CN108738665B - Friction type pineapple picking device - Google Patents
Friction type pineapple picking device Download PDFInfo
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- CN108738665B CN108738665B CN201810596562.5A CN201810596562A CN108738665B CN 108738665 B CN108738665 B CN 108738665B CN 201810596562 A CN201810596562 A CN 201810596562A CN 108738665 B CN108738665 B CN 108738665B
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- picking
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- pineapple
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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
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- Harvesting Machines For Specific Crops (AREA)
Abstract
Friction formula pineapple harvesting device belongs to agricultural machine technical field, and aim at solves the problem that the breakage rate is high and can not adapt to not equidimension pineapple is picked to the pineapple that prior art exists. The friction type pineapple picking device comprises: a main frame; a drive mechanism provided on the main frame; the friction picking mechanism is arranged at the lower end of the main frame and comprises two picking heads which are same in structure and symmetrically arranged and a spring connected between the two picking heads; each picking head comprises a picking frame, a driving gear, a driven gear and a friction belt, wherein one end of the picking frame is hinged with the main frame through a hinge, the driving gear and the driven gear are arranged on the lower end face of the picking frame and are meshed with each other, and the friction belt is connected between the driving gear and the driven gear; two ends of the spring are respectively connected with the opposite side surfaces of the two picking frames, and the two picking frames are relatively close to each other when the spring is in a natural state; the two driving gears of the two picking heads are driven by the driving mechanism to synchronously rotate in different directions.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a duplex universal shaft joint friction type pineapple picking device.
Background
The rapid development of fruit growing industry has increased the market demand for orchard machinery. The labor force used in the picking operation accounts for 33-50% of the labor force used in the whole production process, and most of the fruit picking in China is still carried out manually at present. The picking operation is complex, the seasonality is strong, if the manual picking is used, the efficiency is low, the labor amount is large, the fruit is easy to damage, and if the manual picking is not enough, the economic loss can be caused.
For picking pineapples, pineapple picking is one of the most labor-consuming and time-consuming links in a production chain of pineapple products, and picking operation is high in seasonality, time-consuming, labor-consuming and high in cost, so that timely picking of pineapples is guaranteed, and harvesting operation cost is reduced, and the method is an important way for increasing harvest of fruit growers. Due to the complexity of pineapple picking, the automation degree of picking in China is still very low, the picking is basically carried out manually at present, the cost accounts for 50% -70% of the cost, and due to the special growth structure of the pineapples, large-area fully-mechanized picking seriously damages the growth of the pineapples, so that most of the domestic pineapple picking still depends on manual picking at present, and the mechanization degree is low. However, pineapple leaves are very hard, and the surfaces of the pineapple leaves are provided with a plurality of burs, so that hands of picking personnel are easily injured by manual picking, and the picking efficiency is seriously influenced.
Various improvements have been made in the prior art to protect the picking personnel. For example, chinese patent document CN205694358U discloses a pineapple picking manipulator with simple structure and convenient operation, so as to solve the problem that picking personnel are easily injured when picking pineapples manually; similarly, chinese patent document CN201504423U discloses a pineapple picking gripper capable of grabbing and twisting off. The comprehensive analysis of the various schemes shows that although the schemes improve the working efficiency to a certain extent and reduce the damage to picking personnel, the schemes do not consider the protection of pineapple fruits and simultaneously can not pick pineapples of different sizes, so that the problem of high pineapple picking breakage rate is easily caused.
Disclosure of Invention
The invention aims to provide a friction type pineapple picking device, which solves the problems that in the prior art, pineapples are high in breakage rate during picking and cannot be adapted to pineapples of different sizes.
In order to achieve the above object, the friction type pineapple picking device of the present invention comprises:
a main frame;
a drive mechanism provided on the main frame;
the friction picking mechanism is arranged at the lower end of the main frame and comprises two picking heads which are same in structure and symmetrically arranged and a spring connected between the two picking heads; each picking head comprises a picking frame, a driving gear, a driven gear and a friction belt, wherein one end of the picking frame is hinged with the main frame through a hinge, the driving gear and the driven gear are arranged on the lower end face of the picking frame and are meshed with each other, and the friction belt is connected between the driving gear and the driven gear; one end of the spring is connected with the opposite side surface of one picking frame, the other end of the spring is connected with the opposite side surface of the other picking frame, and the two picking frames are relatively close to each other when the spring is in a natural state; the two driving gears of the two picking heads are driven by the driving mechanism to synchronously rotate in different directions.
