CN108184413B - Pineapple picking mechanism - Google Patents
Pineapple picking mechanism Download PDFInfo
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- CN108184413B CN108184413B CN201810103765.6A CN201810103765A CN108184413B CN 108184413 B CN108184413 B CN 108184413B CN 201810103765 A CN201810103765 A CN 201810103765A CN 108184413 B CN108184413 B CN 108184413B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
Abstract
A pineapple picking mechanism belongs to the technical field of agricultural machinery and aims to solve the problems of low working efficiency and high labor intensity of manual pineapple picking in the prior art. The invention comprises a frame body, a picking and collecting mechanism and a steering mechanism, wherein the picking and collecting mechanism and the steering mechanism are arranged on the frame body, and the picking and collecting mechanism comprises: the picking mechanisms are symmetrically arranged at the front end of the frame body and comprise picking units and height adjusting units, each picking unit comprises a cantilever and picking cutters, one end of each cantilever is connected with the frame body, the other end of each cantilever is connected with a rotating shaft perpendicular to the advancing direction of the frame body, the picking cutters are arranged on the rotating shaft in a bilateral symmetry mode, and the cantilevers are hinged with the height adjusting units and are fixedly connected with the frame body through the height adjusting units; the conveying and collecting mechanism is arranged at the front part of the frame body and is positioned behind the picking cutters; and the power transmission mechanism drives the wheels and the rotating shaft in the picking mechanism to rotate through the power transmission mechanism. The invention has the advantages of simple structure, high picking efficiency, practicality and reliability.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a pineapple picking mechanism.
Background
Pineapple is one of the famous tropical fruits, and more than 70 varieties of pineapple are available in the world. The pineapple has short stem, mostly sword-shaped leaves, 40-90 cm long and 4-7 cm wide, and is arranged in a rosette shape. The edible part mainly comprises a rachis with increased meat quality and flowers spirally arranged on the periphery. The pineapple fruit is in an oval sphere shape, the longitudinal diameter is longer and is about 20-26cm, and the transverse diameter is shorter and is 18-24 cm. The weight of the fruit is about 0.95kg-1.5kg, the plant height of the pineapple is 0.7m-1m, the diameter of a fruit handle at the joint of the pineapple and the fruit is about 3-6cm, the fruit eyes are large and shallow, the fruit pulp is smooth and juicy, the sweetness and the sourness are moderate, the pineapple can be eaten after being peeled generally, and the pineapple can not only can be eaten fresh, but also can be processed into cans. Pineapple leaf fibers are very tough and can be used for fabrics, ropes, netting and paper making. The pineapple plants have strong adaptability to soil, are barren and drought resistant, have fewer plant diseases and insect pests, are easy to cultivate, have high yield, are important agricultural economic crops, and have wide industrial prospect.
In recent years, the market demand of pineapples is increasing, however, the picking of pineapples is still restricting the development of the pineapple industry, the leaves of pineapple plants are spirally arranged and clustered on stems, when the pineapples are ripe, the pineapple leaves are in a leather shape and similar to a sword shape, and some pineapples also have small thorns on the edges of the leaves, so that hands are easy to scratch during picking. At present, pineapple picking in China mainly depends on manual picking, the working efficiency is low, the labor intensity is high, the problem is always a technical bottleneck which troubles pineapple planting of fruit growers, and the problem is solved by urgently developing a corresponding pineapple picking machine.
Disclosure of Invention
The invention aims to provide a pineapple picking mechanism which solves the problems of low working efficiency and high labor intensity of manual pineapple picking in the prior art.
In order to achieve the above object, the pineapple picking mechanism of the present invention comprises a frame body, and a picking and collecting mechanism and a steering mechanism disposed on the frame body, wherein the picking and collecting mechanism comprises:
the picking mechanism is arranged at the front part of the frame body and comprises a group of picking units and a group of height adjusting units, each picking unit comprises a cantilever and picking fingers, one end of each picking unit is connected with the frame body, the other end of each picking unit is connected with a rotating shaft perpendicular to the advancing direction of the frame body, the picking fingers are arranged on the rotating shaft in a bilateral symmetry mode, and the cantilevers of the picking units are hinged with the height adjusting units and are fixedly connected with the frame body through the height adjusting units;
the conveying and collecting mechanism is arranged at the front part of the frame body and is positioned behind the picking fingers;
and the power transmission mechanisms are symmetrically arranged on two sides of the frame body, and the power transmission mechanisms drive the rotating shafts in the picking mechanisms to rotate and drive the travelling wheels on the frame body to rotate.
The frame body includes:
frame and chassis;
the supporting beam I, the supporting beam II and the supporting beam III are arranged on two side faces of the frame type frame;
the cross beams are arranged on two side surfaces of the frame type frame;
the walking wheels are arranged on two sides of one end of the frame type frame;
the steering wheels are arranged on two sides of the other end of the frame type frame;
the round clamping groove is arranged on the chassis;
and the bearing plates are arranged on two sides of one end of the chassis.
