CN108738710A - A kind of picking machine - Google Patents
A kind of picking machine Download PDFInfo
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- CN108738710A CN108738710A CN201810710071.9A CN201810710071A CN108738710A CN 108738710 A CN108738710 A CN 108738710A CN 201810710071 A CN201810710071 A CN 201810710071A CN 108738710 A CN108738710 A CN 108738710A
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- Prior art keywords
- shell
- connect
- crank
- motor
- telescopic
- Prior art date
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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
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
-
- 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
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D2046/262—Collecting surfaces extended around a tree in order to catch the fruit
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of picking machines, belong to fruit picking technical field.The picking machine includes：Rack；Traveling wheel is arranged in rack bottom；Rotating device is arranged in bench top；Workbench bottom is connect with rotating device；Drawing is shaken device and is arranged on bench-top；Telescopic device first end is shaken device with drawing and is hinged；It is connect at the top of angle regulator first end and work table-hinges, second end is shaken device with drawing and is hinged；The second end in telescopic device is arranged in clamping device.Picking machine of the present invention can pick Chinese date, improve picking efficiency, save manpower.
Description
Technical field
The present invention relates to fruit picking technical field, more particularly to a kind of picking machine.
Background technology
China's economic level is fast-developing at present, and the eating habit of people is also more healthy, usual in people after dinner
It can select to eat fruit to supplement sugar and vitamin, and the Chinese date that wherein nutritive value is abundant, eating method is various also becomes people most
One of favorite fruit.But passing through investigation, the picking efficiency of Chinese date is not high, most of also to be carried out by the way of hit the date
Picking, Chinese date picking efficiency is not high, and can generate damage to jujube tree.
In order to improve Chinese date picking efficiency, now with some portable pickers, orchard worker needs both hands to undertake big portion
Divide weight, and efficiency is not promoted significantly.
Invention content
The present invention provides a kind of picking machine, solves or part solves the technology that Chinese date picking efficiency is low in the prior art
Problem.
In order to solve the above technical problems, the present invention provides a kind of picking machines to include：Rack；Traveling wheel is arranged described
Rack bottom；Rotating device is arranged in the bench top；Workbench, bottom are connect with the rotating device；Device is shaken in drawing,
It is arranged on the bench-top；Telescopic device, first end are shaken device with the drawing and are hinged；Angle regulator, first end
It is connect with work table-hinges top, second end is shaken device with the drawing and is hinged；Clamping device is arranged the of the telescopic device
Two ends.
Further, the rotating device includes：Rotary shaft；First rotary sleeve is arranged in the bench top；Seat
Circle, bottom are provided with the second rotary sleeve, and top is connect with the bottom of the workbench, and the rotary shaft first end is arranged in institute
It states in the first rotary sleeve, second end is arranged in second rotary sleeve, and the seat ring edge is socketed with gear ring；Direction
Machine, fixing end setting are provided with spur gear, the spur gear and the tooth in the bench top, the output end of the steering wheel
Wheel rim engages.
Further, the drawing shakes device and includes：Supporting rack is arranged in the bench-top；Shell, with the support
Frame connects；First motor, fixing end are arranged on the first side of the shell；First crank is arranged the first of the shell
In end, the output end of the first motor passes through the first side of the shell to be connect with the middle part of first crank；Second is bent
Handle is arranged in the first end of the shell, and the middle part of second crank is flexibly connected with the second side of the shell, described
The middle part of second crank is passed through with the junction of the second side of the shell and the output end of the first motor at the shell
Corresponding, the first side of the shell is opposite with the second side of the shell；Push rod, first end are arranged in first crank
Between top and the top of second crank, the first end of the push rod and the top of first crank and described second are bent
The top of handle is hinged, and the second end of the push rod and the telescopic device is hinged；
Further, first crank and the second crank are pendulum crank.
Further, the first sliding sleeve is provided in the second end of the shell, the telescopic device sequentially passes through the shell
The second end of body, the first sliding sleeve are connect with the second end of the push rod.
Further, the drawing shakes device and further includes：Jujube rack is received, is connect with the shell.
Further, the telescopic device includes：Telescopic rod thread bush, first end are shaken device with the drawing and are hinged；It is flexible
Bar offers screw thread, and the telescopic rod first end is threadedly coupled with the telescopic rod thread bush, and second end is arranged in flexible bearing
In set, the second end of the telescopic rod is provided with first bevel gear；Second motor, fixing end are arranged in the flexible bearing holder (housing, cover)
On, the output end of second motor passes through the flexible bearing holder (housing, cover), the flexible bearing holder (housing, cover) to be connect with the clamping device, institute
It states and is provided with second bevel gear on the output end of the second motor, the second bevel gear is engaged with the first bevel gear.
Further, the telescopic device further includes：Rotation-preventing mechanism, first end are connect with the telescopic rod thread bush, the
Two ends are connect with the flexible bearing holder (housing, cover)；The rotation-preventing mechanism includes：Fixing sleeve, sliding sleeve and anti-bull stick；The fixing sleeve and institute
Flexible bearing holder (housing, cover) is stated to be fixedly connected；The sliding sleeve is fixedly connected with the telescopic rod thread bush；The anti-bull stick passes through the cunning
Set is fixed in the fixing sleeve.
