CN108513807B - Annular double-cutter semi-automatic cherry picking machine - Google Patents
Annular double-cutter semi-automatic cherry picking machine Download PDFInfo
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- CN108513807B CN108513807B CN201810644701.7A CN201810644701A CN108513807B CN 108513807 B CN108513807 B CN 108513807B CN 201810644701 A CN201810644701 A CN 201810644701A CN 108513807 B CN108513807 B CN 108513807B
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- 241000167854 Bourreria succulenta Species 0.000 title claims abstract description 32
- 235000019693 cherries Nutrition 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 219
- 230000003068 static effect Effects 0.000 claims abstract description 37
- 229910000831 Steel Inorganic materials 0.000 claims description 24
- 239000010959 steel Substances 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 abstract description 2
- 235000013399 edible fruits Nutrition 0.000 description 21
- 230000005540 biological transmission Effects 0.000 description 11
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 10
- 235000017491 Bambusa tulda Nutrition 0.000 description 10
- 241001330002 Bambuseae Species 0.000 description 10
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 10
- 230000009471 action Effects 0.000 description 10
- 239000011425 bamboo Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 125000004122 cyclic group Chemical group 0.000 description 7
- 230000003044 adaptive effect Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 125000000962 organic group Chemical group 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- A01D46/253—Portable motorised fruit pickers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Abstract
The invention discloses an annular double-cutter semiautomatic cherry picking machine, wherein a lifting supporting mechanism is arranged on a trolley with a movable platform, a semiautomatic fine adjustment positioning mechanism comprises a parallelogram mechanism and a vertically arranged gear mechanism, one end of the parallelogram mechanism is connected with the lifting supporting mechanism, the other end of the parallelogram mechanism is connected with a circular frame base through the gear mechanism, the annular double-cutter mechanism is arranged on the circular frame base and is connected with a crank slider mechanism, the annular double-cutter mechanism comprises two movable blades and two static blades which are arranged in mirror symmetry, the movable blades are driven to rotate around the axes of the movable blades by the crank slider mechanism for picking after being positioned and adjusted by the semiautomatic fine adjustment positioning mechanism, a collecting hose is arranged at the lower part of the annular double-cutter mechanism, and the other end of the collecting hose is connected with a collecting device for collecting. The picking machine has the advantages of simple structure, accurate picking and positioning, high automation degree, effective reduction of labor intensity, improvement of labor efficiency and suitability for popularization.
Description
Technical Field
The invention belongs to the technical field of mechanical design, and particularly relates to an annular double-cutter semi-automatic cherry picking machine.
Background
Along with the mechanized popularization of intelligent agriculture, the fruits such as cherries are picked manually in an auxiliary manner after being ripe at present so as to improve the picking efficiency, labor intensity, quality of finished products of fruits and the like; aiming at the aim, the annular double-cutter semi-automatic cherry picking machine is provided. The cherry picking machine couples the flexible double-clamping mechanism and the annular double-cutter, utilizes the main lifting device and the semi-automatic fine adjustment positioning mechanism to realize self-adaptive positioning of the double-cutter, and can continuously and scientifically pick cherries with different heights and different directions on the premise of ensuring the cherry picking quality, thereby meeting the actual demands of fruit growers in the current stage.
At present, the existing auxiliary labor requires a picker to climb the fruit tree through tools such as ladders and the like to pick, so that the labor intensity of the picker is high, the labor efficiency is low, and potential safety hazards exist in the picking process; secondly, the existing auxiliary manual picking machine mainly comprises picking comb type, vibration knocking type, air suction type and clamping type methods, and efficient and scientific picking is difficult to achieve.
The existing picking device has the advantages of single structure, low automation degree and higher labor intensity requirement on fruit farmers. Secondly, the existing picking device is used for picking in a contact mode, a cutter is inevitably rubbed against fruits in the picking process, in addition, the existing branch clamping tool on the market mainly adopts a rigid clamping structure similar to three grippers, the existing branch clamping tool is characterized in that the existing branch clamping tool can scratch fruit trees in the process of positioning the branches, and the adaptability of the existing branch clamping tool to branches in different shapes and directions is drastically reduced due to the rigid structure of the existing branch clamping tool. For effectively and scientifically carrying out soft fixation on branches, the flexible double-clamping mechanism is designed for the purpose.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the annular double-cutter semi-automatic cherry picking machine, which aims to solve the problems of high labor intensity, low efficiency, low fruit quality and the like in the existing cherry picking process.
The invention adopts the following technical scheme:
the utility model provides a semi-automatic cherry picking machine of cyclic annular double knives, a serial communication port, including lifting support mechanism, semi-automatic fine setting positioning mechanism, flexible double fixture, cyclic annular double knives mechanism and collection device, lifting support mechanism sets up on movable platform dolly, semi-automatic fine setting positioning mechanism includes parallelogram mechanism, vertical gear mechanism and hand wheel mechanism that sets up, hand wheel mechanism passes through wire rope and is connected with parallelogram mechanism and gear mechanism respectively, flexible double fixture includes circular frame base and crank slider mechanism, parallelogram mechanism's one end is connected with lifting support mechanism, the other end passes through gear mechanism and is connected with circular frame base, cyclic annular double knives mechanism sets up on circular frame base, be connected with crank slider mechanism, cyclic annular double knives mechanism includes two moving blade and two quiet blades of mirror symmetry setting, drive by crank slider mechanism and move the blade and rotate around its axle center and pick after the positioning adjustment through semi-automatic fine setting positioning mechanism, cyclic annular double knives mechanism's lower part is provided with the collection hose of tubaeform opening, the other end and the collection device connection of collection hose collect.