Picking finger set up specifically do on the rotation axis: the multiunit is picked and is pointed along rotation axis length direction and evenly set up, and every group is picked and indicates including the picking of a plurality of pairs of circumference equipartitions and indicates, is the V type design between every pair of picking cutter, and arbitrary a pair of picking cutter V type contained angle is 30 degrees at least, V type contained angle both sides picking cutter be equipped with cutter compressed edge is the benchmark, is 15 degrees cutting edge at least.
The steering mechanism includes:
a fixed shaft which is arranged inside two sides of one end of the frame body and is vertical to the chassis;
the steering shaft is arranged on two sides of one end of the frame body, the steering shaft is provided with a steering disc fixedly connected with the steering shaft, one end of the steering shaft is connected with the fixed shaft, and the other end of the steering shaft is provided with a bearing connected with a steering wheel. The steering disc is connected with one end of a spring, and the other end of the spring is connected with a bearing plate and is vertical to the chassis;
the connecting rod I is arranged on the steering disc, and two ends of the connecting rod I are respectively hinged with the steering disc and the connecting rod II through movable bolts;
the bottom end of the operating rod is hinged to the frame body through a movable bolt, and the part close to the bottom end is fixedly connected with the connecting rod II through a pin.
The height adjusting unit includes:
the sliding seat is fixedly connected with the support beam I on the frame body, and the connecting line of the sliding seat, the support beam I and the support beam I is parallel to the advancing direction of the frame body;
the long shaft is matched with the sliding seat, one end of the long shaft is provided with a handle fixedly connected with the long shaft, the other end of the long shaft is provided with a sleeve clamping seat, the sleeve clamping seat is hinged with one end of a crank I, the long shaft is hinged with one end of a crank II, the other end of the crank II is hinged with a cantilever, and the other end of the crank I is hinged with a crank III;
the sleeve clamping seat is coaxially matched with the long shaft and is provided with a sawtooth-shaped clamping groove;
the crankshaft is coaxially connected with one end of the crank III, and a telescopic rod fixedly connected with the crankshaft is arranged in the middle of the crankshaft;
one end of the sliding block is hinged with the telescopic rod, and the lower end of the sliding block is provided with a pawl mechanism;
a through shaft III fixed on the frame body;
the ratchet wheel is fixedly connected with the through shaft III; the ratchet wheel is kept in contact with the pawl structure part of the sliding block;
and slider complex slide rail, slide rail and vehicle chassis fixed connection and slide rail both sides seted up with lead to the round hole of the same size of III diameters of axle, lead to axle III with round hole on the slide rail and ratchet axle center collineation, the ratchet sets up inside the slide rail.
The long shaft is arranged close to one end hinged with the crank II in a segmented mode; the long shaft is provided with a circular column head which can be embedded into the zigzag clamping groove of the sleeve clamping seat; the connecting part of the cantilever and the through shaft III adopts a ratchet wheel and pawl structure.
The symmetry sets up the power transmission mechanism in frame body both sides and includes:
the bearing is embedded in the supporting beam I and matched with the shaft I;
the through shaft II is arranged in the middle of the support beams III on the two sides of the frame body, and the bearing embedded in the support beam III is matched with the through shaft II;
the through shafts III are arranged at the lower ends of the support beams III on the two sides of the frame body, and the bearings are embedded in the support beams III and matched with the through shafts III;
the through shafts IV are arranged at the lower ends of the support beams II on the two sides of the frame body, and the bearings are embedded in the support beams II and matched with the through shafts IV;
the motor is fixed on the chassis;
the belt transmission unit is connected with the output end of the motor and comprises a belt wheel I, a belt wheel II, a belt wheel III, a belt wheel IV, a belt wheel V, a belt wheel VI, a belt wheel VII, a belt wheel VIII, a belt wheel I, a belt V and a belt V VIII which are axially and uniformly distributed along the through shaft IV, the belt wheel I is connected with the belt wheel II through the belt V to transmit, the belt wheel II, the belt wheel VI, the belt wheel VII and the belt wheel VIII are fixedly connected with the through shaft IV through keys, the belt wheel VI is connected with the belt wheel IV through the belt V to transmit, the belt wheel VII is connected with the belt wheel V to transmit through the belt V, and the belt wheel VIII is connected with the belt wheel through the belt V to transmit;
the synchronous gear I and the belt wheel IV are fixedly connected with a through shaft II through a key, and the synchronous gear I transmits power to the synchronous gear II through a toothed belt;
the chain wheel set I and the belt wheel V are coaxially arranged, bearings are arranged inside the chain wheel set I and the belt wheel V, the outer ring of each bearing is fixedly connected with the chain wheel set I and the belt wheel V, the inner ring of each bearing is fixedly connected with the through shaft III, and the chain wheel set I is composed of three chain wheels which are uniformly distributed along the axial direction of the through shaft III and have gradually reduced diameters from outside to inside;