Further, the angle regulator includes：Rod set, it is hinged with the bench-top, it is opened in the rod set
Equipped with screw thread；Adjusting rod offers screw thread, and the first end of the adjusting rod is threadedly coupled with the rod set, and second end setting exists
It adjusts in bearing holder (housing, cover), the second end of the adjusting rod is provided with third hand tap gear, and the adjusting bearing holder (housing, cover) shakes device with the drawing
It is hinged；Third motor, fixing end are arranged on the adjusting bearing holder (housing, cover), and the output end of the third motor passes through the adjustment axis
Bearing sleeve is provided with the 4th bevel gear on the output end of the third motor, and the 4th bevel gear nibbles with the third hand tap gear
It closes；The angle regulator further includes：Stroke limiting mechanism；Stroke limiting mechanism first end is connect with the rod set,
Second end is connect with the adjusting bearing holder (housing, cover)；The stroke limiting mechanism includes：Limited block, stop collar, limiting plate and gag lever post；
The limited block is connect with the adjusting bearing holder (housing, cover)；The stop collar is connect with the rod set；The first end of the gag lever post is worn
It crosses the stop collar to connect with the limited block, the limiting plate is arranged in the second end of the gag lever post.
Further, the clamping device includes：The second end in the telescopic device is arranged in pawl shell；First gripper,
First end is fixedly connected with the pawl shell；Second gripper, first end is hinged with the pawl shell, and the second of first gripper
End is opposite with the second end of the second gripper, and the second end of second gripper is provided with turbine；4th motor, it is fixed
End is arranged on the pawl shell, and the output end of the 4th motor passes through the pawl shell, is set on the output end of the third motor
It is equipped with worm screw, the worm screw engages with the turbine.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages：
Since traveling wheel is arranged in rack bottom, so, it can be by equipment conveying to picking position, since rotating dress installs
It sets in bench top, workbench bottom is connect with rotating device, and telescopic device first end is shaken device with drawing and is hinged, angular adjustment dress
It sets and is connect at the top of first end and work table-hinges, second end is shaken device with drawing and is hinged, and the second end in telescopic device is arranged in clamping device,
So starting rotating device, telescopic device is made to be rotated in place, starts telescopic device and angle regulator, clamping device is sent
To Chinese date limb, Chinese date limb is clamped by clamping device, device setting is shaken on bench-top due to drawing, so,
Start to draw and shake device, drawing shakes device and drives clamping device action, and Chinese date is shaken to cause drop, and can pick Chinese date, improves picking efficiency, section
About manpower.
Description of the drawings
Fig. 1 is the front view of picking machine provided in an embodiment of the present invention；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is the structural schematic diagram provided in an embodiment of the present invention for drawing and shaking device；
Fig. 4 is the scheme of installation that the crank of device is shaken in the drawing of Fig. 3；
Fig. 5 is the structural schematic diagram of telescopic device provided in an embodiment of the present invention；
Fig. 6 is the sectional view of Fig. 5；
Fig. 7 is the connection diagram of clamping device provided in an embodiment of the present invention and telescopic device；
Fig. 8 is the structural schematic diagram of the clamping device of Fig. 7；
Fig. 9 is the structural schematic diagram of angle regulator provided in an embodiment of the present invention；
Figure 10 is the front view of the angle regulator of Fig. 9；
Figure 11 is the vertical view of Figure 10.
Specific implementation mode
Referring to Fig. 1-2, a kind of picking machine provided in an embodiment of the present invention includes：Rack 1, traveling wheel 2, rotating device 3, work
Make platform 4, draw and shake device 5, telescopic device 6, angle regulator 7 and clamping device 8.
Traveling wheel 2 is arranged in 1 bottom of rack.
The setting of rotating device 3 is at 1 top of rack.
4 bottom of workbench is connect with rotating device 3.
Drawing shakes the setting of device 5 on 4 top of workbench.
6 first end of telescopic device is shaken device 5 with drawing and is hinged.
7 first end of angle regulator connects with the hinge of workbench 4 top, and second end is shaken device 5 with drawing and is hinged.
The second end in telescopic device 6 is arranged in clamping device 8.
The specific embodiment of the invention since traveling wheel 2 is arranged in 1 bottom of rack, so, can be by equipment conveying to adopting
Position is plucked, since the setting of rotating device 3 is at 1 top of rack, 1 bottom of workbench is connect with rotating device 3, telescopic device 6 first
End and drawing are shaken device 5 and are hinged, and 7 first end of angle regulator and the hinge of workbench 4 top connect, and second end is shaken device 5 with drawing and is hinged,
The second end in telescopic device 6 is arranged in clamping device 8, so, start rotating device 3, telescopic device 6 is made to be rotated in place, starts
Telescopic device 6 and angle regulator 7, clamping device 8 is sent to Chinese date limb, is pressed from both sides Chinese date limb by clamping device 8
It holds, the setting of device 5 is shaken on 4 top of workbench due to drawing, so, start to draw and shake device 5, drawing shakes device 5 and drives clamping device 8
Action, Chinese date is shaken to cause drop, and can pick Chinese date, improves picking efficiency, saves manpower.
The structure of rotating device 3 is discussed in detail.
Rotating device 3 includes：Rotary shaft 3-1, the first rotary sleeve 3-2, seat ring 3-3, steering wheel 3-4 and the second rotary shaft
Cover 3-5.
