CN108848933A - A kind of high fruit picking vehicle - Google Patents
A kind of high fruit picking vehicle Download PDFInfo
- Publication number
- CN108848933A CN108848933A CN201810657078.9A CN201810657078A CN108848933A CN 108848933 A CN108848933 A CN 108848933A CN 201810657078 A CN201810657078 A CN 201810657078A CN 108848933 A CN108848933 A CN 108848933A
- Authority
- CN
- China
- Prior art keywords
- fruit
- picking
- feed track
- crawler belt
- transmission wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention relates to a kind of high fruit picking vehicles, the structure includes gearshift, collection device and picker, gearshift includes crawler belt, transmission wheel, switch and motor, crawler belt and ground face contact, transmission wheel is mounted in the cyclic annular section of crawler belt formation, the connection of the inner surface of transmission wheel and crawler belt, motor are connected in transmission wheel in a manner of transmission wheel can be driven to rotate, and switch is mounted on motor；Collection device is a collection box, and collection box is mounted on above crawler belt；Picker includes visual sensor, picking claw, telescopic rod and feed track, and one end of feed track is connected in collection box, and picking claw is connected to the other end of feed track by telescopic rod, and visual sensor is mounted on inside picking claw.The present invention is small in size, can easily enter in orchard and pick fruit, can reduce picking process to the extent of the destruction of fruit.
Description
Technical field：
The present invention relates to agricultural tools field, specifically a kind of high fruit picking vehicle.
Background technique：
High fruit picking is one of key areas of agricultural research, and the fruit trees such as peach, pear grow relatively high big, and picking is got up not
Convenient, what is generallyd use now is all to borrow ladder manually to pick up, and such picking method working efficiency is low and also can prestige
There are some high fruit picking vehicles for such situation on the market in the safety of side of body picking personnel, promotes high fruit picking field
Automation, but these high fruit picking vehicles is sufficiently bulky, and when planting fruit trees are at mountainous region, picking vehicle is difficult to drive into orchard, and
And be all directly to throw into compartment after mechanical arm takes fruit when picking fruit, fruit is natively grown on height tree, therefore
There is a certain distance from car bottom, directly abandons and be easy to smash fruit.
Summary of the invention：
The purpose of the invention is to overcome the shortcomings of the above high fruit picking vehicle, a kind of high fruit picking vehicle is provided.
The purpose of the present invention is achieved through the following technical solutions：A kind of high fruit picking vehicle, including gearshift, collection dress
It sets and picker；
Gearshift includes crawler belt, transmission wheel, switch and motor, and crawler belt and ground face contact, transmission wheel are mounted on crawler belt formation
In cyclic annular section, the inner surface of transmission wheel and crawler belt is connected, and motor is connected to transmission wheel in a manner of transmission wheel can be driven to rotate
On, switch is mounted on motor；
Collection device is a collection box, and collection box is mounted on above crawler belt；
Picker includes visual sensor, picking claw, telescopic rod and feed track, and one end of feed track is connected in collection box,
Picking claw is connected to the other end of feed track by telescopic rod, and visual sensor is mounted on inside picking claw.
Further, the port that feed track is connect with collection box has sensor chip, the size and feed track of sensor chip
The size of port is identical.
Further, feed track is divided into first pipe and second pipe, and first pipe is connect with picking claw, second pipe with
Collection box connection, first pipe and second pipe bending connect.
Further, picking claw front end has the sawtooth that can saw fruit stalk.
Further, the internal diameter of feed track is bigger than the size of fruit.
Beneficial effects of the present invention：The present invention overcomes original high fruit picking vehicle there are the shortcomings that, simplify high fruit and adopt
The structure for plucking vehicle reduces much compared to traditional high its volume of fruit picking vehicle, is confirmed existing for fruit by visual sensor
Position is simultaneously picked, it can be achieved that picking the full-automation of fruit, and picking claw front end is equipped with the sawtooth that can saw fruit stalk
The direct site of action of picking claw is fruit stalk rather than fruit, helps to protect fruit, the setting of feed track plays buffering
Effect, slows down the speed that collection box is fallen under fruit, to prevent fruit from being smashed, gearshift takes crawler type advance side
Formula, being capable of smooth-ride even if rugged mountainous region.
Detailed description of the invention：
Fig. 1 is a kind of structural schematic diagram of high fruit picking vehicle of the present invention.
Figure label：1- gearshift, 2- collection device, 3- picker, 4- sensor chip, 11- crawler belt, 12- transmission
Wheel, 13- switch, 21- collection box, 31- visual sensor, 32- picking claw, 33- telescopic rod, 34- feed track, 341- first pipe
Road, 342- second pipe.
Specific embodiment：
In order to deepen the understanding of the present invention, below in conjunction with embodiment and attached drawing, the invention will be further described, the implementation
Example for explaining only the invention, is not intended to limit the scope of the present invention..
A kind of a kind of embodiment of high fruit picking vehicle of the invention as shown in figure 1, including gearshift 1, collection device 2
With picker 3.
Gearshift 1 includes crawler belt 11, transmission wheel 12, switch 13 and motor 14, crawler belt 11 and ground face contact, transmission wheel 12
It is mounted in the cyclic annular section of the formation of crawler belt 11, transmission wheel 12 is connect with the inner surface of crawler belt 11, and motor 14 is can drive transmission
The mode of 12 rotation of wheel is connected in transmission wheel 12, and switch 13 is mounted on motor 14, and caterpillar gearshift 1 is used to make
High fruit picking vehicle can more hug the road.
Collection device 2 is a collection box 21, and collection box 21 is mounted on 11 top of crawler belt, and collection box 21 is used to fill fruit.