the chain wheel set I is connected with a chain wheel set II for transmission through a chain, the chain wheel set II consists of three chain wheels with gradually reduced diameters, the three chain wheels are uniformly distributed from inside to outside along the axial direction of a rotating shaft, the chain wheel set II is fixedly connected with the rotating shaft through a key, and the large gear and the small gear in the chain wheel set I and the chain wheel set II, which have any pair of same-side gear end faces and are positioned on the same vertical plane, are in complementary correspondence;
the invention has the beneficial effects that: the pineapple picking mechanism comprises a frame body, and a group of picking and collecting mechanisms and a steering mechanism which are arranged on the frame body and have the same structure, wherein the picking and collecting mechanisms comprise picking mechanisms, conveying and collecting mechanisms and power transmission mechanisms; the picking mechanism consists of a pair of picking cutters and a height adjuster, and pineapple picking is realized by longitudinally cutting the stem of the pineapple stem. The conveying and collecting mechanism mainly comprises a fruit receiving disc, a toothed conveyor belt and a collecting barrel, wherein the fruit receiving disc can be adjusted and swung up and down along one end, so that the fruit receiving disc can be always positioned at the rear lower part of the picking cutter and smoothly receives fruits, and pineapples falling into the fruit receiving disc slide into the toothed conveyor belt by virtue of gravity and then are conveyed to the collecting barrel by the conveyor belt. The power transmission mechanism adopts the belt transmission, gear meshing transmission and chain transmission combined transmission mode to provide power for the picking and collecting transmission mechanism. The frame body is designed integrally, so that the stability of the whole vehicle structure is enhanced. The invention fully utilizes the integrity of the picking and collecting and transmission mechanism, has compact structure of the whole machine, reduces the manufacturing cost, and has the advantages of labor intensity reduction, high picking efficiency, convenient operation, practicability and reliability compared with a manual picking mode.
Drawings
FIG. 1 is a front view of a pineapple picking mechanism of the present invention;
FIG. 2 is a three-dimensional perspective view of a pineapple picking mechanism of the present invention;
FIG. 3 is a schematic view of a turning mechanism of the pineapple picking mechanism of the present invention;
FIG. 4 is a schematic structural diagram of a height adjusting unit and a picking unit in the pineapple picking mechanism according to the present invention;
FIG. 5 is a schematic view of a power transmission mechanism of the pineapple picking mechanism of the present invention;
wherein: i, a frame body, 23, a chassis, 18, a frame type frame, 24, a support beam I, 10, a support beam II, 13, a support beam III, 26, a traveling wheel, 22, a steering wheel, 33, a bearing plate, 32, a circular clamping groove, II, a picking mechanism, 5, a picking cutter, 29, a rotating shaft, 31, a cantilever, 12, a long shaft, 17, a sliding seat, 16, a fastening nut, 48, a sleeve clamping seat, 9, a crank II, 47, a crank I, 49, a crank shaft, 45, a telescopic rod, 44, a sliding block, 43, a ratchet wheel, 46, a crank III, a steering mechanism, 41, a steering shaft, 39, a bearing, 21, a spring, 20, a control rod, 37, a movable bolt, 38, a connecting rod I, 35, a connecting rod II, 36, a movable bolt I, 34, a fixed shaft, an IV transmission mechanism, 25, a motor, 50, a belt wheel I, 52, a belt wheel II, 54, a belt wheel, 59, a belt, 51. v-belts I, 60, V-belts VI, 55, V-belts VII, 53, V-belts VIII, 57, chain wheel sets I, 6, chain wheel sets II, 58, chains 61, synchronous gears II, 66, synchronous gears I, 65, wheel shafts 63, through shafts I, 42, through shafts III, 62, through shafts IV, V collecting and conveying mechanisms 8, fruit receiving plates 67, rectangular plates 14, collecting barrels 11 and toothed belts,
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1 and 2, the pineapple picking mechanism of the present invention comprises a frame body, and a picking and collecting mechanism and a steering mechanism arranged on the frame body, wherein the picking and collecting mechanism comprises:
the picking mechanism is arranged at the front part of the frame body and comprises a group of picking units and a group of height adjusting units, each picking unit comprises a cantilever 31 and picking cutters 5, one end of each picking unit is connected with the frame body, the other end of each picking unit is connected with a rotating shaft 29 perpendicular to the advancing direction of the frame body, the picking cutters 5 are arranged on the rotating shaft 29 in a bilateral symmetry mode, and the cantilever 31 of each picking unit is hinged with the height adjusting unit and is fixedly connected with the frame body through the height adjusting unit;
the conveying and collecting mechanism is arranged at the front part of the frame body and is positioned behind the picking cutters 5;
and the power transmission mechanisms 4 are symmetrically arranged on two sides of the frame body, and the power transmission mechanisms drive the rotating shaft 29 in the picking mechanism to rotate and drive the travelling wheels 26 on the frame body to rotate.