First rotary sleeve 3-2 is fixed at 1 top of rack.Specifically, in the present embodiment, the first rotary sleeve
3-2 can be bolted setting at 1 top of rack, and in other embodiments, the first rotary sleeve 3-2 can pass through other sides
Formula such as pivot pin etc. is fixed at 1 top of rack.It is not limited in the present embodiment.
The bottom of seat ring 3-3 is fixedly installed the second rotary sleeve 3-5.Specifically, in the present embodiment, seat ring 3-3
Bottom can be bolted and be provided with the second rotary sleeve 3-5, in other embodiments, the bottom of seat ring 3-3 can lead to
It crosses other manner such as pivot pin etc. and is fixedly installed the second rotary sleeve 3-5.It is not limited in the present embodiment.The top of seat ring 3-3
Portion is fixedly connected with the bottom of workbench 4.Specifically, in the present embodiment, the top of seat ring 3-3 can pass through bolt and work
The bottom of platform 4 is fixedly connected, and in other embodiments, the top of seat ring 3-3 can such as pivot pin and work otherwise
The bottom of platform 4 is fixedly connected.It is not limited in the present embodiment.Rotary shaft 3-1 first ends are arranged in the first rotary sleeve 3-2
Interior, second end is arranged in the second rotary sleeve 3-5, and the edges seat ring 3-3 are socketed with gear ring.
Steering wheel 3-4 fixing ends are fixed at 1 top of rack.Specifically, in the present embodiment, steering wheel 3-4 is solid
Fixed end can be bolted setting at 1 top of rack, and in other embodiments, steering wheel 3-4 fixing ends can be by other
Mode such as pivot pin etc. is fixed at 1 top of rack.It is not limited in the present embodiment.The output end of steering wheel 3-4 is provided with
Spur gear, spur gear are engaged with gear ring.
Steering wheel 3-4 starts, and driving spur gear rotation, spur gear drives gear ring action, and then gear ring drives seat ring
3-3 is rotated, and seat ring 3-3 is rotated by rotary shaft 3-1 in the first rotary sleeve 3-2 and the second rotary sleeve 3-5, drives work
Platform 4 acts.
The structure drawn and shake device 5 is discussed in detail.
Referring to Fig. 3-4, drawing shakes device 5 and includes：Supporting rack 5-1, shell 5-2, first motor 5-3, the first crank 5-4,
Two crank 5-5 and push rod 5-6.
Supporting rack 5-1 is fixed at 4 top of workbench.Specifically, in the present embodiment, supporting rack 5-1 can pass through
Bolt is fixed at 4 top of workbench, and in other embodiments, supporting rack 5-1 can such as pivot pin be solid otherwise
Fixed setting is at 4 top of workbench.It is not limited in the present embodiment.
Shell 5-2 is fixedly connected with supporting rack 5-1.Specifically, in the present embodiment, it is provided with axis pin on shell 5-2
Seat 5-9, axis pin are fixedly connected across axis pin base 5-9 with supporting rack 5-1.
First motor 5-3 fixing ends are fixed on the first side of shell.Specifically, in the present embodiment, first
Motor 5-3 fixing ends, which can be bolted, to be arranged on the first side of shell 5-2, in other embodiments, first motor
5-3 fixing ends can such as pivot pin be fixed on the first side of shell 5-2 otherwise.It does not limit in the present embodiment
System.
First crank 5-4 is arranged in the first end of shell 5-2, the output end of first motor 5-3 across shell 5-2 the
It is fixedly connected in the middle part of side and the first crank 5-4.
Second crank 5-5 is arranged in the first end of shell 5-2, the second side at the middle part and shell 5-2 of the second crank 5-5
Flexible connection.Specifically, in the present embodiment, bearing holder (housing, cover) is set in the second side of shell 5-1, is set by the first end of bearing
It sets in bearing holder (housing, cover), second end is connect with the middle part of the second crank 5-5.The second side at the middle part and shell 5-2 of the second crank 5-5
Junction and the output end of first motor 5-3 to pass through shell 5-2 to locate corresponding, the of the first side of shell 5-2 and shell 5-2
Two sides are opposite.
Wherein, it is threadedly coupled Top fastening screw in the first crank 5-4 and the second crank 5-5, by precession or screws out top
Tight screw adjusts the telescopic rod 6-1 periodicity forward strokes of telescopic device 6.
Push rod 5-6 first ends are arranged between the top of the first crank 5-4 and the top of the second crank 5-5, push rod 5-6's
First end and the top of the first crank 5-4 and the top of the second crank 5-5 are hinged, and push rod 5-6 and the second end of telescopic device 6 are cut with scissors
It connects.
First crank 5-4 and the second crank 5-5 is pendulum crank.
The first sliding sleeve 5-7 is fixedly installed in the second end of shell 5-2.Specifically, in the present embodiment, shell 5-2
Second end in can be bolted and be provided with the first sliding sleeve 5-7.In other embodiments, in the second end of shell 5-2
The first sliding sleeve 5-7 can be fixedly installed by such as pivot pin otherwise.It is not limited in the present embodiment.First sliding sleeve 5-7
Ensure the direction of action of the telescopic rod 6-1 of telescopic device 6.The telescopic rod 6-1 of telescopic device 6 sequentially passes through the second of shell 5-2
End, the first sliding sleeve are connect with the second end of the push rod.
Start first motor 5-3, drive the first crank 5-4 actions, then drives the second crank 5-5 actions, drive push rod
5-6 is acted, and the telescopic rod 6-1 of telescopic device 6 is made to carry out reciprocating action.
