleeved on the turntable mounting shaft, an abdicating hole for the turntable mounting shaft to pass through is arranged on the turntable, the abdicating hole in which the turntable leans against is sleeved on the turntable mounting shaft, and the lower surface of the turntable abuts against the upper end surface of the second axial force bearing;
the bearing also comprises a second radial force bearing (26), and the second radial force bearing is arranged between the second axial force bearing and the turntable; the abdicating hole is a stepped hole, the upper end of the second radial force bearing extends into the abdicating hole, the upper end face of the second radial force bearing abuts against the stepped face of the abdicating hole, and the lower end face of the second radial force bearing abuts against the upper end face of the second axial force bearing.
5. A strawberry picking device according to claim 1, characterized in that the cross arm up-and-down movement control mechanism comprises a vertical chute arranged on the column, a bearing sliding table (27) which can slide vertically is mounted on the vertical chute, and the cross arm (4) is connected to the bearing sliding table; the vertical driving mechanism of the sliding table is fixedly connected to one end of the upright post (3), and the working end of the vertical driving mechanism of the sliding table is connected with the bearing sliding table and can drive the bearing sliding table to vertically move;
the vertical driving mechanism of the sliding table comprises a sliding table driving motor (28) fixedly connected to the upper end of the upright post, the power output end of the sliding table driving motor is in transmission connection with a vertically arranged lead screw (29), and the lead screw is in transmission connection with the bearing sliding table.
6. A strawberry picking device according to claim 5, characterized in that the cross arm telescoping control mechanism comprises a transverse guide rail structure arranged on the bearing sliding table, the cross arm is mounted on the transverse guide rail structure, and a cross arm telescoping driving mechanism, the cross arm telescoping driving mechanism is fixedly connected on the bearing sliding table (27), and the working end of the cross arm telescoping driving mechanism is connected with the cross arm and can drive the cross arm to move along the length direction of the cross arm.
7. A strawberry picking device according to claim 6, characterised in that the transverse rail structure comprises a transverse rail (30) fixedly connected to a load bearing ramp, on which transverse slides (31) are mounted, the transverse arm being fixedly connected to the transverse slides;
the transverse guide rail structure further comprises guide wheels (33) which can vertically rotate through a mounting bracket (32) and are mounted above the cross arm, the two guide wheels are arranged at intervals along the length direction of the cross arm, the diameter of each guide wheel in the horizontal direction is parallel to the cross arm, and the outer circumferential surface of each guide wheel can be in rolling fit with the upper surface of the cross arm;
the upper surface of the cross arm (4) is also provided with a guide groove along the length direction, the section of the guide groove is of a rectangular structure with an open upper end, and the outer circumferential surface of the guide wheel can be in rolling fit with the bottom surface of the guide groove;
the mounting bracket (32) is of a U-shaped structure which is reversely buckled on the cross arm, and two ends of the mounting bracket are fixedly connected to the bearing sliding table;
the flexible actuating mechanism of xarm includes xarm driving motor (34) of fixed connection on the bearing slip table, and fixed the having cup jointed xarm drive gear (35) on xarm driving motor's power take off shaft, is equipped with one section rack section on the xarm, the rack section with xarm drive gear meshing transmission.
8. A strawberry picking apparatus according to claim 1, characterised in that a strawberry basket (36) is also provided on the base plate, with the opening facing upwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810024097.8A CN108064555B (en) | 2018-01-10 | 2018-01-10 | Strawberry picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810024097.8A CN108064555B (en) | 2018-01-10 | 2018-01-10 | Strawberry picking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108064555A CN108064555A (en) | 2018-05-25 |
| CN108064555B true CN108064555B (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810024097.8A Expired - Fee Related CN108064555B (en) | 2018-01-10 | 2018-01-10 | Strawberry picking device |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102577755B (en) * | 2012-02-17 | 2014-06-25 | 中国农业大学 | Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot |
| KR200479291Y1 (en) * | 2014-03-07 | 2016-01-12 | 김은석 | High-Rise Working Vehicle for Agricultural Work Capable of Adjusting Turning Range of Boom |
| CN204377448U (en) * | 2015-01-12 | 2015-06-10 | 金陵科技学院 | A kind of efficient picking robot |
| CN105144992A (en) * | 2015-09-24 | 2015-12-16 | 江苏农林职业技术学院 | Strawberry picking and collecting device |
| CN106258209B (en) * | 2016-08-03 | 2018-06-01 | 泉州市君贤网络科技有限公司 | A kind of olive fruit picking |
| CN107018761A (en) * | 2017-06-20 | 2017-08-08 | 山西省农业科学院旱地农业研究中心 | Tomato automatically plucks dress basket all-in-one |
| CN107241968A (en) * | 2017-08-02 | 2017-10-13 | 合肥科地尔农业技术开发有限公司 | A kind of fruit picker |
| CN107439147A (en) * | 2017-09-04 | 2017-12-08 | 中国热带农业科学院南亚热带作物研究所 | Mango overhead fruit picking device |
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2018
- 2018-01-10 CN CN201810024097.8A patent/CN108064555B/en not_active Expired - Fee Related
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| CN108064555A (en) | 2018-05-25 |
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