CN109275415A - Pineapple picking machine - Google Patents
Pineapple picking machine Download PDFInfo
- Publication number
- CN109275415A CN109275415A CN201811256351.3A CN201811256351A CN109275415A CN 109275415 A CN109275415 A CN 109275415A CN 201811256351 A CN201811256351 A CN 201811256351A CN 109275415 A CN109275415 A CN 109275415A
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- China
- Prior art keywords
- pineapple
- connecting rod
- gear
- picking machine
- car body
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Classifications
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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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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses pineapple picking machine, the pineapple picking machine includes: car body (10)；Storage tank (20), setting is on the car body for storing pineapple；Shear (30) is located at car body (10) front end, for cutting down pineapple from tree stem；Grabbing device (40) is located above car body (10) front end shear (30), for clamping pineapple in picking process；And turnover device (50), for grabbing device (40) to be turned to above storage tank (20)；The pineapple clamped is unclamped when the grabbing device (40) is located above storage tank (20).Tradition is cut, is pressed from both sides, transported, put and integrate use by pineapple picking machine of the invention, realizes the semi-automatic picking of pineapple, is avoided manually bending over to pick, is born a heavy burden and go, saves labour, improve picking efficiency.
Description
Technical field
The invention belongs to agricultural equipment fields, in particular to pineapple picking machine.
Background technique
Pineapple is best in quality, full of nutrition, tasty, is liked extensively by people.Over 2005 it is Chinese just at
For the big pineapple producing country in third place in the world, Chinese pineapple produces about 1,190,000 tons of the gross area within 2011.Pineapple plant height 0.7~
1.5m, plantation interval uniformly, are generally planted using duplicate rows or three rows, and spacing in the rows is 0.4m~0.5m, and wide row space is 0.7~1.1m,
The structure of pineapple and special planting environment make the Mechaniaed harvest of large area become highly difficult, depend on artificial receipts at present
It cuts.Pineapple blade tip and it is hard, and limb, with sawtooth, peasant needs to put on protective garment and eyeshade when picking pineapple, to prevent
Pineapple leaves hurt body.In picking process, peasant need to be cut off pineapple with cutter from plant, be put into the trailing plants basket at back,
Peasant bears heavy trailing plants basket, should brambles throughout pineapple ground in walk, bend over to pick again, physical demands is big, efficiency
It is low, gather in higher cost.Thus design can be applied to pineapple field mechanical-assisted picker it is very necessary.
Summary of the invention
The purpose of the present invention is to provide a kind of pineapple picking machines, including car body；Storage tank, setting is on the car body for depositing
Put pineapple；Shear is located at car body front end, for cutting down pineapple from tree stem；Grabbing device, before being located at car body
It holds above shear, for clamping pineapple in picking process；And turnover device, for grabbing device to be turned to storing
Above case；The pineapple clamped is unclamped when the grabbing device is located above storage tank.
Beneficial effects of the present invention: saving labour, improves the picking efficiency of pineapple, and tradition is cut, press from both sides, transport, is put
It integrates and uses, realize the semi-automatic picking of pineapple, avoid manually bending over to pick, bear a heavy burden and go.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of pineapple picking machine according to embodiment of the present invention.
Fig. 2 is the structural schematic diagram of part car body according to embodiment of the present invention.
Fig. 3 is the structural schematic diagram of shear according to embodiment of the present invention.
Fig. 4 is the schematic diagram of shear shown in Fig. 3.
Fig. 5 is grabbing device structural schematic diagram according to embodiment of the present invention.
Fig. 6 is the schematic diagram of grabbing device shown in fig. 5.
Fig. 7 is turnover device structural schematic diagram according to embodiment of the present invention.
Fig. 8 is the schematic diagram of turnover device shown in Fig. 7.
Fig. 9 is the system block diagram of control device according to embodiment of the present invention.
Specific embodiment
Invention is described in further detail with reference to the accompanying drawings and detailed description.
Such as Fig. 1, pineapple picking machine includes car body 10 and the storage tank being mounted on car body 10 20, shear 30, grabs
Take device 40 and turnover device 50.The various devices for walking well known in the art can be used to realize in car body 10, such as hand
Cart, electric vehicle, gasoline car, diesel vehicle, gas vehicle etc..Storage tank 20 is used to store the pineapple of picking.Shear 30 is installed
Pineapple is separated with pineapple tree for cutting pineapple tree stem in 10 front end of car body.Before grabbing device 40 is mounted on car body 10
The top of end shear 30, for clamping pineapple in picking process.Under preferable case, shear 30 and crawl dress
It is parallel to set 40.Turnover device 50 is used to that the grabbing device 40 of clamping pineapple to be driven to be turned to 20 top of storage tank, grabbing device 40
Release falls into pineapple in storage tank 20 after being turned to 20 top of storage tank.