Device 5 is shaken in drawing：Receive jujube rack 9.
It is hinged to receive jujube rack 9 and shell 5-2.Specifically, in the present embodiment, the setting of shell 5-2 on both sides of the middle is hinged
Bearing 5-8 passes through hinged-support 5-8 to be hinged with jujube rack 9 is received by axis pin.The Chinese date fallen is collected by receiving jujube rack 9.
The structure of telescopic device 6 is discussed in detail.
Referring to Fig. 5-6, the telescopic device 6 includes：Telescopic rod thread bush 6-1, telescopic rod 6-2 and the second motor 6-3.
Telescopic rod thread bush 6-1 first ends are shaken device 5 with drawing and are hinged.
Telescopic rod 6-2 offers screw thread, and telescopic rod 6-2 first ends are threadedly coupled with telescopic rod thread bush 6-1, and second end is set
It sets in flexible bearing holder (housing, cover) 6-4, the second end of telescopic rod 6-1 is provided with first bevel gear 6-5.
Second motor 6-3 fixing ends are fixed on flexible bearing holder (housing, cover) 6-4.Specifically, in the present embodiment, second
Motor 6-3 can be bolted end and be fixed on flexible bearing holder (housing, cover) 6-4, in other embodiments, the second motor 6-3
It can such as pivot pin fixing end be fixed on flexible bearing holder (housing, cover) 6-4 otherwise.It is not limited in the present embodiment.It stretches
Contracting bearing holder (housing, cover) 6-5 is connect with clamping device 8, and the output end of the second motor 6-3 passes through flexible bearing holder (housing, cover) 6-4, the second motor 6-4's
Second bevel gear 6-6 is provided on output end, second bevel gear 6-6 is engaged with first bevel gear 6-5.
Start the second motor 6-2, the second motor 6-2 and first bevel gear 6-5 rotations are driven by second bevel gear 6-6, the
One bevel gear 6-5 drives telescopic rod 6-2 actions, telescopic rod 6-2 to be rotated in telescopic rod thread bush 6-1, telescopic rod 6-2 with it is flexible
Bar thread bush 6-1 forms ball screw framework, and telescopic rod 6-2 generates relative displacement in telescopic rod thread bush 6-1, then drives
Flexible bearing holder (housing, cover) 6-4 actions, the bearing holder (housing, cover) 6-4 that stretches drive clamping device 8 to reach suitable position.
Telescopic device 6 further includes：Rotation-preventing mechanism 10.
10 first end of rotation-preventing mechanism is connect with telescopic rod thread bush 6-1, and second end is connect with flexible bearing holder (housing, cover) 6-4, can be with
Prevent telescopic rod thread bush 6-1 and flexible bearing holder (housing, cover) 6-4 from rotating.
Rotation-preventing mechanism 10 includes：Fixing sleeve 10-1, sliding sleeve 10-2 and anti-bull stick 10-3.
Fixing sleeve 10-1 is fixedly connected with flexible bearing holder (housing, cover) 6-4.Specifically, in the present embodiment, fixing sleeve 10-1 can
It is fixedly connected with flexible bearing holder (housing, cover) 6-4 by bolt, in other embodiments, fixing sleeve 10-1 can be otherwise such as axis
Pin etc. is fixedly connected with flexible bearing holder (housing, cover) 6-4.It is not limited in the present embodiment.
Sliding sleeve 10-2 is fixedly connected with telescopic rod thread bush 6-1.Specifically, in the present embodiment, sliding sleeve 10-2 can lead to
It crosses bolt to be fixedly connected with telescopic rod thread bush 6-1, in other embodiments, sliding sleeve 10-2 can be otherwise such as pivot pin
It is fixedly connected Deng with telescopic rod thread bush 6-1.It is not limited in the present embodiment.
Anti-bull stick 10-3 is fixed at across sliding sleeve 10-2 in fixing sleeve 10-1.Specifically, in the present embodiment, prevent
Bull stick 10-3 passes through sliding sleeve 10-2 that can be bolted setting in fixing sleeve 10-1, in other embodiments, anti-bull stick
10-3 passes through sliding sleeve 10-2 that can such as pivot pin be fixed in fixing sleeve 10-1 otherwise.It does not do in the present embodiment
Limitation.
The structure of angle regulator 7 is discussed in detail.
Referring to Fig. 9-11, angle regulator 7 includes：Rod set 7-1, adjusting rod 7-2, third motor 7-3, bearing holder (housing, cover) is adjusted
7-4, third hand tap gear 7-5 and the 4th bevel gear 7-6.
Rod set 7-1 and 4 top of workbench are hinged, and screw thread is offered in rod set 7-1.
Wherein, it is further fixedly arranged on rod set 7-1 and only stops bar 7-8, only stopped bar 7-8 settings and receiving above jujube rack 9, avoid
Receiving Chinese date in jujube rack 9 excessively causes to overturn.
Adjusting rod 7-2 offers screw thread, and the first end of adjusting rod 7-2 is threadedly coupled with rod set 7-1, and second end setting is being adjusted
In nodal axisn bearing sleeve 7-4, the second end of adjusting rod 7-2 is fixedly installed third hand tap gear 7-5.Specifically, in the present embodiment,
The second end of adjusting rod 7-2, which can be bolted, is provided with third hand tap gear 7-5, in other embodiments, adjusting rod 7-2
Second end can be fixedly installed third hand tap gear 7-5 by such as pivot pin otherwise.It is not limited in the present embodiment.It adjusts
Nodal axisn bearing sleeve 7-4 shakes device 5 with drawing and is hinged.