The frame body includes:
frame and chassis 23;
the support beam I24, the support beam II 10 and the support beam III 13 are arranged on two side faces of the frame type frame;
the cross beams 30 are arranged on two side surfaces of the frame type frame;
a circular clamping groove 32 arranged on the vehicle chassis 23;
and the bearing plates 33 are arranged on two sides of one end of the chassis 23.
Picking tool 5 is arranged on rotation axis 29 specifically: the multiple groups of picking cutters 5 are uniformly arranged along the length direction of the rotating shaft 29, each group of picking cutters 5 comprises multiple pairs of picking cutters 5 uniformly distributed on the circumference, each pair of picking cutters 5 is designed in a V shape, any pair of picking cutters has a V-shaped included angle of at least 30 degrees, and the picking cutters 5 on two sides of the V-shaped included angle are provided with cutting edges which are at least 15 degrees and are based on the compressed edges of the cutters 5.
The picking cutter 5 is detachable, so that the phenomenon that pineapple stalks cannot be picked due to overlarge ridge distance for pineapple planting is reduced to the maximum extent. In particular, one or two picking tools 5 can be added to the rotating shaft 29 when the ridge distance exceeds the standard planting ridge distance value. When picking, the pineapple stalks sink into the inner side of the V-shaped included angle of the cutting edge of the picking cutter 5 under the action of the forward movement of the whole machine, and the vertical cutting force and the upward pulling force are applied to the pineapple stalks by the mechanical energy provided by the motor, so that the mechanical picking of pineapples is realized.
Referring to fig. 3, the steering mechanism includes:
a fixed shaft 34 which is arranged inside two sides of one end of the frame body and is vertical to the chassis 23;
the steering shaft 40 is arranged on two sides of one end of the frame body, the steering shaft 40 is provided with a steering disc 41 fixedly connected with the steering shaft 40, one end of the steering shaft 40 is connected with the fixed shaft 34, and the other end of the steering shaft is provided with a bearing 39 connected with the steering wheel 22. The steering disc 41 is connected with one end of the spring 21, and the other end of the spring 21 is connected with the bearing plate 33 and is vertical to the chassis 23;
the connecting rod I38 is arranged on the steering disc 41, and two ends of the connecting rod I38 are respectively hinged with the steering disc 41 and the connecting rod II 35 through movable bolts 37;
the operating rod 20 is arranged on the frame body, the bottom end of the operating rod 20 is hinged with the frame body through a movable bolt I36, and the part close to the bottom end is fixedly connected with a connecting rod II 35 through a pin.
Referring to fig. 4, the height adjusting unit includes:
the sliding seat 17 is fixedly connected with a support beam I24 on the frame body, and the connecting line of the sliding seat 17 and the advancing direction of the frame body are parallel;
a long shaft 12 matched with the sliding seat 17, wherein one end of the long shaft 12 is provided with a handle 19 fixedly connected with the long shaft, the other end of the long shaft 12 is provided with a sleeve clamping seat 48, the sleeve clamping seat 48 is hinged with one end of a crank I47, the long shaft 12 is hinged with one end of a crank II 9, the other end of the crank II 9 is hinged with a cantilever 31, and the other end of the crank I47 is hinged with a crank III 46;
the sleeve clamping seat 48 is coaxially matched with the long shaft 12, and the sleeve clamping seat 48 is provided with a sawtooth-shaped clamping groove;
the crankshaft 49 is coaxially connected with one end of the crank III 46, and the middle position of the crankshaft 49 is provided with a telescopic rod 45 fixedly connected with the crankshaft 49;
a sliding block 44 with one end hinged with the telescopic rod 45, wherein the lower end of the sliding block 44 is provided with a pawl structure;
a through shaft III 42 fixed on the frame body;
a ratchet wheel 43 fixedly connected with the through shaft III 42; the ratchet wheel 43 is held in contact with the pawl structure of the slider 44;
and slide block complex slide rail 28, slide rail 28 and vehicle bottom dish 23 fixed connection and slide rail 28 both sides seted up with lead to the round hole of the same size of axle III 42 diameter, lead to axle III 42 with round hole on the slide rail 28 and ratchet 43 axle center collineation, ratchet 43 sets up inside slide rail 28.
The long shaft 12 is arranged close to one end hinged with the crank II 9 in a segmented mode; a round column head capable of being embedded into the sawtooth-shaped clamping groove of the sleeve clamping seat 48 is arranged on the long shaft 12; the connecting part of the cantilever 31 and the through shaft III 42 adopts a ratchet-pawl structure.