The picking device further comprises a leaf discharging mechanism arranged on the main frame, the leaf discharging mechanism is an air pressure device, and an air outlet of the air pressure device is arranged at the position of the picking head.
The air outlet of the air pressure device is positioned at the end part of the picking head far away from one end of the main frame, and the direction of the air outlet is downward.
The driving mechanism comprises a power mechanism and two groups of transmission mechanisms;
the power mechanism comprises:
a stepping motor fixed on the main frame;
the first gear is fixed on the output shaft of the stepping motor;
each set of the transmission mechanisms comprises:
a second gear;
a first bevel gear disposed coaxially with the second gear;
a second bevel gear meshing with the first bevel gear;
one end of the duplex universal joint is connected with the second bevel gear, and the other end of the duplex universal joint is connected with the driving gear of the picking head;
the second gear of any one of the two groups of transmission mechanisms is meshed with the first gear.
The invention has the beneficial effects that: the friction type pineapple picking device adopts a mode of combining two duplex universal joints and a stepping motor, one motor is adopted in the whole picking device to drive all driven mechanisms, the two duplex universal joint structures utilize spherical devices and the like to realize shaft power output in different directions, the duplex universal joints allow larger included angles between shafts, and the friction type pineapple picking device has the advantages of simple structure, convenience in manufacturing, reliability in working and the like; the springs between the two picking frames are used as flexible mechanisms, so that the whole picking device can better pick pineapple fruits with different sizes, the success rate of picking operation is greatly increased, and the picking efficiency is improved; adopt air pressure equipment to produce the air current and dispel the pineapple leaf, can effectually block the branch and leaf that the pineapple extends out, solve the problem that pineapple branch and leaf produced the interference at friction formula pineapple picking device march in-process and the pineapple leaf to picking the hindrance problem of pineapple fruit in-process. The stem of the pineapple is brittle, so that the stem of the pineapple can be broken only by a small moment, and the stem of the pineapple is controlled to be broken by adopting a friction mode, so that the traditional manipulator mode is replaced, and the pineapple is fast and efficient.
Drawings
FIG. 1 is a schematic view of the overall structure of the friction type pineapple picking device of the present invention;
FIG. 2 is a front view of the overall structure of the friction type pineapple picking device of the present invention;
wherein: 1. the main frame, 2, actuating mechanism, 201, step motor, 202, first gear, 203, second gear, 204, first bevel gear, 205, second bevel gear, 206, pair universal joint, 3, friction picking mechanism, 301, pick frame, 302, hinge, 303, driving gear, 304, driven gear, 305, friction area, 306, spring.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1 and 2, the friction type pineapple picking device of the invention comprises:
a main frame 1;
a drive mechanism 2 provided on the main frame 1;
the friction picking mechanism 3 is arranged at the lower end of the main frame 1, and the friction picking mechanism 3 comprises two picking heads which are same in structure and symmetrically arranged and a spring 306 connected between the two picking heads; each picking head comprises a picking frame 301, one end of which is hinged with the main frame 1 through a hinge 302, a driving gear 303 and a driven gear 304 which are arranged on the lower end surface of the picking frame 301 and are meshed with each other, and a friction belt 305 connected between the driving gear 303 and the driven gear 304; one end of the spring 306 is connected with the opposite side surface of one picking frame 301, the other end of the spring 306 is connected with the opposite side surface of the other picking frame 301, and when the spring 306 is in a natural state, the two picking frames 301 are relatively close to each other; the driving mechanism 2 drives the two driving gears 303 of the two picking heads to synchronously rotate in different directions.
Picking device is still including setting up arrange leaf mechanism on the body frame 1, it is air pressure device to arrange leaf mechanism, air pressure device's gas outlet sets up picking head position department, the purpose is the pineapple leaf of scattering picking head position department, and air pressure device's the gas outlet is located concrete position can satisfy and scatter the leaf can, can be located 1 one end tip of body frame is kept away from to the picking head, the direction is down.
The driving mechanism 2 comprises a power mechanism and two groups of transmission mechanisms;
the power mechanism comprises:
a stepping motor 201 fixed on the main frame 1;
a first gear 202 fixed to an output shaft of the stepping motor 201;
each set of the transmission mechanisms comprises:
a second gear 203;
a first bevel gear 204 provided coaxially with the second gear 203;
a second bevel gear 205 meshed with the first bevel gear 204;
a duplex universal joint 206 with one end connected with the second bevel gear 205, and the other end of the duplex universal joint 206 is connected with the driving gear 303 of the picking head;
the second gear 203 of any one of the two sets of gears is meshed with the first gear 202.