Specifically, lifting support mechanism includes second motor, wire rope, first pulley, first section flexible arm section of thick bamboo and the flexible arm section of thick bamboo of second, portable platform dolly includes the antiskid wheel, supporting platform and flexible cylinder, first section flexible arm section of thick bamboo sets up on supporting platform, be provided with overspeed device tensioner on the lower part inner wall of first section flexible arm section of thick bamboo, flexible arm section of thick bamboo suit of second is in first section of flexible arm section of thick bamboo, a plurality of first pulleys establish ties and set up constitute the assembly pulley in first section of flexible arm section of thick bamboo, wire rope's one end sets up on the inner wall radial line of flexible arm section of second, the other end sets up on the inner wall radial line of flexible arm section of thick bamboo of first section after assembly pulley, second motor and assembly pulley in proper order, be used for realizing the two-way expansion of flexible arm section of thick bamboo of first section and flexible arm section of second section of thick bamboo, the antiskid wheel sets up in supporting platform's lower part one side, flexible cylinder corresponds the setting at the opposite side.
The gear mechanism comprises a first gear, a second gear, a pulley I and an upper inclined base, wherein the parallelogram mechanism comprises an upper frame, a lower frame, four first connecting rods, rope hooks, two second pulleys and a third pulley, the four first connecting rods form a parallelogram structure, one ends of the four first connecting rods are respectively connected with the lifting support mechanism through the lower frame, the other ends of the four first connecting rods are respectively connected with the gear mechanism through the upper frame, the two second pulleys are symmetrically arranged on the lower frame and are respectively connected with one first connecting rod, the first gear is arranged on the upper frame and is connected with the pulley I through a key, the second gear is of an arc-shaped structure and is arranged on the upper portion of the first gear and is connected with the first gear in a meshed mode, the upper inclined base is arranged on the upper portion of the second gear and is connected with a circular frame base of the flexible double-clamping mechanism, the third pulley and the rope hooks are correspondingly arranged on the upper frame and are respectively connected with one first connecting rod, and the hand wheel mechanism is respectively arranged on the lifting support mechanism and is respectively connected with the pulley I, the third pulley and the two second pulleys and the rope hooks.
Further, the hand wheel mechanism comprises a fourth pulley, a fifth pulley and a hand crank, wherein the fourth pulley and the fifth pulley are vertically arranged on a first section of telescopic arm upper platform of the lifting supporting mechanism, the fourth pulley is connected with a first section of telescopic arm of the lifting supporting mechanism through a fixing mechanism and connected with a pulley I through a steel wire rope for controlling the gear mechanism, the fifth pulley is connected with two second pulleys, the third pulley and a rope hook through the steel wire rope for controlling the movement of the parallelogram structure, and the hand crank is respectively and movably connected with the fourth pulley and the fifth pulley.
The device comprises a circular frame base, a semicircular frame group and a third motor, wherein the semicircular frame group is hinged with the circular frame base, the semicircular frame group comprises a first circular frame and a second circular frame which are hinged through bolt groups, a clamping base is arranged on the upper portion of the first circular frame, a first self-adaptive spring is arranged on the lower portion of the clamping base, the first self-adaptive spring and the semicircular frame group form a self-adaptive adjusting device, and the third motor is connected with a movable blade through a crank slider mechanism.
Further, the crank slide block mechanism comprises a driving connecting rod, a first linear bearing slide block, a second linear bearing slide block and a telescopic supporting shaft, one end of the driving connecting rod is connected with the third motor, the other end of the driving connecting rod is connected with the second linear bearing slide block through the first linear bearing slide block, the telescopic supporting shaft penetrates through the second linear bearing slide block to be horizontally arranged, one end of the telescopic supporting shaft is hinged with the clamping base, and the other end of the telescopic supporting shaft is hinged with the semicircular frame group.
Further, a band-pass column for penetrating the clamping stay wire is arranged on the movable clamping, a chute for sliding the through-hole column is arranged on the static clamping, the lower ends of the static clamping and the movable clamping are connected through rubber bands, one end of the clamping stay wire is connected with a short rod connected with the movable clamping, the short rod slides in the chute of the static clamping, and the other end of the clamping stay wire is connected with the pulley I through the pulley II for realizing automatic closing of the movable clamping.
Further, a lower ball twisting seat and an upper ball twisting seat are arranged on the second linear bearing sliding block, and a second self-adaptive spring and a steel ball with a column are arranged between the lower ball twisting seat and the upper ball twisting seat.
The annular double-cutter mechanism comprises a left movable blade, a right movable blade, a first motor, a third gear, a fourth gear, a second connecting rod, a third connecting rod and a cutter rest base, wherein the left movable blade and the right movable blade are arranged on two sides of the cutter rest base, the inner surfaces of the left movable blade and the right movable blade are respectively attached to the outer surfaces of the left movable blade and the right movable blade, the left movable blade and the right movable blade are respectively connected with two fourth gears arranged on the front end surface of the cutter rest base through the second connecting rod and the third connecting rod, the two fourth gears are in meshed connection with the third gear, and the first motor is connected with the third gear.
Further, the upper ends of the left static blade and the right static blade are respectively connected with a locating pin, and the locating pins, the left static blade and the right static blade are respectively provided with pressure springs for flexible connection on vertical rods.