When the picking unit is at a certain specific height position, the round column head on the long shaft 12 at one end with the handle 19 is positioned in the corresponding tooth-shaped clamping groove on the sleeve clamping seat, and at the moment, the long shaft 12 and the crank I47 have the same fixed connection function; the other end of the long shaft 12 is hinged with the cantilever 31 through the crank II 9, so that the cantilever 31 enables the long shaft 12 to generate a sliding trend which is the same as the advancing direction of the whole machine under the action of the gravity of the picking unit, and further enables the crank III 46 to generate a torque in the clockwise direction; because the cantilever 31 and the connecting part of the through shaft III 42 adopt a ratchet-pawl structure, the cantilever 31 can drive the through shaft III 42 to rotate clockwise, the cantilever 31 enables the ratchet 43 to generate a clockwise rotation trend through the through shaft III 42 under the action of gravity, so that the slide block has an upward movement trend, and then the crankshaft 49 generates a torque opposite to that of the crank III 46 under the action of the telescopic rod 45, thereby forming a self-locking effect and enabling the picking unit to be highly stable.
Referring to fig. 5, the power transmission mechanisms symmetrically arranged on two sides of the frame body comprise:
the through shaft I63 is arranged at the upper ends of the support beams I24 at the two sides of the frame body, and the bearing is embedded in the support beams I24 and matched with the shaft 63);
the through shaft II is arranged in the middle of the supporting beam III 13 on the two sides of the frame body, and the bearing embedded in the supporting beam III 13 is matched with the through shaft II;
the through shafts III 42 are arranged at the lower ends of the support beams III 13 at the two sides of the frame body, and the bearings which are embedded in the support beams III 13 and matched with the through shafts III 42;
the through shafts IV 62 are arranged at the lower ends of the support beams II 10 at the two sides of the frame body, and the bearings are embedded in the support beams II 10 and matched with the through shafts IV 62;
an electric motor 25 fixed to the chassis 23;
the belt transmission unit is connected with the output end of the motor 25 and comprises a belt wheel I50, a belt wheel II 52, a belt wheel III 54, a belt wheel IV 59, a belt wheel V64, a belt wheel VI, a belt wheel VII, a belt wheel VIII, a belt V I51, a belt V60, a belt V VII 55 and a belt V53 which are uniformly distributed along the axial direction of a through shaft IV 62, wherein the belt wheel I50 is connected with the belt wheel II 52 for transmission through the belt V51, the belt wheel II 52, the belt wheel VI, the belt wheel VII and the belt wheel VIII are fixedly connected with the through shaft IV 62 through keys, the belt wheel VI is connected with the belt wheel IV 59 for transmission through the belt V60, the belt wheel VII is connected with the belt wheel 64 for transmission through the belt V VII 55, and the belt wheel VIII is connected with the belt wheel III 54 for transmission through the belt V53;
the synchronous gear I66 is coaxially arranged with the belt wheel IV 59, the synchronous gear I66 and the belt wheel IV 59 are fixedly connected with the through shaft II through keys, and the synchronous gear I66 transmits power to the synchronous gear II 61 through the toothed belt 11;
the chain wheel set I57 is coaxially arranged with the belt wheel V64, bearings are arranged inside the chain wheel set I57 and the belt wheel V64, the outer ring of each bearing is fixedly connected with the chain wheel set I57 and the belt wheel V64, the inner ring of each bearing is fixedly connected with the through shaft III 42, and the chain wheel set I57 consists of three chain wheels which are uniformly distributed along the axial direction of the through shaft III 42 and have gradually reduced diameters from outside to inside;
the chain wheel set II 6 is connected with the chain wheel set I57 through a chain 58 for transmission, the chain wheel set II 6 consists of three chain wheels with gradually reduced diameters, the three chain wheels are uniformly distributed from inside to outside along the axial direction of the rotating shaft 29, the chain wheel set II 6 is fixedly connected with the rotating shaft 29 through a key, two chain wheels in the chain wheel set I57 and the chain wheel set II 6 are in complementary correspondence, and any one same side face of the two chain wheels is positioned on the same vertical plane;
with reference to figures 1 and 2, the delivery and collection mechanism comprises:
a rectangular plate 67 arranged on the frame body, wherein one end of the rectangular plate 67 is fixedly connected with the support beam III 13 through a fastening bolt 16;
the fruit receiving plate 8 is arranged on the rectangular plate 67, and the shape of the fruit receiving plate 8 is in a trapezoid shape and is arranged in an upward inclined mode close to one end of the picking cutter 5; the fruit receiving plate 8 and the rectangular plate 67 are fixedly connected with each other at a certain included angle;
the toothed belt 11 is arranged below one end of the fruit receiving plate 8, and the toothed belt 11 is tightly meshed with the synchronous gear II 61;
the collecting barrel 14 is arranged below the other end of the toothed belt 11, and the bottom end of the collecting barrel 14 is arranged in a circular clamping groove 32 on the chassis 23.