Disclosed pineapple picking machine according to the present invention passes through control shear 30, grabbing device 40 and turnover device 50
The automation picking that can complete pineapple, saves labour, improves the picking efficiency of pineapple.
Such as Fig. 2,20 upper end opening of storage tank, for placing the pineapple of picking, under preferable case, 20 activity setting of storage tank
On car body 10, storage tank 20 is equipped with push and pull bar 200.
Such as Fig. 3, shear 30 includes the shear driving mechanism that pedestal 300, scissors 301 and control scissors 301 open and close.
The components of shear 30 are mounted on pedestal 300.The shear driving mechanism includes rack gear A 302, connecting rod A
303, connecting rod B 304, gear A 305, gear A 305 driving part and elastic reseting part.
The shaft 306 of scissors 301 is fixed on pedestal 300.One end of connecting rod A 303 and a knife handle of scissors 301 are cut with scissors
It connects, another knife handle of scissors 301 is then then hinged with one end of connecting rod B 304, and connecting rod A 303 and connecting rod B 304 are far from scissors
301 one end is hinged by bolt 307 and one end of rack gear A 302, the other end of rack gear A 302 and elastic reset portion
Part is fixedly connected.Elastic reseting part can be mounted in the spring 308 of 10 front end of car body.
Gear A 305 is engaged with rack gear A 302, and the driving part of gear A 305 can be used for sliding tooth using various
The component that A 305 rotates is taken turns to realize, such as motor, as a kind of specific embodiment, the driving portion of the gear A 305
Part includes reel 308, drawstring 309, bearing block A 310, control handle 311 etc..Reel 308 is located at gear A 305 and axis
The position between an A 310 is held, the shaft of 308 side of reel is connect with the shaft of gear A 305,308 other side of reel
Shaft be placed in bearing block A 310.Wirerope can be used in drawstring 309, is wrapped on reel 310, draws under external force
Rope 309 drives reel 310 to rotate.Control handle 311 is rotatably arranged on easily operated position, such as hand by pin shaft 312
At the handle 100 of cart car body, and the one end for the drawstring 309 being wrapped on reel 310 is then fixed on pin shaft 312.
The working principle of shear 30 is as follows: rotation control handle 311 pulls drawstring 309, and then make reel 310
Rotation, the rotation of gear A 305 being coaxially disposed with reel 310 make connecting rod A to move along a straight line with carry-over bar A 302
303 and connecting rod B 304 makees plane motion to drive scissors 301 to close up, and due to being equipped with reset components after rack gear A 302, cuts
After cutting pineapple, the drawstring 309 tightened unclamps, and rack gear A 302 automatically resets, and scissors 301 is restored to the state of opening.
Such as Fig. 4, grabbing device 40 includes the manipulator drive that shell 400, manipulator 401 and control manipulator 401 open and close
Motivation structure.The components of grasping mechanism 40 are mounted in shell 400, and wherein manipulator 401 is stretched from the opening of 400 front end of shell
Out.The mechanical arm drive mechanism includes connecting rod C 402, connecting rod D 403, rack gear B 404, gear B 405 and gear B 405
Driving part.
There are two the tools of manipulator 401 and can be symmetrical arranged, and each manipulator 401 has the handgrip of arcuate structure, two machines
The handgrip when closing up of tool hand 401 can clamp pineapple.The arm of one end of connecting rod C 402 and a manipulator 401 passes through pin shaft
406 is hinged, and the arm of another manipulator 401 then passes through pin shaft 406 and one end of connecting rod D 403 is hinged, and two pin shafts 406 are pacified
In shell 400.The one end of connecting rod C 402 and connecting rod D 403 far from manipulator 401 and rack gear B 404 are hinged, tooth
B 404 is engaged with gear B 405.
The driving part of gear B 405 using various can be used for that the components of the rotation of gear B 405 is driven to realize, example
Such as motor 407.Gear B 405 is driven to rotate by the driving of motor 407, and then it is flat to drive connecting rod C 402 and connecting rod D 403 to do
Face movement makes manipulator 401 realize that opening closes up two movements, realizes that manipulator 401 grabs the function of pineapple.