Compared with the prior art, the invention has at least the following beneficial effects:
according to the annular double-cutter semiautomatic cherry picking machine, the motion trail of the annular double-cutter mechanism is determined by fitting the tree branch shape by utilizing the height-adjustable double-clamping mechanism, the self-adaptive positioning of the double cutters is realized by utilizing the lifting supporting mechanism and the semiautomatic fine-tuning positioning mechanism by being coupled with the annular double-cutter mechanism, and the continuous and scientific picking of cherries in different heights and directions is realized on the premise of ensuring the cherry picking quality, the vertical gear mechanism converts high-speed small torque output by the motor into low-speed large torque, and the annular double-cutter picking machine has the advantages of high transmission efficiency, compact structure, reliable work, long service life, accurate transmission ratio and the like based on gear transmission, so that the flexible double-clamping mechanism and the annular double-cutter mechanism can be regulated in a swinging manner stably and accurately.
Further, one end of the steel wire rope is driven by a pulley combination through a motor, so that the first section of telescopic arm cylinder and the second section of telescopic arm cylinder are unfolded bidirectionally, a large-amplitude and rapid lifting machine under a certain telescopic installation is met, the steel wire rope does not slip in the transmission process through the tensioning device, the picking machine can be moved or stopped by the pulley and the supporting cylinder, and the whole machine can be conveniently and stably dragged in an orchard.
Further, the crank drives the rope hook of the parallelogram mechanism to drive the height fine adjustment of the upper structure of the small arm through controlling the fifth pulley, and the parallelogram mechanism translates in a small range, meanwhile, as the upper structure is slightly eccentric, tension springs are arranged on two sides of the parallelogram, so that the stability and safety of the movement of the upper structure are ensured, and efficient and safe picking is realized.
Furthermore, tension springs are arranged on two sides of the parallelogram to ensure the stability and safety of the movement of the upper structure. Therefore, efficient and safe picking is realized, and the three uniformly distributed third self-adaptive springs enable the flexible double-clamping mechanism and the annular cutter mechanism to integrally rotate, and simultaneously, the centering of the branches and the clamping can be improved, so that the branches are ensured to be completely wrapped by all static cutters.
Further, set up the semicircle type frame group of flexible double-clamping mechanism into mirror symmetry's first circular frame, second circular frame and carry out organic group with the assembly part that realizes the self-adaptation function with other, this compact structure, pleasing to the eye and compare in other similar parts more have the practicality, make flexible double-clamping positioning accuracy high, guarantee that flexible double-clamping mechanism and cyclic annular double-cutter mechanism can adapt to different branch environment.
Furthermore, the linear feed motion transmission efficiency is high by adopting the crank sliding block mechanism, the relative heights of the two ends can be adjusted, the telescopic support shaft is combined with the self-adaptive adjusting device to carry out self-adaptation on the relative positions of the double clamping on one hand, conditions are provided for the feeding action of the cutter, the cutter is kept synchronous with the double clamping control, and the rigidity of the clamping pull wire in the action process of the first pulley can be buffered on the other hand, so that the reliability of the machine is improved.
Further, the clamping stay wire provides guidance for the annular double-cutter feeding motion, so that picking efficiency is improved, the double clamping is kept in a normally open state by the rubber band, the clamping stay wire is rotated by the first pulley, so that the clamping stay wire is pulled to enable the movable clamping to be closed, automatic control of clamping branches is realized, and labor intensity of fruit growers is relieved.
Further, the second self-adaptive spring is used for slightly adjusting the position of the annular cutter, so that the annular double cutters can be slightly adapted under the condition that the axes of the cutters and the branches are not aligned.
Furthermore, the annular double cutters adopt non-contact picking, and high-efficiency and continuous picking is realized through the mutual coupling of the right movable blade, the right static blade, the left movable blade and the left static blade, the combined action of the flexible double clamping mechanism and the semi-automatic fine adjustment positioning mechanism.
In conclusion, the picking machine has the advantages of simple structure, accurate picking and positioning, high automation degree, effective reduction of labor intensity, improvement of labor efficiency and suitability for popularization.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a front view of the tool of the present invention;
FIG. 3 is a left side view of the tool of the invention;
FIG. 4 is a schematic view of a clamping mechanism according to the present invention;
FIG. 5 is a schematic view of a four bar mechanism according to the present invention.
Wherein: 1. a first motor; 2. a left movable blade; 3. a first linear bearing slider; 4. static clamping; 5. dynamic clamping; 6. a first adaptive spring; 7. a first circular frame; 8. a circular frame base; 9. a gear mechanism; 10. a pulley I; 11. a first link; 12. a second pulley; 13. a wire rope; 14. an anti-skid wheel; 15. a second motor; 16. a retractable cylinder; 17. a first pulley; 18. a first section of telescopic arm cylinder; 19. a second section of telescopic arm cylinder; 20. a first gear; 21. a second gear; 22. a third motor; 23. a pulley II; 24. a retractable support shaft; 25. a collecting device; 26. clamping a base; 27. an elastic band; 28. a left stationary blade; 29. a positioning pin; 30. a third gear; 31. a second link; 32. a third link; 33. a fourth gear; 34. a right movable blade; 35. a right stationary blade; 36. a ball-feeding twisting seat; 37. a second adaptive spring; 38. a ball-down winch seat; 39. an adaptive adjustment device; 40. a second circular frame; 41. a third adaptive spring; 42. a second linear bearing slider; 43. clamping a stay wire; 44. rope hooks; 46. a handle; 47. a third pulley; 48. a fourth pulley; 49. a fifth pulley; 50. a fixing mechanism.
Detailed Description
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," "one side," "one end," "one side," etc. indicate orientations or positional relationships that are based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The invention provides an annular double-cutter semiautomatic cherry picking machine, which comprises the steps of firstly utilizing a double-clamping mechanism with adjustable height to determine the movement track of cutters through fitting branch shapes, realizing the self-adaptive positioning of double cutters through coupling with the annular double-cutter mechanism and utilizing a lifting supporting mechanism and a semiautomatic fine-tuning positioning mechanism, and continuously and scientifically picking cherries with different heights and directions on the premise of ensuring the cherry picking quality.