When the height of the picking cutter 5 needs to be adjusted downwards, the handle 19 is rotated to enable one end of the long shaft 12 with the handle to rotate relative to the other end, the circular column head arranged on the long shaft 12 is separated from the tooth-shaped clamping groove, the sleeve clamping seat 48 is separated from the long shaft 12, the sleeve clamping seat 48 slides relative to the long shaft 12 to push the long shaft 12 to move forwards, at the moment, the ratchet 43 overcomes the gravity of the sliding block 44 acting on the ratchet 43, the cantilever 31 moves downwards under the action of the thrust transmitted by the crank II 9 and the self gravity, and when the required position is adjusted, the long shaft 12 is rotated in the opposite direction to enable the circular column head arranged on the long shaft 12 to be embedded into the corresponding tooth-shaped clamping groove on the sleeve clamping seat 48, so that the height of the picking unit is stable, and.
When the height of the picking cutter 5 needs to be adjusted upwards, one end of a long shaft 12 with a handle 19 is rotated, so that a circular column head arranged on the long shaft 12 is separated from a tooth-shaped clamping groove, a sleeve clamping seat 48 is separated from the long shaft 12, meanwhile, the long shaft 12 is pulled backwards, due to the fact that a ratchet and pawl structure exists at the connecting part of a cantilever 31 and a through shaft III 42, the cantilever 31 rotates anticlockwise relative to a static through shaft III 42 under the action of pulling force transmitted through a crank II 9, when the required height is adjusted, the long shaft 12 is rotated in the opposite direction, so that the circular column head on the long shaft 12 is embedded into the corresponding tooth-shaped clamping groove in the sleeve clamping seat 48, the height of the picking unit.
During the movement of the frame body, when the operating lever 20 is operated to rotate leftwards or rightwards, the force acting on the operating lever 20 is transmitted to the steering disc 41 through the connecting rod 35 and the connecting rod 38 in sequence, the steering disc 41 is fixedly connected with the steering shaft 40, the steering shaft 40 rotates around the fixed shaft 34 correspondingly under the action of the steering disc 41, so that the steering wheel 22 obtains the same steering direction as the operating lever 20, and the frame body obtains the advancing direction opposite to the operating lever 20, thereby realizing the steering adjustment of the frame body.
When picking is needed, the picking cutter 5 can obtain three groups of different rotating speeds through the combination of the chain wheels with different sizes in the chain wheel group I57 and the chain wheel group II 6 so as to meet different requirements of picking pineapples; when the pineapples fall into the fruit receiving plate 8 after being picked, the pineapples slide into the toothed belt 11 arranged below one end of the fruit receiving plate 8 under the action of gravity, and the pineapples are conveyed into the collecting barrel 14 through friction force generated by the toothed belt 11 and the pineapples, so that the purpose of collection is achieved.
Claims (7)
1. The utility model provides a pineapple picking mechanism which characterized in that, includes the frame body and picks collection mechanism and steering mechanism of setting on the frame body, picks collection mechanism and includes:
the picking mechanism is arranged at the front part of the frame body and comprises a group of picking units and a group of height adjusting units, each picking unit comprises a cantilever (31) and picking cutters (5), one end of each cantilever is connected with the frame body, the other end of each cantilever is connected with a rotating shaft (29) perpendicular to the advancing direction of the frame body, the picking cutters (5) are arranged on the rotating shaft (29) in a bilateral symmetry mode, and the cantilever (31) of each picking unit is hinged with the height adjusting unit and is connected with the frame body through the height adjusting unit;
the conveying and collecting mechanism is arranged at the front part of the frame body and is positioned behind the picking cutters (5);
the power transmission mechanisms are symmetrically arranged on two sides of the frame body, and the power transmission mechanisms drive a rotating shaft (29) in the picking mechanism to rotate and drive travelling wheels (26) on the frame body to rotate;
the steering mechanism includes:
a fixed shaft (34) which is arranged inside two sides of one end of the frame body and is vertical to the chassis (23);
the steering shaft (40) is arranged on two sides of one end of the frame body, the steering shaft (40) is provided with a steering disc (41) fixedly connected with the steering shaft, one end of the steering shaft (40) is connected with the fixed shaft (34), and the other end of the steering shaft is provided with a bearing (39) connected with a steering wheel (22); the steering disc (41) is connected with one end of the spring (21), and the other end of the spring (21) is connected with the bearing plate (33) and is vertical to the chassis (23);
the connecting rod I (38) is arranged on the steering disc (41), and two ends of the connecting rod I (38) are respectively hinged with the steering disc (41) and the connecting rod II (35) through movable bolts (37);
the operating rod (20) is arranged on the frame body, the bottom end of the operating rod (20) is hinged to the frame body through a movable bolt I (36), and the part close to the bottom end is fixedly connected with a connecting rod II (35) through a pin.