Such as Fig. 5,10 front end of car body is equipped with a pair of bearing B 408, the rear end of the shell 400 of grabbing device 40 have with
The matched shaft of bearing block B 408, the shaft is rotatably arranged on bearing block B 408, so that grabbing device 40 can be around bearing
Seat B 408 rotates to 20 top of storage tank.The top of the 10 two bearing block B 408 in front end of car body is equipped with a pair of bearing C
409, the upper surface of shell 400 is equipped with a pair of bearing D 410, and one end of sliding bar 411 is arranged by shaft in bearing block C
On 409, the other end of sliding bar 411 is arranged on bearing block D 410 by shaft.
Such as Fig. 5, turnover device 50 rotates upwardly and downwardly grabbing device 40.Turnover device 50 includes electric pushrod 500 and connects
Extension bar 501 etc..One end of connecting rod 501 is fixed on the side of 40 shell 400 of grabbing device, the other end and electricity of connecting rod 501
One end of dynamic push rod 500 is fixedly connected, and the other end of electric pushrod 500 is rotatably arranged on the side of car body 10.Under preferable case,
There are two groups of electric pushrods 500 to control the rotation of grabbing device 40, is located at the two sides of grabbing device 40.
In operation, the movement of manually controllable shear 30, grabbing device 40 and turnover device 50, can also adopt
They are controlled with control device.Under preferable case, pineapple picking machine includes control device, and the control device includes control
Key A processed, control button B, master control borad etc..Control button A controls the work shape of driving part, that is, motor 407 of gear B 405
State, control button B control the working condition of electric pushrod 500.Master control borad is integrated with processor, 407 driving circuit of motor, electronic
500 driving circuit of push rod, two the control button signal acquisition circuits, electric power management circuits etc..
Under the control of the control device, pineapple picking machine operating process can be with are as follows: 1) pushes pineapple picking machine along field
Between trail travel, when there is pineapple to pick, pineapple picking machine is made to rotate by a certain angle, scissors 301 is stuck in pineapple bottom end；2)
It is in control button A first state position (such as pressing control button A), master control borad detects that control button A is in the first shape
The motor 407 of grabbing device 40 is driven to rotate when state position, manipulator 401 clamps pineapple under the driving of motor 407；3) rotation is cut
The control handle 311 of cutting apparatus 30 pulls drawstring 309, so that scissors 301 is closed up shearing pineapple tree stem, by pineapple and pineapple tree
Separation；4) it is in control button B first state position (such as pressing control button B), master control borad detects that control button B is in
It drives electric pushrod 500 to shrink when first state position, grabbing device 40 is turned to 20 top of storage tank；5) make control button A
In the second mode bit (such as unclamping or press again control button A), master control borad detects that control button A is in the second state
Driving motor 407 rotates backward when position, and manipulator 401 can unclamp pineapple, and pineapple falls into storage tank 20；6) make control button B
In the second mode bit (such as unclamping or press again control button B), master control borad detects that control button B is in the second state
Driving electric pushrod 500 extends when position, and grabbing device 40 resets, and completes picking.
Claims (10)
1. a kind of pineapple picking machine characterized by comprising
Car body (10)；
Storage tank (20), setting is on the car body for storing pineapple；
Shear (30) is located at car body (10) front end, for cutting down pineapple from tree stem；
Grabbing device (40) is located above car body (10) front end shear (30), for clamping pineapple in picking process；With
And turnover device (50), for grabbing device (40) to be turned to above storage tank (20)；
The pineapple clamped is unclamped when the grabbing device (40) is located above storage tank (20).
2. pineapple picking machine according to claim 1, which is characterized in that shear (30) is parallel with grabbing device (40)
Setting.
3. pineapple picking machine according to claim 1, which is characterized in that shear (30) includes pedestal (300), scissors
(301) and the shear driving mechanism that scissors (301) open and close is controlled, the shear driving mechanism includes rack gear A (302), connecting rod A
(303), connecting rod B (304), gear A (305), gear A (305) driving part and elastic reseting part；Scissors (301)
Shaft (306) is fixed on pedestal (300), and one end of connecting rod A (303) and a knife handle of scissors (301) are hinged, scissors
(301) another knife handle is then hinged with one end of connecting rod B (304), and connecting rod A (303) and connecting rod B (304) are far from scissors (301)
One end and rack gear A (302) one end it is hinged, the other end of rack gear A (302) is fixedly connected with elastic reseting part,
Gear A (305) is engaged with rack gear A (302).