Referring to fig. 1, the invention discloses an annular double-cutter semi-automatic cherry picking machine, which comprises a lifting supporting mechanism, a semi-automatic fine adjustment positioning mechanism, a flexible double-clamping mechanism, an annular double-cutter mechanism and a collecting device, wherein the bottom of the lifting supporting mechanism is arranged on a movable platform trolley, the semi-automatic fine adjustment positioning mechanism comprises a parallelogram mechanism and a vertically arranged gear mechanism 9, the flexible double-clamping mechanism comprises a circular frame base 8 and a crank linear bearing sliding block mechanism, one end of the parallelogram mechanism is connected with the lifting supporting mechanism, the other end of the parallelogram mechanism is connected with the circular frame base 8 through the gear mechanism 9, the annular double-cutter mechanism is arranged on the circular frame base 8 and connected with the crank linear bearing sliding block mechanism, the annular double-cutter mechanism comprises two movable blades and two static blades, the movable blades are driven to rotate around the axis of the crank linear bearing sliding block mechanism to pick, a collecting hose with a horn-shaped opening is arranged at the lower part of the annular double-cutter mechanism, and the other end of the collecting hose is connected with the collecting device to collect.
The lifting support mechanism comprises a movable platform trolley and a lifting mechanism.
The movable platform trolley mainly comprises an anti-skid wheel 14, a supporting platform, a telescopic cylinder 16 and other parts; the lifting mechanism consists of a second motor 15, a steel wire rope 13, a pulley block with the same specification and first pulleys 17 connected in series, a first section of telescopic arm cylinder 18, a second section of telescopic arm cylinder 19 and the like.
One end of the steel wire rope 13 is fixedly connected to the radial line of the inner wall of the second section of telescopic arm cylinder 19, the other end of the steel wire rope 13 sequentially passes through two first pulleys 17 which are connected in series and then is connected with the second motor 15, the steel wire rope 13 is fixedly connected to the radial line of the inner wall of the first section of telescopic arm cylinder 18 after passing through the second motor 15 and four first pulleys 17 which are connected in series, so that the steel wire rope 13 is sealed in a lifting mechanism, one first pulley 17 is radially arranged on the inner side of the upper part of the first section of telescopic arm cylinder 18, two rows of two columns of first pulleys 17 are arranged on the lower end surface normal direction of the second section of telescopic arm cylinder 19, and the four first pulleys 17 on the second section of telescopic arm cylinder 19 relatively move relative to the first section of telescopic arm cylinder 18. The bidirectional movement refers to that the second motor drives the first pulleys 17 fixedly connected to the supporting platform, so that the steel wire rope moves relative to each first pulley 17, and then the first pulleys 17 of the first row and the first pulleys 17 of the second row of the second section telescopic arm drums 19 move in opposite directions, and further how the first section telescopic arm drums 18 and the second section telescopic arm drums 19 realize bidirectional expansion.
In the prior lifting mechanism, lifting is mainly realized by a screw pair of a transmission mechanism such as a ball screw, and the like.
Secondly, the anti-skid wheel 14 is arranged on one side of the lower part of the supporting platform, the telescopic cylinder 16 is correspondingly arranged on the other side, and the anti-skid wheel 14 and the telescopic cylinder 16 of the lifting supporting mechanism can enable the picking machine to move or be static, so that the whole machine can be dragged conveniently and stably in an orchard. In order to prevent the wire rope 13 from slipping in the transmission process, the invention is provided with a tensioning device on the inner wall of the lower part of the first telescopic arm cylinder 18.
Here, the tensioner comprises a tensioning wheel and an adjustable wheel axle bracket, wherein one end of a supporting axle of the adjustable wheel axle bracket is provided with a nut, and the other end of the supporting axle is welded with the axle of the tensioning wheel in an orthogonal mode. The adjustable wheel shaft bracket passes through the through hole of the first section of telescopic arm cylinder and is connected with the nut, and the tensioning wheel can tension the steel wire rope towards the outer normal direction of the first section of telescopic arm cylinder through the adjusting nut, so that the steel wire rope has certain pretightening force.
The semi-automatic fine adjustment positioning mechanism is hinged with the upper part of the lifting supporting mechanism through three groups of bolt groups, and the semi-automatic fine adjustment positioning mechanism comprises a parallelogram mechanism and a gear mechanism.
The gear mechanism 9 includes a first gear 20, a second gear 21, a pulley i 10, an end face bearing, an upper tilt base, and the like. The parallelogram mechanism comprises an upper frame, a lower frame, four first connecting rods 11, a rope hook 44, two second pulleys 12 and a third pulley 47, wherein the four first connecting rods 11 form the parallelogram structure, one ends of the parallelogram structure are respectively connected with a second section of telescopic arm barrel 19 of the lifting support mechanism through the lower frame, the other ends of the parallelogram structure are respectively connected with the gear mechanism 9 through the upper frame, the two second pulleys 12 are symmetrically arranged on the lower frame and are respectively connected with the first connecting rods 11, the first gear 20 is arranged on the upper frame and is in key connection with the pulley I10, the second gear 21 is of an arc structure, the arc structure is arranged on the upper part of the first gear 20 and is in meshed connection with the first gear 20, the upper inclined base is arranged on the upper part of the second gear 21 and is connected with a circular frame base 8 of the flexible double-clamping mechanism, the third pulley 47 and the rope hook 44 are correspondingly arranged on the upper frame and are respectively connected with the first connecting rods 11, the lifting support mechanism is provided with a hand wheel mechanism which is respectively connected with the pulley I10, the third pulley 47, the two second pulleys 12 and the rope 44.