Third motor 7-3 fixing ends, which are fixed at, to be adjusted on bearing holder (housing, cover) 7-4.Specifically, in the present embodiment, third
Motor 7-3 can be bolted end and be fixed on adjusting bearing holder (housing, cover) 7-4, in other embodiments, third motor 7-3
Fixing end can such as pivot pin be fixed on adjusting bearing holder (housing, cover) 7-4 otherwise.It is not limited in the present embodiment.The
The output end of three motor 7-3, which passes through, adjusts bearing holder (housing, cover) 7-4, and the 4th bevel gear 7-6 is provided on the output end of third motor 7-3,
4th bevel gear 7-6 is engaged with third hand tap gear 7-5 wheels.
Start third motor 7-3, third motor 7-3 and third hand tap gear 7-5 rotations are driven by the 4th bevel gear 7-6, the
Third hand tap gear 7-5 drives adjusting rod 7-2 actions, adjusting rod 7-2 to be rotated in rod set 7-1, and adjusting rod 7-22 is formed with rod set 7-1
Ball screw framework, adjusting rod 7-2 generate relative displacement in rod set 7-1, then drive and adjust bearing holder (housing, cover) 7-4 actions, adjust
Bearing holder (housing, cover) 7-4, which drives to draw, shakes the arrival suitable position of device 5.
Angle regulator 7 further includes：Stroke limiting mechanism 7-7.
Stroke limiting mechanism 7-7 first ends are connect with rod set 7-1, and second end is connect with bearing holder (housing, cover) 7-4 is adjusted, for preventing
It is detached from rod set 7-1 when adjusting rod 7-2 elongations.
Stroke limiting mechanism 7-7 includes：Limited block 7-71, stop collar 7-72, limiting plate 7-73 and gag lever post 7-74.
Limited block 7-71 is fixedly connected with bearing holder (housing, cover) 7-4 is adjusted.Specifically, in the present embodiment, limited block 7-71 can
It is fixedly connected by bolt with bearing holder (housing, cover) 7-4 is adjusted, in other embodiments, limited block 7-71 can be otherwise such as axis
Pin etc. is fixedly connected with bearing holder (housing, cover) 7-4 is adjusted.It is not limited in the present embodiment.
Stop collar 7-72 is fixedly connected with rod set 7-1.Specifically, in the present embodiment, stop collar 7-72 can pass through spiral shell
Bolt is fixedly connected with rod set 7-1, and in other embodiments, stop collar 7-72 can such as pivot pin and rod set 7- otherwise
1 is fixedly connected.It is not limited in the present embodiment.
The first end of gag lever post 7-73 is fixedly connected across stop collar 7-72 with limited block 7-71.Specifically, in this implementation
In mode, the first end of gag lever post 7-73 can be fixedly connected by bolt with limited block 7-71 across stop collar 7-72, other
In embodiment, the first end of gag lever post 7-73 passes through stop collar 7-72 can such as pivot pin and limited block 7-71 otherwise
It is fixedly connected.It is not limited in the present embodiment.The second end fixed setting limiting plate 7-74 of gag lever post 7-73.Specifically, exist
In present embodiment, the second end of gag lever post 7-73 can be bolted setting limiting plate 7-74, in other embodiments,
The second end of gag lever post 7-73 can such as limiting plate 7-74 be fixedly installed in pivot pin otherwise.It does not limit in the present embodiment
System.
The size of limiting plate 7-74 is more than the size of stop collar 7-72.
The structure of clamping device 8 is discussed in detail.
Referring to Fig. 7-8, clamping device 8 includes：Pawl shell 8-1, the first gripper 8-2, the second gripper 8-3 and the 4th motor
8-4。
Pawl shell 8-1 is fixed at the second end of telescopic device 6.Specifically, in the present embodiment, pawl shell 8-1 can lead to
The second end that bolt is fixed at telescopic device 6 is crossed, in other embodiments, pawl shell 8-1 can be otherwise such as axis
Pin etc. is fixed at the second end of telescopic device 6.It is not limited in the present embodiment.
First gripper 8-2 first ends are fixedly connected with pawl shell 8-1.Specifically, in the present embodiment, the first gripper
8-2 first ends can be fixedly connected by bolt with pawl shell 8-1, and in other embodiments, the first gripper 8-2 first ends can lead to
Other manner such as pivot pin etc. is crossed to be fixedly connected with pawl shell 8-1.It is not limited in the present embodiment.
Second gripper 8-3 first ends are hinged with pawl shell 8-1, the second end of the first gripper 8-2 and the second gripper 8-3
Second end it is opposite, the second end of the second gripper 8-3 is provided with turbine 8-5.
4th motor 8-4 fixing ends are fixed on pawl shell 8-1.Specifically, in the present embodiment, the 4th motor 8-
4, which can be bolted end, is fixed on pawl shell 8-1, and in other embodiments, the 4th motor 8-4 fixing ends can pass through
Other manner such as pivot pin is fixed on pawl shell 8-1.It is not limited in the present embodiment.The output end of 4th motor 8-4
Across pawl shell 8-1, worm screw 8-6 is provided on the output end of third motor 8-4, worm screw 8-6 is engaged with turbine 8-5.