Picker 3 includes visual sensor 31, picking claw 32, telescopic rod 33 and feed track 34, one end of feed track 34
It is connected in collection box 21, picking claw 32 is connected to the other end of feed track 34 by telescopic rod 33, and visual sensor 31 is installed
Inside picking claw 32, visual sensor 31 positions fruit position, and picking claw 32 is responsible for picking work, and picking fruit is complete
It is fallen into collection box 21 after finishing by feed track 34.
The port that feed track 34 is connect with collection box 21 has sensor chip 4, the size of sensor chip 4 and 34 end of feed track
The size of mouth is identical, and sensor chip 4 is typically in closed state, and when experiencing gravity, sensor chip 4 can be opened logical to fruit
It crosses, the setting of sensor chip 4 is to slow down the speed for falling on collection box 21 under fruit.
Feed track 34 divides for first pipe 341 and second pipe 342, and first pipe 341 is connect with picking claw 32, the second pipe
Road 342 is connect with collection box 21, and first pipe 341 and the bending of second pipe 342 connect, and fruit is needed in dropping process from the
One pipeline 341 turns in second pipe 342, this process can slow down fruit decrease speed.
32 front end of picking claw has the sawtooth that can saw fruit stalk, and to fruit, directly crawl is not conducive to protect picking claw 32
Phylactocarp is real.
The internal diameter of feed track 34 is bigger than the size of fruit, and fruit needs can pass through feed track 34.
Motor 14 drives transmission wheel 12 to rotate, and transmission wheel 12 rotates meeting so that crawler belt 11 rotates to gearshift 1 forward
It is mobile, the stationarity of high fruit picking vehicle traveling can be increased by 11 movement of crawler belt, visual sensor 31 carries out the position of fruit
Positioning, after the completion of positioning, gearshift 1 suspends, and picking claw 32 is to picking fruit, and fruit is put by picking claw 32 after picking
In feed track 34, fruit can enter collection box 21 along feed track 34, and fruit passes sequentially through first pipe 341 and second pipe
342, since then fruit speed after turning round into second pipe 342 has first pipe 341 with the bending of second pipe 342 connection
Slowed down, sensor chip 4 is typically in closed state, can open when experiencing gravity and fruit is allowed to pass through, and sensor chip 4 can be given
Fruit provides a cushion effect, and decrease speed when preventing fruit from falling to collection box 21 is too fast, to protect fruit.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, above-described embodiment and explanation
It is merely illustrated the principles of the invention described in book, without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (5)
1. a kind of high fruit picking vehicle, it is characterised in that：Including gearshift（1）, collection device（2）And picker（3）；
Institute's displacement apparatus（1）Including crawler belt（11）, transmission wheel（12）, switch（13）And motor（14）, the crawler belt（11）With
Ground face contact, the transmission wheel（12）It is mounted on the crawler belt（11）In the cyclic annular section of formation, the transmission wheel（12）With institute
State crawler belt（11）Inner surface connection, the motor（14）The transmission wheel can be driven（12）The mode of rotation is connected to described
Transmission wheel（12）On, the switch（13）It is mounted on the motor（14）On；
The collection device（2）It is a collection box（21）, the collection box（21）It is mounted on the crawler belt（11) top；
The picker (3) includes visual sensor (31), picking claw (32), telescopic rod (33) and feed track (34), described
One end of feed track (34) is connected on the collection box (21), and the picking claw (32) is connected to by the telescopic rod (33)
The other end of the feed track (34), it is internal that the visual sensor (31) is mounted on the picking claw (32).
2. a kind of high fruit picking vehicle according to claim 1, it is characterised in that：The feed track (34) and the collection box
(21) port connected has sensor chip (4), the size and the size phase of the feed track port of the sensor chip (4)
Together.
3. a kind of high fruit picking vehicle according to claim 1, it is characterised in that：The feed track (34) is divided into first pipe
(341) with second pipe (342), the first pipe（341）With the picking claw（32）Connection, the second pipe（342）
With the collection box（21）Connection, the first pipe（341）With the second pipe（342）Bending connection.
4. a kind of high fruit picking vehicle according to claim 1, it is characterised in that：The picking claw（32）Front end has can
Saw the sawtooth of dynamic fruit stalk.
5. a kind of high fruit picking vehicle according to claim 1, it is characterised in that：The feed track（34）Internal diameter compare fruit
Size it is big.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657078.9A CN108848933A (en) | 2018-06-25 | 2018-06-25 | A kind of high fruit picking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657078.9A CN108848933A (en) | 2018-06-25 | 2018-06-25 | A kind of high fruit picking vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108848933A true CN108848933A (en) | 2018-11-23 |
Family
ID=64294493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810657078.9A Withdrawn CN108848933A (en) | 2018-06-25 | 2018-06-25 | A kind of high fruit picking vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108848933A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112544229A (en) * | 2020-10-29 | 2021-03-26 | 重庆取予科技有限公司 | Vertical agricultural picking mechanism |
| CN114604561A (en) * | 2022-02-22 | 2022-06-10 | 浙江理工大学 | Slow descending conveying method after picking apples |
-
2018
- 2018-06-25 CN CN201810657078.9A patent/CN108848933A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112544229A (en) * | 2020-10-29 | 2021-03-26 | 重庆取予科技有限公司 | Vertical agricultural picking mechanism |
| CN114604561A (en) * | 2022-02-22 | 2022-06-10 | 浙江理工大学 | Slow descending conveying method after picking apples |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181123 |
|
| WW01 | Invention patent application withdrawn after publication |