The hand wheel mechanism comprises a fourth pulley 48, a fifth pulley 49 and a hand crank 46, wherein the fourth pulley 48 and the fifth pulley 49 are vertically arranged on a first section of telescopic arm upper platform of the lifting support mechanism, the hand crank is connected with the first section of telescopic arm of the lifting support mechanism through a fixing mechanism 50, the fourth pulley 48 is connected with a pulley I10 through a steel wire rope and used for controlling the gear mechanism 9, the fifth pulley 49 is connected with two second pulleys 12, a third pulley 47 and a rope hook 44 through the steel wire rope and used for controlling the parallelogram structure to move, and the hand crank 46 is movably connected with the fourth pulley 48 and the fifth pulley 49 respectively.
The gear mechanism 9 can utilize the pulley I10 to carry out the auto-lock to the first gear 20, can increase again to flexible double-clamping mechanism and cyclic annular double-cutter mechanism tilting efficiency. In the parallelogram mechanism, the second pulley 12 drives the height fine adjustment of the upper structure of the forearm by driving the first connecting rod 11, and the parallelogram mechanism translates in a small range, meanwhile, because the upper structure is slightly eccentric, tension springs are arranged at two sides of the parallelogram to ensure the stability and safety of the movement of the upper structure. Thereby realizing efficient and safe picking.
In the rotary device of the circular frame base 8, in order to ensure that the flexible double-clamping mechanism and the annular cutter mechanism integrally rotate and simultaneously improve the centering of the branches and clamping, the branches are ensured to be completely wrapped by all static cutters, and three uniformly distributed third self-adaptive springs 41 are skillfully arranged.
In the tilting process of the flexible double-clamping mechanism, a vertical gear mechanism is selected for accurate, rapid and efficient transmission, the driving pulley I10 converts high-speed small torque output by a motor into low-speed large torque through gear reduction transmission, and the flexible double-clamping mechanism and the annular double-cutter mechanism are subjected to swing adjustment stably and accurately on the basis of the gear transmission.
The existing branch clamping tool in the market mainly adopts a rigid clamping structure similar to three grabs, and has the characteristics that the tree can be scratched in the process of positioning the branches, and the adaptability to the branches in different shapes and directions is drastically reduced due to the rigid structure. In order to effectively and scientifically fix the branches in a soft way, a flexible double-clamping mechanism is designed for the purpose.
Referring to fig. 4, the flexible double-clamping mechanism is composed of a semicircular frame set, a double-clamping set, a self-adaptive adjusting device 39 and a crank linear bearing sliding block mechanism.
The semicircular frame group comprises a first circular frame 7 and a second circular frame 40, the first circular frame 7 is hinged with the second circular frame 40 through a bolt group, a blind hole for installing a first self-adaptive spring 6 is formed in the first circular frame 7, a self-adaptive adjusting device 39 is composed of the first self-adaptive spring 6, the first circular frame 7 and the second circular frame 40, and a clamping base 26 is fixedly connected to the upper end face of the first circular frame 7.
The crank slide block mechanism consists of a driving connecting rod, a first linear bearing slide block 3, a second linear bearing slide block 42 and a telescopic support shaft 24, one end of the driving connecting rod is connected with the third motor 22, the other end of the driving connecting rod is connected with the second linear bearing slide block 42 through the first linear bearing slide block 3, the telescopic support shaft 24 penetrates through the second linear bearing slide block 42 to be horizontally arranged, and two ends of the telescopic support shaft 24 are respectively hinged with the semicircular frame group.
The upper part of the semicircular frame group is hinged with a telescopic support shaft 24, one side of the bottom of the semicircular frame group is hinged on a V-shaped connecting rod of a circular frame base 8, the other side of the semicircular frame group is hinged on a platform of a third motor 22 of a crank sliding block mechanism, a first circular frame 7 is connected with a second circular frame 40 through a bolt group, the other side of the telescopic support shaft 24 for feeding of an annular cutter mechanism is hinged with a clamping base 26, left clamping and right clamping are respectively fixedly connected with the clamping base 26 and the upper part of the right side of the first circular frame 7 through the bolt group, the left clamping and the right clamping are respectively formed by hinging a static clamping 4 and a movable clamping 5, wherein a band-pass hole column for penetrating a clamping pull wire 43 is arranged on the movable clamping 5, a sliding groove for sliding a through hole column is arranged on a static clamping 4 arm, and a rubber band 27 for resetting is arranged between the movable clamping and the movable clamping.
In the design of the circular frame group of the flexible double-clamping mechanism, in order to ensure high positioning precision of the flexible double-clamping mechanism and ensure that the flexible double-clamping mechanism and the annular double-cutter mechanism can adapt to different branch environments, the semicircular frame group of the flexible double-clamping mechanism is arranged to be a mirror-symmetrical first circular frame 7, a second circular frame 40 and other assembly parts for realizing self-adapting functions are organically combined. The structure is compact, attractive and practical compared with other similar components.