Start the 4th motor 8-4, the 4th motor 8-4 drives turbine 8-5 to rotate by worm screw 8-6, and turbine 8-5 drives second
Gripper 8-3 is acted on pawl shell 8-1, adjusts the aperture between the first gripper 8-2 and the second gripper 8-3, ensures first
Gripper 8-2 and the second gripper 8-3 can clamp Chinese date limb.
The embodiment of the present invention is introduced in order to become apparent from, is introduced from the application method of the embodiment of the present invention below.
Rack 1 and traveling wheel 2 are triangle, ensure that balance and stability.Rack 1 is pushed, 2 row of traveling wheel is made
It walks, reaches suitable position.Steering wheel 3-4 and seat ring 3-3 are arranged at 1 top of rack, the first rotary sleeve 3-2 fixations are set
It sets at 1 top of rack, the bottom of seat ring 3-3 is fixedly installed the second rotary sleeve 3-5, top and the workbench 4 of seat ring 3-3
Bottom is fixedly connected.Steering wheel 3-4 fixing ends are fixed at 1 top of rack.
Start steering wheel 3-4, driving spur gear rotation, spur gear drives gear ring action, and then gear ring drives seat ring
3-3 is rotated, and seat ring 3-3 is rotated by rotary shaft 3-1 in the first rotary sleeve 3-2 and the second rotary sleeve 3-5, drives work
Platform 4 acts.
Rod set 7-1 and 4 top of workbench is hinged, screw thread is offered in rod set 7-1, adjusting rod 7-2 offers screw thread, adjusts
The first end of pole 7-2 is threadedly coupled with rod set 7-1, and second end setting is being adjusted in bearing holder (housing, cover) 7-4, and the second of adjusting rod 7-2
End is fixedly installed third hand tap gear 7-5.It adjusts bearing holder (housing, cover) 7-4 and draws the shell 5-2 for shaking device 5 hinged.Third motor 7-3 is solid
Fixed end, which is fixed at, to be adjusted on bearing holder (housing, cover) 7-4.
Start third motor 7-3, third motor 7-3 and third hand tap gear 7-5 rotations are driven by the 4th bevel gear 7-6, the
Third hand tap gear 7-5 drives adjusting rod 7-2 actions, adjusting rod 7-2 to be rotated in rod set 7-1, and adjusting rod 7-22 is formed with rod set 7-1
Ball screw framework, adjusting rod 7-2 generate relative displacement in rod set 7-1, then drive and adjust bearing holder (housing, cover) 7-4 actions, adjust
Bearing holder (housing, cover) 7-4, which drives, draws the shell 5-2 for shaking device 5 to reach suitable angle.
Telescopic rod thread bush 6-1 first ends are hinged with the push rod 5-6 for shaking device 5 is drawn.Telescopic rod 6-2 offers screw thread, stretches
Contracting bar 6-2 first ends are threadedly coupled with telescopic rod thread bush 6-1, and second end is arranged in flexible bearing holder (housing, cover) 6-4, telescopic rod 6-1
Second end be provided with first bevel gear 6-5.Second motor 6-3 fixing ends are fixed on flexible bearing holder (housing, cover) 6-4, telescopic shaft
Bearing sleeve 6-5 is fixedly connected with the pawl shell 8-1 of clamping device 8, and the output end of the second motor 6-3 passes through flexible bearing holder (housing, cover) 6-4, and second
Second bevel gear 6-6 is provided on the output end of motor 6-4, second bevel gear 6-6 is engaged with first bevel gear 6-5.
Start the second motor 6-2, the second motor 6-2 and first bevel gear 6-5 rotations are driven by second bevel gear 6-6, the
One bevel gear 6-5 drives telescopic rod 6-2 actions, telescopic rod 6-2 to be rotated in telescopic rod thread bush 6-1, telescopic rod 6-2 with it is flexible
Bar thread bush 6-1 forms ball screw framework, and telescopic rod 6-2 generates relative displacement in telescopic rod thread bush 6-1, then drives
Flexible bearing holder (housing, cover) 6-4 actions, flexible bearing holder (housing, cover) 6-4 drive the first gripper 8-2 and the second gripper 8-3 of clamping device 8 to arrive
Up to proper height.
Pawl shell 8-1 is fixed at the flexible bearing holder (housing, cover) 6-4 second ends of telescopic device 6.First gripper 8-2 first ends with
Pawl shell 8-1 is fixedly connected, and the second gripper 8-3 first ends are hinged with pawl shell 8-1, the second end and second of the first gripper 8-2
The second end of gripper 8-3 is opposite, and the second end of the second gripper 8-3 is provided with turbine 8-5.4th motor 8-4 fixing ends are solid
Fixed to be arranged on pawl shell 8-1, the output end of the 4th motor 8-4 passes through pawl shell 8-1, is provided on the output end of third motor 8-4
Worm screw 8-6, worm screw 8-6 are engaged with turbine 8-5.
Start the 4th motor 8-4, the 4th motor 8-4 drives turbine 8-5 to rotate by worm screw 8-6, and turbine 8-5 drives second
Gripper 8-3 is acted on pawl shell 8-1, adjusts the aperture between the first gripper 8-2 and the second gripper 8-3, ensures first
Gripper 8-2 and the second gripper 8-3 can clamp Chinese date limb.