2. The pineapple picking mechanism of claim 1, said carriage body comprising:
frame and chassis (23);
the supporting beam I (24), the supporting beam II (10) and the supporting beam III (13) are arranged on two side faces of the frame type frame;
the cross beams (30) are arranged on two side surfaces of the frame type frame;
road wheels (26) arranged at two sides of one end of the frame type frame;
steering wheels (22) arranged on two sides of the other end of the frame type frame;
a round clamping groove (32) arranged on the vehicle chassis (23);
and the bearing plates (33) are arranged on two sides of one end of the chassis (23).
3. A pineapple picking mechanism according to claim 1, wherein the picking knives (5) are arranged on the rotating shaft (29) in particular: the multi-group picking cutters (5) are evenly arranged along the length direction of the rotating shaft (29), each group of picking cutters (5) comprises a plurality of pairs of picking cutters (5) which are uniformly distributed on the circumference, each pair of picking cutters (5) is designed in a V-shaped mode, the V-shaped included angle of any pair of picking cutters (5) is at least 30 degrees, and the V-shaped included angle two-side picking cutters (5) are provided with blades which are at least 15 degrees and are based on the compression edge of the cutters (5).
4. A pineapple picking mechanism according to claim 1, said height adjustment unit including:
the sliding seat (17) is fixedly connected with a support beam I (24) on the frame body, and the connecting line of the sliding seat (17) and the frame body is parallel to the advancing direction;
the long shaft (12) is matched with the sliding seat (17), one end of the long shaft (12) is provided with a handle (19) fixedly connected with the long shaft, the other end of the long shaft (12) is provided with a sleeve clamping seat (48), the sleeve clamping seat (48) is hinged with one end of a crank I (47), the long shaft (12) is hinged with one end of a crank II (9), the other end of the crank II (9) is hinged with a cantilever (31), and the other end of the crank I (47) is hinged with a crank III (46); the sleeve clamping seat (48) is coaxially matched with the long shaft (12), and the sleeve clamping seat (48) is provided with a sawtooth-shaped clamping groove;
the crankshaft (49) is coaxially connected with one end of the crank III (46), and a telescopic rod (45) fixedly connected with the crankshaft (49) is arranged in the middle of the crankshaft (49);
a sliding block (44) with one end hinged with the telescopic rod (45), wherein the lower end of the sliding block (44) is provided with a pawl structure; a through shaft III (42) fixed on the frame body;
a ratchet wheel (43) fixedly connected with the through shaft III (42);
the ratchet wheel (43) is kept in contact with the pawl structure of the slide block (44);
slide rail (28) and vehicle chassis (23) fixed connection and slide rail (28) both sides with slider complex seted up with lead to the round hole of the same size of axle III (42) diameter, lead to axle III (42) with round hole on slide rail (28) and ratchet (43) axle center collineation, ratchet (43) set up inside slide rail (28).
5. The pineapple picking mechanism according to claim 4, wherein the long shaft (12) is arranged in a segmented manner near the end hinged with the crank II (9);
a round column head which can be embedded into the sawtooth-shaped clamping groove of the sleeve clamping seat (48) is arranged on the long shaft (12);
the connecting part of the cantilever (31) and the through shaft III (42) adopts a ratchet wheel and pawl structure.