In the clamping group design of the flexible double-clamping mechanism, a novel double-clamping structure is arranged for stabilizing branches, and guiding is provided for annular double-cutter feeding movement, so that picking efficiency is improved. In order to keep the double clamping in a normally open state, the lower ends of the static clamping 4 and the movable clamping 5 on two sides are connected by the rubber band 27, the clamping pull wire 43 is connected to the short rod connected with the movable clamping 5, the short rod slides in the groove of the static clamping 4, the clamping pull wire 43 is pulled to the lower side to be wound on the pulley II 23 (the two sides respectively occupy one groove, the winding directions of the clamping pull wires 43 are opposite), then the clamping pull wire 43 is rotated by the first pulley 22 (shared by the crank sliding block), so that the clamping pull wire 43 is pulled to control, the movable clamping 5 is closed, and the automatic control of the clamping branches is realized, and the labor intensity of fruit growers is relieved.
In the design of the self-adaptive adjusting device of the flexible double-clamping mechanism, the first self-adaptive spring 6 can adjust the relative positions of the two clamps under special conditions, so that the annular double-cutter and the target picking tree branch are ensured to be completely centered.
In the design of the crank linear bearing sliding block of the flexible double-clamping mechanism, synchronous belts, screw rods and the like which can finish the transmission of linear feed motion are available at present, but the efficiency of the synchronous belts and the screw rods is lower than that of the crank linear bearing sliding block, and the relative heights of the two ends of the synchronous belts and the screw rods are not adjustable. Furthermore, the derivative mechanism of the shaper is improved to achieve a smart combination with a highly adaptable adaptive adjustment device 39 and a double clamping set for relative position adjustment.
In order to make the double clamping and the annular double tool approximately fit the branch, a telescopic support shaft 24 is provided, so that on the one hand, the relative position of the double clamping is self-adapted by combining with a self-adaptive adjusting device 39, conditions are provided for the feeding action of the tools, and the double clamping control is kept synchronous, on the other hand, the rigidity of the clamping pull wire 43 during the action of the pulley I10 can be buffered, so that the reliability of the machine is improved.
In addition, in order to slightly adjust the position of the annular cutter, the second linear bearing slider 42 is provided with an upper ball socket 36 and a lower ball socket 38, and second self-adaptive springs 37 and steel balls with columns are arranged in the upper ball socket 36 and the lower ball socket 38, so that the annular double cutter can be slightly adapted under the condition that the axle center of the cutter is not aligned with the axle center of a branch.
The collection hose is secured to the upper ball screw mount 36 and operates with a flexible dual clamp mechanism.
Referring to fig. 2 and 3, the annular cutter mechanism includes a left moving blade 2, a left stationary blade 28, a right moving blade 34, a right stationary blade 35, a first motor 1, a third gear 30, a fourth gear 33, a second link 31, a third link 32, and a holder base, which are mirror images.
The left and right static blades 28, 35 of the annular cutter are fixedly connected with two sides of the cutter frame base, the third gear 30 is connected to a motor shaft, the rotating shaft of the fourth gear 33 is connected to the front end face of the cutter frame base, the left and right movable blades 2, 34 are respectively and fixedly connected to one sides of the second and third connecting rods 31, 32, the inner surfaces of the left and right movable blades 2, 34 are respectively attached to the outer surfaces of the left and right static blades 28, 35, the upper ends of the left and right static blades 28, 35 are connected with positioning pins 29, and the positioning pins 29 are connected with the vertical rods of the left and right static blades 28, 35 to ensure flexible connection of the movable and static blades. The other ends of the second connecting rod 31 and the third connecting rod 32 are respectively hinged to the front end surfaces of the fourth gears on two sides, so that the first motor is driven to drive the third gear 30 to rotate, the third gear 30 is meshed with the fourth gear 33 to transmit motion to the second connecting rod 31 and the third connecting rod 32, and further, the motion is transmitted to the left moving blade 2 and the right moving blade 34, so that the reciprocating motion of the moving blades relative to the static blades is realized.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Firstly, the second motor 15 is electrified to rotate positively to drive the first pulley 17 to rotate, the relative movement of the steel wire rope 13 and the first pulley 17 is used for realizing the rough adjustment of the height of the whole machine, and after the target picked tree branch is subjected to rough adjustment by utilizing the lifting mechanism, the axial heights of the left moving blade 2 and the right moving blade 34 of the annular double-cutter mechanism are approximately equal to those of the target tree branch;
then the third pulley 47 and the pulley I10 are controlled by the rotation of the crank handle 46 to adjust the gear mechanism 9 to incline the annular double-cutter and the flexible double-clamping mechanism, so that the axes of the left moving blade 2 and the right moving blade 34 are approximately centered with the axis of the target branch, and then the heights of the annular double-cutter and the flexible double-clamping mechanism are secondarily and finely adjusted by driving the rope hook 44 of the parallelogram mechanism of the semi-automatic fine adjustment positioning mechanism, so as to ensure the three-in-one of the axes of the annular double-cutter and the flexible double-clamping mechanism, and further provide a position basis for continuous picking of the annular double-cutter
Then, by sequentially driving the first motor 1 and the third motor 22, under the action of the flexible double-clamping mechanism, the third motor 22 sequentially drives the first linear bearing sliding block 3 and the second linear bearing sliding block 42, and then the ball hinge hinged below the annular double-tool mechanism is triggered to act, so that the annular double-tool mechanism can complete 'non-contact' cherry shearing while feeding along the branch direction of the flexible double-clamping mechanism; the cherries cut off can be collected by the collecting device 25 through the coupling of the static blades and the moving blades of the annular double-cutter mechanism.
In order to continuously pick cherries at different positions of the same branch, the fourth pulley 48 and the fifth pulley 49 can be controlled by opening the hand wheel mechanism to further control the parallelogram structure and the gear mechanism 9, and the parallelogram mechanism and the gear mechanism of the semi-automatic fine adjustment positioning mechanism are operated to repeat the positioning action in the previous step, so that the movable clamping 5, the static clamping 4, the movable blades and the static blades of the flexible double-clamping mechanism and the annular double-cutter mechanism completely wrap the upper end of the target branch.