Supporting rack 5-1 is fixed at 4 top of workbench, shell 5-2 is fixedly connected with supporting rack 5-1, first motor
5-3 fixing ends are fixed on the first side of shell.First crank 5-4 is arranged in the first end of shell 5-2, first motor
The output end of 5-3 is fixedly connected in the middle part of the first side of shell 5-2 and the first crank 5-4, and the second crank 5-5 is arranged in shell
In the first end of body 5-2, the middle part of the second crank 5-5 is flexibly connected with the second side of shell 5-2.The middle part of second crank 5-5
Passed through with the output end of the junction of the second side of shell 5-2 and first motor 5-3 it is corresponding at shell 5-2, the of shell 5-2
Side is opposite with the second side of shell 5-2.Push rod 5-6 first ends are arranged at the top of the first crank 5-4 with the second crank 5-5's
Between top, the top of the first end of push rod 5-6 and the first crank 5-4 are hinged with the top of the second crank 5-5, push rod 5-6 with
The telescopic rod thread bush 6-1 second ends of telescopic device 6 are hinged.
Start first motor 5-3, drives the first crank 5-4 actions, the second crank 5-5 is then driven to be moved in shell 5-2
Make, push rod 5-6 actions, push rod 5-6 is driven to pull the telescopic rod thread bush 6-1 of telescopic device 6, make the telescopic rod of telescopic device 6
6-1 carries out reciprocating action, then shakes the Chinese date limb that the first gripper 8-2 and the second gripper 8-3 are clamped, Chinese date is shaken
It falls on and receives jujube rack 9, Chinese date can be picked, improve picking efficiency, save manpower.
It should be noted last that the above specific implementation mode is merely illustrative of the technical solution of the present invention and unrestricted,
Although being described the invention in detail with reference to example, it will be understood by those of ordinary skill in the art that, it can be to the present invention
Technical solution be modified or replaced equivalently, without departing from the spirit of the technical scheme of the invention and range, should all cover
In the scope of the claims of the present invention.
Claims (10)
1. a kind of picking machine, which is characterized in that including：
Rack；
Traveling wheel is arranged in the rack bottom；
Rotating device is arranged in the bench top；
Workbench, bottom are connect with the rotating device；
Device is shaken in drawing, is arranged on the bench-top；
Telescopic device, first end are shaken device with the drawing and are hinged；
It is connect at the top of angle regulator, first end and the work table-hinges, second end is shaken device with the drawing and is hinged；
The second end in the telescopic device is arranged in clamping device.
2. picking machine according to claim 1, which is characterized in that the rotating device includes：
Rotary shaft；
First rotary sleeve is arranged in the bench top；
Seat ring, bottom are provided with the second rotary sleeve, and top is connect with the bottom of the workbench, and the rotary shaft first end is set
It sets in first rotary sleeve, second end is arranged in second rotary sleeve, and the seat ring edge is socketed with gear
Circle；
Steering wheel, fixing end are arranged in the bench top, and the output end of the steering wheel is provided with spur gear, the spur gear
It is engaged with the gear ring.
3. picking machine according to claim 1, which is characterized in that the drawing shakes device and includes：
Supporting rack is arranged in the bench-top；
Shell is connect with support frame as described above；
First motor, fixing end are arranged on the first side of the shell；
First crank is arranged in the first end of the shell, and the output end of the first motor passes through the first of the shell
Side is connect with the middle part of first crank；
Second crank is arranged in the first end of the shell, and the middle part of second crank is lived with the second side of the shell
Dynamic connection, the middle part of second crank is passed through with the junction of the second side of the shell and the output end of the first motor
Corresponding at the shell, the first side of the shell is opposite with the second side of the shell；
Push rod, first end are arranged between the top of first crank and the top of second crank, and the of the push rod
One end and the top of first crank and the top of second crank are hinged, the push rod and the second of the telescopic device
End is hinged.
4. picking machine according to claim 3, it is characterised in that：
First crank and the second crank are pendulum crank.
5. picking machine according to claim 3, it is characterised in that：
The first sliding sleeve is provided in the second end of the shell, the telescopic device sequentially passes through the second end of the shell,
One sliding sleeve is connect with the second end of the push rod.
6. picking machine according to claim 3, which is characterized in that the drawing shakes device and further includes：
Jujube rack is received, is connect with the shell.
7. picking machine according to claim 1, which is characterized in that the telescopic device includes：
Telescopic rod thread bush, first end are shaken device with the drawing and are hinged；
Telescopic rod offers screw thread, and the telescopic rod first end is threadedly coupled with the telescopic rod thread bush, and second end setting exists
In flexible bearing holder (housing, cover), the second end of the telescopic rod is provided with first bevel gear；
Second motor, fixing end are arranged on the flexible bearing holder (housing, cover), and the output end of second motor passes through the telescopic shaft
Bearing sleeve, the flexible bearing holder (housing, cover) are connect with the clamping device, and second bevel gear is provided on the output end of second motor,
The second bevel gear is engaged with the first bevel gear.