The working process of the invention is as follows: the friction type pineapple picking device provided by the invention has the advantages that the end parts of the two picking heads are contacted with the side wall of a pineapple; meanwhile, the branches and leaves near the picking head are dispersed through the air pressure device of the leaf discharging mechanism, so that the interference of the branches and leaves on picking is avoided; when the spring 306 is in a natural state, smaller pineapples can be picked, for pineapples of different sizes, the two friction belts 305 can clamp the pineapples under the elastic action of the spring 306, the driving mechanism 2 drives the picking belts 305 on the two picking heads to synchronously move in different directions, the friction force drives the pineapples to move along with the movement of the picking belts 305, the stems of the pineapples are crisp, and the stems of the pineapples can be broken through the friction force, so that the pineapples can be picked.
Claims (4)
1. Device is picked to friction formula pineapple, its characterized in that includes:
a main frame (1);
a drive mechanism (2) arranged on the main frame (1);
the friction picking mechanism (3) is arranged at the lower end of the main frame (1), and the friction picking mechanism (3) comprises two picking heads which are same in structure and symmetrically arranged and a spring (306) connected between the two picking heads; each picking head comprises a picking frame (301) with one end hinged with the main frame (1) through a hinge (302), a driving gear (303) and a driven gear (304) which are arranged on the lower end surface of the picking frame (301) and are meshed with each other, and a friction belt (305) connected between the driving gear (303) and the driven gear (304); one end of the spring (306) is connected with the opposite side surface of one picking frame (301), the other end of the spring (306) is connected with the opposite side surface of the other picking frame (301), and when the spring (306) is in a natural state, the two picking frames (301) are relatively close to each other; the two driving gears (303) of the two picking heads are driven by the driving mechanism (2) to synchronously rotate in different directions.
2. The friction-type pineapple picking device according to claim 1, wherein the picking device further comprises a leaf-discharging mechanism arranged on the main frame (1), the leaf-discharging mechanism is an air pressure device, and an air outlet of the air pressure device is arranged at the picking head position.
3. A friction type pineapple picking device according to claim 2, wherein the air outlet of the air pressure device is located at the end of the picking head far away from the main frame (1) and is directed downwards.
4. A friction pineapple picking device according to any one of the previous claims wherein the driving mechanism (2) comprises a power mechanism and two sets of transmission mechanisms;
the power mechanism comprises:
a stepping motor (201) fixed on the main frame (1);
a first gear (202) fixed on the output shaft of the stepping motor (201);
each set of the transmission mechanisms comprises:
a second gear (203);
a first bevel gear (204) arranged coaxially with the second gear (203);
a second bevel gear (205) meshing with the first bevel gear (204);
and a duplex universal joint (206) with one end connected with the second bevel gear (205), wherein the other end of the duplex universal joint (206) is connected with a driving gear (303) of the picking head;
the second gear (203) of any one of the two groups of transmission mechanisms is meshed with the first gear (202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810596562.5A CN108738665B (en) | 2018-06-11 | 2018-06-11 | Friction type pineapple picking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810596562.5A CN108738665B (en) | 2018-06-11 | 2018-06-11 | Friction type pineapple picking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108738665A CN108738665A (en) | 2018-11-06 |
| CN108738665B true CN108738665B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810596562.5A Active CN108738665B (en) | 2018-06-11 | 2018-06-11 | Friction type pineapple picking device |
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| CN (1) | CN108738665B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112806158B (en) * | 2021-02-26 | 2022-06-28 | 华南农业大学 | Flexible contrarotating pineapple harvesting device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2576991A (en) * | 1946-03-22 | 1951-12-04 | Maui Pineapple Company Ltd | Apparatus for harvesting pineapples |
| CN100594771C (en) * | 2007-02-15 | 2010-03-24 | 农业部南京农业机械化研究所 | Root crop combine harvester |
| CN201504423U (en) * | 2009-10-14 | 2010-06-16 | 中国农业大学 | Mechanical gripper for picking pineapples |
| CN102907213B (en) * | 2012-11-01 | 2015-01-14 | 华南农业大学 | Picking actuating mechanism used at tail end of pineapple picking mechanical arm |
| CN207460848U (en) * | 2017-11-24 | 2018-06-08 | 西安科技大学 | A kind of fruit and vegetable picking clamper |
| CN107743765A (en) * | 2017-11-30 | 2018-03-02 | 广州大学 | A kind of pineapple picker |
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