Further, the third motor 22 and the first motor 1 are sequentially started, and the crank slider mechanism forwards feeds the moving annular double cutters, so that the annular double cutters cut off the fruit stalks between the fruits and the branches in the feeding process, and the fruits are transmitted to the collecting device 25 through the collecting hose below the cutter device. So as to pick the cherries of the same branch efficiently and continuously in sequence.
In order to pick the adjacent branches which are picked up last time, the fourth pulley 48 and the fifth pulley 49 can be controlled by opening the hand wheel mechanism respectively to further control the parallelogram structure and the gear mechanism 9, and the parallelogram mechanism and the gear mechanism 9 of the semi-automatic fine adjustment positioning mechanism are operated to repeat the positioning operation in the last step, so that the movable clamping 5, the static clamping 4, the movable blades and the static blades of the flexible double-clamping mechanism and the annular double-tool mechanism completely wrap the upper ends of the target branches.
Further, the third motor 22 and the first motor 1 are sequentially started, and the crank slider mechanism forwards feeds the moving annular double cutters, so that the annular double cutters cut off the fruit stalks between the fruits and the branches in the feeding process, and the fruits are transmitted to the collecting device 25 through the collecting hose below the cutter device. So as to pick the cherries of the same branch efficiently and continuously in sequence.
The invention designs a novel shearing device, an annular blade surrounds a trunk, and then when a crank drives each movable blade to rotate around the axis of the annular blade, the movable blade edge and the static blade edge do relative motion, so that a fruit stem subjected to shearing force is cut off and falls off, and the cutting action is completed. Based on the continuous action of the moving blade and the feeding action of the crank linear bearing sliding block, the device can continuously shear fruit stalks, and the picking efficiency is improved. The length of the static blade edge is designed to be far longer than that of the movable blade, and the front part of the static blade edge is gradually pointed. Therefore, the fruit stalks of the cherry can enter the gaps of the blades more easily, the task of cutting the fruit stalks is completed, and the blades can be prevented from cutting fruits or branches.
The above is only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (7)
1. The annular double-cutter semi-automatic cherry picking machine is characterized by comprising a lifting supporting mechanism, a semi-automatic fine-tuning positioning mechanism, a flexible double-clamping mechanism, an annular double-cutter mechanism and a collecting device, wherein the lifting supporting mechanism is arranged on a trolley of a movable platform, the semi-automatic fine-tuning positioning mechanism comprises a parallelogram mechanism, a vertically arranged gear mechanism (9) and a hand wheel mechanism, the hand wheel mechanism is respectively connected with the parallelogram mechanism and the gear mechanism (9) through a steel wire rope, the flexible double-clamping mechanism comprises a circular frame base (8) and a crank slider mechanism, one end of the parallelogram mechanism is connected with the lifting supporting mechanism, the other end of the parallelogram mechanism is connected with the circular frame base (8) through the gear mechanism (9), the annular double-cutter mechanism is arranged on the circular frame base (8) and is connected with the crank slider mechanism, the annular double-cutter mechanism comprises two movable blades and two static blades which are arranged in mirror symmetry, the movable blades are driven to rotate around the axis of the crank slider mechanism to pick after being positioned and adjusted by the semi-automatic fine-tuning positioning mechanism, the lower part of the annular double-cutter mechanism is provided with a collection hose with a horn-shaped opening, and the other end of the collection hose is connected with the collection device;
the lifting support mechanism comprises a second motor (15), a steel wire rope (13), a first pulley (17), a first telescopic arm cylinder (18) and a second telescopic arm cylinder (19), the movable platform trolley comprises an anti-pulley block (14), a support platform and a telescopic cylinder (16), the first telescopic arm cylinder (18) is arranged on the support platform, a tensioning device is arranged on the inner wall of the lower part of the first telescopic arm cylinder (18), the second telescopic arm cylinder (19) is sleeved in the first telescopic arm cylinder (18), a plurality of first pulleys (17) are arranged in the first telescopic arm cylinder (18) in series to form a pulley block, one end of the steel wire rope (13) is arranged on the radial line of the inner wall of the second telescopic arm cylinder (19), the other end of the steel wire rope (13) is sequentially arranged on the radial line of the inner wall of the first telescopic arm cylinder (18) after passing through the pulley block, the second motor (15) and the pulley block, and the two-way expansion of the second telescopic arm cylinder (19) are used for realizing the two-way expansion of the first telescopic arm cylinder (18) and the second telescopic arm cylinder (19), the anti-pulley (14) is arranged on one side of the lower part of the support platform, and the other side of the telescopic cylinder (16) is correspondingly arranged on the other side;
the gear mechanism (9) comprises a first gear (20), a second gear (21), a pulley I (10) and an upper inclined base, the parallelogram mechanism comprises an upper frame, a lower frame, four first connecting rods (11), rope hooks (44), two second pulleys (12) and a third pulley (47), the four first connecting rods (11) form a parallelogram structure, one end of the parallelogram structure is respectively connected with the lifting support mechanism through the lower frame, the other end of the parallelogram structure is respectively connected with the gear mechanism (9) through the upper frame, the two second pulleys (12) are symmetrically arranged on the lower frame and are respectively connected with one first connecting rod (11), the first gears (20) are arranged on the upper frame and are connected with the pulley I (10) through keys, the second gears (21) are arc structures, are arranged on the upper parts of the first gears (20), are connected with the first gears (20), the upper inclined base is arranged on the upper parts of the second gears (21), are connected with the circular frame base (8) of the flexible double clamping mechanism, the third pulleys (47) and the rope hooks (44) are correspondingly arranged on the upper frame, the first connecting rods (11) and the first pulleys (44) are respectively connected with the first pulleys (47) and the lifting mechanism (47);
be provided with semicircle type frame group and third motor (22) on circular frame base (8), semicircle type frame group is articulated with circular frame base (8), semicircle type frame group is including first circular frame (7) and second circular frame (40) articulated through the bolt group, the upper portion of first circular frame (7) is provided with centre gripping base (26), centre gripping base (26) lower part is provided with first self-adaptation spring (6), self-adaptation adjusting device (39) are constituteed with semicircle type frame group to first self-adaptation spring (6), third motor (22) are connected with movable blade through slider-crank mechanism.