4. pineapple picking machine according to claim 3, which is characterized in that the elastic reseting part includes being mounted on car body
(10) spring (308) of front end.
5. pineapple picking machine according to claim 3, which is characterized in that the driving part of the gear A (305) include around
Line wheel (308), drawstring (309), bearing block A (310) and control handle (311), reel (308) are located at gear A (305) and axis
The position between an A (310) is held, the shaft of reel (308) side is connect with the shaft of gear A (305), reel (308)
The shaft of the other side is placed in bearing block A (310), and drawstring (309) is wrapped on reel (310).
6. pineapple picking machine according to claim 5, which is characterized in that have rotatable control handle on car body (10)
(311), the one end for the drawstring (309) being wrapped on reel (310) is then connect with control handle (311).
7. pineapple picking machine according to claim 1, which is characterized in that grabbing device (40) includes shell (400), machinery
Hand (401) and the mechanical arm drive mechanism of control manipulator (401) folding, the mechanical arm drive mechanism includes connecting rod C
(402), connecting rod D (403), rack gear B (404), gear B (405) and gear B (405) driving part；Manipulator (401) tool
There are two, one end of connecting rod C (402) and one of manipulator (401) hingedly, another manipulator (401) then with connecting rod D
(403) one end is hinged, and the one end of connecting rod C (402) and connecting rod D (403) far from manipulator (401) is hinged with rack gear B's (404)
Together, rack gear B (404) is engaged with gear B (405).
8. pineapple picking machine according to claim 7, which is characterized in that car body (10) front end is equipped with a pair of bearing B
(408) and a pair of bearing C (409), shell (400) are equipped with a pair of bearing D (410), and the rear end thereof of shell (400) is set
Set on bearing block B (408), one end of sliding bar (411) is rotatably arranged on bearing block C (409), sliding bar (411) it is another
One end is rotatably arranged on bearing block D (410).
9. pineapple picking machine according to claim 8, which is characterized in that turnover device (50) includes electric pushrod (500)
With connecting rod (501), one end of connecting rod (501) is fixed on the side of the shell (400) of grabbing device (40), connecting rod
(501) the other end is fixedly connected with the one end of electric pushrod (500), and the other end of electric pushrod (500) is rotatably arranged on vehicle
The side of body (10).
10. pineapple picking machine according to claim 9, which is characterized in that the pineapple picking machine includes control device, institute
Stating control device includes:
Control button A has first state position and the second mode bit；
Control button B has first state position and the second mode bit；And
Master control borad, the master control borad respectively with the control button A, the control button B, the gear B (405) driving portion
Part and electric pushrod (500) connection；The master control borad detects sliding tooth when the control button A is in the first state position
Take turns the driving part operating of B (405)；The master control borad detects driving when the control button B is in the first state position
Electric pushrod (500) is shunk；The master control borad, which detects, drives gear B when the control button A is in second mode bit
(405) driving part antiport；The master control borad detect driven when the control button B is in the second mode bit it is electronic
Push rod (500) elongation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811256351.3A CN109275415B (en) | 2018-10-26 | 2018-10-26 | Pineapple picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811256351.3A CN109275415B (en) | 2018-10-26 | 2018-10-26 | Pineapple picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109275415A true CN109275415A (en) | 2019-01-29 |
| CN109275415B CN109275415B (en) | 2021-09-03 |
Family
ID=65178079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811256351.3A Active CN109275415B (en) | 2018-10-26 | 2018-10-26 | Pineapple picking machine |
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| Country | Link |
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| CN (1) | CN109275415B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110140515A (en) * | 2019-06-27 | 2019-08-20 | 长江师范学院 | Pineapple picker |
| CN112913466A (en) * | 2021-01-29 | 2021-06-08 | 杨桂花 | Intelligent tomato picking machine |
| CN114102687A (en) * | 2021-11-26 | 2022-03-01 | 重庆易高实业有限公司 | Composite material production line |
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| CN114102687B (en) * | 2021-11-26 | 2023-12-01 | 重庆易高实业有限公司 | Composite material production line |
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| Publication number | Publication date |
|---|---|
| CN109275415B (en) | 2021-09-03 |
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