6. The pineapple picking mechanism according to claim 1, wherein the power transmission mechanisms symmetrically arranged on two sides of the frame body comprise:
the bicycle frame comprises a through shaft I (63) arranged at the upper ends of support beams I (24) on two sides of a bicycle frame body and a bearing embedded in the support beams I (24) and matched with the through shaft I (63);
the through shaft II is arranged in the middle of the support beam III (13) on the two sides of the frame body, and the bearing embedded in the support beam III (13) is matched with the through shaft II;
the through shafts III (42) are arranged at the lower ends of the support beams III (13) at the two sides of the frame body, and the bearings are embedded in the support beams III (13) and matched with the through shafts III (42);
the bearing is characterized by comprising through shafts IV (62) arranged at the lower ends of support beams II (10) on the two sides of the frame body and bearings embedded in the support beams II (10) and matched with the through shafts IV (62);
a motor (25) fixed on the chassis (23);
the output end of the motor (25) is connected with a belt transmission unit, the belt transmission unit comprises a belt wheel I (50), a belt wheel II (52), a belt wheel III (54), a belt wheel IV (59), a belt wheel V (64), a belt wheel VI, a belt wheel VII, a belt wheel VIII, a V belt I (51), a V belt VI (60), a V belt VII (55) and a V belt VIII (53) which are uniformly distributed along the axial direction of a through shaft IV (62), the belt wheel I (50) is connected with the belt wheel II (52) through a V-shaped belt I (51) for transmission, the belt wheel II (52), the belt wheel VI, the belt wheel VII and the belt wheel VIII are fixedly connected with a through shaft IV (62) through keys, the belt wheel VI is connected with a belt wheel IV (59) through a V belt VI (60) for transmission, the belt wheel VII is connected with a belt wheel V (64) through a V belt VII (55) for transmission, the belt wheel VIII is connected with a belt wheel III (54) through a V belt VIII (53) for transmission;
the synchronous gear I (66) is coaxially arranged with the belt wheel IV (59), the synchronous gear I (66) and the belt wheel IV (59) are fixedly connected with the through shaft II through keys, and the synchronous gear I (66) transmits power to the synchronous gear II (61) through a toothed belt (11);
the chain wheel set I (57) and the belt wheel V (64) are coaxially arranged, a bearing (39) is arranged inside the chain wheel set I (57) and the belt wheel V (64), the outer ring of the bearing (39) is fixedly connected with the chain wheel set I (57) and the belt wheel V (64), the inner ring of the bearing (39) is fixedly connected with the through shaft III (42), and the chain wheel set I (57) is composed of three chain wheels which are uniformly distributed along the axial direction of the through shaft III (42) and have gradually reduced diameters from outside to inside;
and sprocket group I (57) connects driven sprocket group II (6) through chain (58), sprocket group II (6) comprise along rotation axis (29) axial from inside to outside evenly distributed's three diameter size degressive sprocket, sprocket group II (6) pass through key and rotation axis (29) fixed connection, sprocket group I (57) with arbitrary a pair of with the side tooth terminal surface is located the complementary correspondence of big pinion on the same plumb plane in sprocket group II (6).
7. A pineapple picking mechanism according to claim 1, said conveying and collecting mechanism including:
the rectangular plate (67) is arranged on the frame body, and one end of the rectangular plate (67) is fixedly connected with the support beam III (13) through a fastening bolt (16);
the fruit receiving plate (8) is arranged on the rectangular plate (67), the shape of the fruit receiving plate (8) is trapezoidal, and one end of the fruit receiving plate (8) close to the picking cutter (5) is arranged in an upward inclined mode;
the fruit receiving plate (8) is fixedly connected with the rectangular plate (67) at an angle of 30-60 degrees;
the toothed belt (11) is arranged below one end of the fruit receiving plate (8), and the toothed belt (11) is tightly meshed with the synchronous gear II (61);
the collecting barrel (14) is arranged below the other end of the toothed belt (11), and the bottom end of the collecting barrel (14) is arranged in a circular clamping groove (32) in the chassis (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103765.6A CN108184413B (en) | 2018-02-01 | 2018-02-01 | Pineapple picking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103765.6A CN108184413B (en) | 2018-02-01 | 2018-02-01 | Pineapple picking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108184413A CN108184413A (en) | 2018-06-22 |
| CN108184413B true CN108184413B (en) | 2021-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810103765.6A Active CN108184413B (en) | 2018-02-01 | 2018-02-01 | Pineapple picking mechanism |
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| Country | Link |
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| CN (1) | CN108184413B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041772B (en) * | 2018-06-26 | 2023-12-01 | 浙江理工大学 | Auxiliary picking device for cart type parallel pineapple |
| CN108966817B (en) * | 2018-07-09 | 2021-05-14 | 沈阳工业大学 | Crossing type pineapple picking vehicle |
| CN109041773B (en) * | 2018-07-23 | 2020-12-22 | 河海大学常州校区 | Chain transmission type pineapple harvester |
| CN114159241B (en) * | 2021-12-10 | 2023-06-30 | 北华大学 | Position-adjustable walking-assisting wheel chair |
| CN116210445B (en) * | 2023-04-23 | 2024-04-12 | 广东海洋大学 | Pineapple picking robot and picking method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2169521A (en) * | 1938-05-13 | 1939-08-15 | Alfred Y Chong | Pineapple gathering machine |
| US2576991A (en) * | 1946-03-22 | 1951-12-04 | Maui Pineapple Company Ltd | Apparatus for harvesting pineapples |
| CN101585333B (en) * | 2009-06-05 | 2011-07-20 | 中国农业大学 | Pineapple harvesting and conveying device |
| CN103518483A (en) * | 2013-10-18 | 2014-01-22 | 湖北金福来农机有限公司 | Pineapple leaf harvester |
| CN106416621B (en) * | 2016-09-29 | 2018-09-18 | 南京信息职业技术学院 | Automatic collection vehicle for the picking of tropical pineapple green |
| CN107318363B (en) * | 2017-06-15 | 2020-09-29 | 东南大学 | Pineapple harvester |
-
2018
- 2018-02-01 CN CN201810103765.6A patent/CN108184413B/en active Active
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