2. The annular double-cutter semiautomatic cherry picking machine according to claim 1, characterized in that the hand wheel mechanism comprises a fourth pulley (48), a fifth pulley (49) and a handle (46), wherein the fourth pulley (48) and the fifth pulley (49) are vertically arranged on a first telescopic arm upper platform of the lifting support mechanism, the fourth pulley (48) is connected with the first telescopic arm of the lifting support mechanism through a fixing mechanism (50), the fourth pulley is connected with the pulley I (10) through a steel wire rope and used for controlling the gear mechanism (9), the fifth pulley (49) is connected with two second pulleys (12), a third pulley (47) and a rope hook (44) through steel wire ropes and used for controlling the movement of the parallelogram structure, and the handle (46) is movably connected with the fourth pulley (48) and the fifth pulley (49) respectively.
3. The annular double-cutter semiautomatic cherry picker according to claim 1, characterized in that the crank slider mechanism comprises a driving connecting rod, a first linear bearing slider (3), a second linear bearing slider (42) and a telescopic support shaft (24), one end of the driving connecting rod is connected with the third motor (22), the other end of the driving connecting rod is connected with the second linear bearing slider (42) through the first linear bearing slider (3), the telescopic support shaft (24) is horizontally arranged through the second linear bearing slider (42), one end of the telescopic support shaft is hinged with the clamping base (26), and the other end of the telescopic support shaft is hinged with the semicircular frame group.
4. The annular double-cutter semiautomatic cherry picking machine according to claim 1, characterized in that a through hole column for penetrating a clamping stay wire (43) is arranged on the movable clamping holder (5), a chute for sliding the through hole column is arranged on the static clamping holder (4), the lower ends of the static clamping holder (4) and the movable clamping holder (5) are connected through rubber bands (27), one end of the clamping stay wire (43) is connected with a short rod connected with the movable clamping holder (5), the short rod slides in the chute of the static clamping holder (4), and the other end of the clamping stay wire (43) is connected with a pulley I (10) through a pulley II (23) for realizing automatic closing of the movable clamping holder (5).
5. The annular double-cutter semiautomatic cherry picker according to claim 1, characterized in that a lower ball twisting seat (38) and an upper ball twisting seat (36) are arranged on the second linear bearing sliding block (42), and a second self-adaptive spring (37) and a steel ball with a column are arranged between the lower ball twisting seat (38) and the upper ball twisting seat (36).
6. The annular double-cutter semiautomatic cherry picker according to claim 1, characterized in that the annular double-cutter mechanism comprises a left movable cutter (2), a left stationary cutter (28), a right movable cutter (34), a right stationary cutter (35), a first motor (1), a third gear (30), a fourth gear (33), a second connecting rod (31), a third connecting rod (32) and a cutter rest base, wherein the left stationary cutter (28) and the right stationary cutter (35) are arranged on two sides of the cutter rest base, the inner surfaces of the left movable cutter (2) and the right movable cutter (34) are respectively attached to the outer surfaces of the left stationary cutter (28) and the right stationary cutter (35), the left movable cutter (2) and the right movable cutter (34) are respectively connected with two fourth gears (33) arranged on the front end surface of the cutter rest base through the second connecting rod (31) and the third connecting rod (32), the two fourth gears (33) are in meshed connection with the third gear (30), and the first motor (1) is connected with the third gear (30).
7. The annular double-cutter semiautomatic cherry picking machine according to claim 6, wherein the upper ends of the left stationary blade (28) and the right stationary blade (35) are respectively connected with a positioning pin (29), and the positioning pins (29) are respectively provided with pressure springs for flexible connection with the vertical rods of the left stationary blade (28) and the right stationary blade (35).
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| CN109352673A (en) * | 2018-12-05 | 2019-02-19 | 华东交通大学 | A kind of fruit picking end effector |
| CN109479510B (en) * | 2018-12-27 | 2020-03-03 | 湖南农业大学 | Jujube picking device based on parallelogram arm lifting telescopic mechanism |
| CN109618668B (en) * | 2018-12-27 | 2020-03-03 | 湖南农业大学 | Control method of arm-lifting telescopic jujube picking device |
| CN110432000A (en) * | 2019-08-23 | 2019-11-12 | 佛山科学技术学院 | Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one |
| CN112005754B (en) * | 2020-09-18 | 2022-04-19 | 邵阳博亿技术服务有限公司 | Pruning device for fruit tree planting |
| CN115024086A (en) * | 2022-06-27 | 2022-09-09 | 浙江工贸职业技术学院 | Pineapple picking manipulator |
| CN116420559B (en) * | 2023-05-10 | 2023-11-21 | 农业农村部南京农业机械化研究所 | Double-clamping bottle-cultivated flammulina velutipes mechanized picking equipment and method |
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