8. picking machine according to claim 7, which is characterized in that the telescopic device further includes：
Rotation-preventing mechanism, first end are connect with the telescopic rod thread bush, and second end is connect with the flexible bearing holder (housing, cover)；
The rotation-preventing mechanism includes：Fixing sleeve, sliding sleeve and anti-bull stick；
The fixing sleeve is fixedly connected with the flexible bearing holder (housing, cover)；
The sliding sleeve is fixedly connected with the telescopic rod thread bush；
The anti-bull stick is fixed at across the sliding sleeve in the fixing sleeve.
9. picking machine according to claim 1, which is characterized in that the angle regulator includes：
Rod set, it is hinged with the bench-top, offer screw thread in the rod set；
Adjusting rod offers screw thread, and the first end of the adjusting rod is threadedly coupled with the rod set, and second end is arranged in adjustment axis
In bearing sleeve, the second end of the adjusting rod is provided with third hand tap gear, and the adjusting bearing holder (housing, cover) shakes device with the drawing and is hinged；
Third motor, fixing end are arranged on the adjusting bearing holder (housing, cover), and the output end of the third motor passes through the adjustment axis
Bearing sleeve is provided with the 4th bevel gear on the output end of the third motor, and the 4th bevel gear nibbles with the third hand tap gear
It closes；
The angle regulator further includes：Stroke limiting mechanism；
Stroke limiting mechanism first end is connect with the rod set, and second end is connect with the adjusting bearing holder (housing, cover)；
The stroke limiting mechanism includes：Limited block, stop collar, limiting plate and gag lever post；
The limited block is connect with the adjusting bearing holder (housing, cover)；
The stop collar is connect with the rod set；
The first end of the gag lever post is connect across the stop collar with the limited block, and institute is arranged in the second end of the gag lever post
State limiting plate.
10. picking machine according to claim 1, which is characterized in that the clamping device includes：
The second end in the telescopic device is arranged in pawl shell；
First gripper, first end are fixedly connected with the pawl shell；
Second gripper, first end is hinged with the pawl shell, the second end of first gripper and second gripper
Second end is opposite, and the second end of second gripper is provided with turbine；
4th motor, fixing end are arranged on the pawl shell, and the output end of the 4th motor passes through the pawl shell, the third
Worm screw is provided on the output end of motor, the worm screw engages with the turbine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810710071.9A CN108738710B (en) | 2018-07-02 | 2018-07-02 | Picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810710071.9A CN108738710B (en) | 2018-07-02 | 2018-07-02 | Picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108738710A true CN108738710A (en) | 2018-11-06 |
| CN108738710B CN108738710B (en) | 2023-04-07 |
Family
ID=63975414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810710071.9A Active CN108738710B (en) | 2018-07-02 | 2018-07-02 | Picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108738710B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109479510A (en) * | 2018-12-27 | 2019-03-19 | 湖南农业大学 | Jujube device is adopted based on parallelogram carry arm telescoping mechanism |
| CN109618668A (en) * | 2018-12-27 | 2019-04-16 | 湖南农业大学 | A kind of telescopic control method for adopting jujube device of carry arm |
| CN110679289A (en) * | 2019-11-15 | 2020-01-14 | 河南大学 | Be used for automatic intelligent robot of picking of hawthorn |
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| JPH1042666A (en) * | 1996-07-30 | 1998-02-17 | Nikkari Co Ltd | Vibrational fruit gatherer |
| CN103039199A (en) * | 2013-01-09 | 2013-04-17 | 陕西科技大学 | Portable walnut picker |
| CN103947378A (en) * | 2014-04-08 | 2014-07-30 | 浙江理工大学 | Variable-frequency variable-amplitude vibrating type fruit picking machine |
| KR20160070407A (en) * | 2014-12-10 | 2016-06-20 | 대한민국(산림청 국립산림과학원장) | Indirect vibratory type tree fruit harvester |
| CN107690965A (en) * | 2017-08-26 | 2018-02-16 | 沈佩军 | A kind of orchard walnut mechanization recovering device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1042666A (en) * | 1996-07-30 | 1998-02-17 | Nikkari Co Ltd | Vibrational fruit gatherer |
| CN103039199A (en) * | 2013-01-09 | 2013-04-17 | 陕西科技大学 | Portable walnut picker |
| CN103947378A (en) * | 2014-04-08 | 2014-07-30 | 浙江理工大学 | Variable-frequency variable-amplitude vibrating type fruit picking machine |
| KR20160070407A (en) * | 2014-12-10 | 2016-06-20 | 대한민국(산림청 국립산림과학원장) | Indirect vibratory type tree fruit harvester |
| CN107690965A (en) * | 2017-08-26 | 2018-02-16 | 沈佩军 | A kind of orchard walnut mechanization recovering device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109479510A (en) * | 2018-12-27 | 2019-03-19 | 湖南农业大学 | Jujube device is adopted based on parallelogram carry arm telescoping mechanism |
| CN109618668A (en) * | 2018-12-27 | 2019-04-16 | 湖南农业大学 | A kind of telescopic control method for adopting jujube device of carry arm |
| CN109618668B (en) * | 2018-12-27 | 2020-03-03 | 湖南农业大学 | Control method of arm-lifting telescopic jujube picking device |
| CN109479510B (en) * | 2018-12-27 | 2020-03-03 | 湖南农业大学 | Jujube picking device based on parallelogram arm lifting telescopic mechanism |
| CN110679289A (en) * | 2019-11-15 | 2020-01-14 | 河南大学 | Be used for automatic intelligent robot of picking of hawthorn |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108738710B (en) | 2023-04-07 |
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