CN109275415B

CN109275415B - Pineapple picking machine

Info

Publication number: CN109275415B
Application number: CN201811256351.3A
Authority: CN
Inventors: 凌鹤; 刘鑫宇; 何磊
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2018-10-26
Filing date: 2018-10-26
Publication date: 2021-09-03
Anticipated expiration: 2038-10-26
Also published as: CN109275415A

Abstract

The invention discloses a pineapple picking machine, which comprises: a vehicle body (10); the storage box (20) is arranged on the vehicle body and used for storing pineapples; the cutting device (30) is positioned at the front end part of the vehicle body (10) and is used for cutting the pineapples from the tree stems; the grabbing device (40) is positioned above the shearing device (30) at the front end of the vehicle body (10) and used for clamping pineapples in the picking process; and a turning device (50) for turning the gripping device (40) over the storage box (20); the gripping device (40) releases the clamped pineapple when positioned above the storage box (20). According to the pineapple picking machine, the traditional cutting, clamping, transporting and placing are integrated for use, the semi-automatic picking of pineapples is realized, the manual stooping picking and the load bearing are avoided, the labor force is saved, and the picking efficiency is improved.

Description

Pineapple picking machine

Technical Field

The invention belongs to the field of agricultural machinery equipment, and particularly relates to a pineapple picking machine.

Background

The pineapple has good quality, rich nutrition, delicious taste and wide popularity. China has become the third world pineapple producing country in 2005, and the total area of pineapple production in China reaches about 119 million tons in 2011. The pineapple plant height is 0.7-1.5 m, the planting interval is uniform, the pineapple is generally planted in two rows or three rows, the plant spacing is 0.4-0.5 m, the large row spacing is 0.7-1.1 m, the large-area mechanical picking is difficult due to the structure of the pineapple and the special planting environment, and the pineapple is mainly harvested manually at present. The pineapple leaves are hard and the edges of the pineapple leaves are accompanied with sawteeth, so that farmers need to wear protective clothing and eyeshields when picking the pineapple to prevent the pineapple leaves from cutting the body. In the picking process, a farmer needs to cut pineapples from plants by using a cutter and put the pineapples into a basket on the back, and the farmer carries the heavy basket, not only needs to walk in the pineapple field where thorns are distributed, but also needs to bend down for picking, so that the labor consumption is large, the efficiency is low, and the harvesting cost is high. It is therefore necessary to design a mechanically assisted picking device that can be applied to pineapple fields.

Disclosure of Invention

The invention aims to provide a pineapple picking machine, which comprises a machine body; the storage box is arranged on the vehicle body and used for storing pineapples; the cutting device is positioned at the front end part of the vehicle body and is used for cutting the pineapples from the tree stems; the grabbing device is positioned above the shearing device at the front end of the vehicle body and used for clamping the pineapples in the picking process; the overturning device is used for overturning the grabbing device above the storage box; the clamped pineapples are loosened when the gripping device is positioned above the storage box.

The invention has the beneficial effects that: the labor force is saved, the picking efficiency of the pineapples is improved, the traditional pineapple shearing, clamping, transporting and placing are integrated, the semi-automatic picking of the pineapples is realized, and the manual stooping picking and the loading and walking are avoided.

Drawings

Fig. 1 is a schematic structural view of a pineapple picking machine according to an embodiment of the present invention.

FIG. 2 is a schematic structural view of a portion of a vehicle body according to one embodiment of the present invention.

Fig. 3 is a schematic structural view of a shearing apparatus according to an embodiment of the present invention.

Fig. 4 is a schematic view of the shearing apparatus shown in fig. 3.

Fig. 5 is a schematic view of a grasping apparatus according to an embodiment of the present invention.

Fig. 6 is a diagrammatic view of the grasping device shown in fig. 5.

Fig. 7 is a schematic structural view of a turning device according to an embodiment of the present invention.

Fig. 8 is a schematic view of the turning device shown in fig. 7.

Fig. 9 is a system block diagram of a control device according to an embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the figures and the detailed description.

As shown in fig. 1, the pineapple picker includes a vehicle body 10, and a storage box 20, a cutting device 30, a grasping device 40, and a turning device 50 mounted on the vehicle body 10. The vehicle body 10 may be implemented using various devices for walking, such as a cart, an electric vehicle, a gasoline vehicle, a diesel vehicle, a gas vehicle, etc., which are well known in the art. The storage box 20 is used for storing the picked pineapples. The cutting device 30 is installed at a front end portion of the vehicle body 10, and is used for cutting a stem portion of the pineapple tree to separate the pineapple from the pineapple tree. A gripping device 40 is mounted above the shearing device 30 at the front end of the vehicle body 10 for gripping the pineapples during picking. Preferably, the shearing device 30 and the gripping device 40 are parallel. The overturning device 50 is used for driving the grabbing device 40 for clamping the pineapples to overturn above the storage box 20, and the grabbing device 40 is loosened after overturning above the storage box 20 so that the pineapples fall into the storage box 20.

According to the pineapple picking machine disclosed by the invention, the automatic picking of pineapples can be finished by controlling the shearing device 30, the grabbing device 40 and the overturning device 50, so that the labor force is saved, and the picking efficiency of pineapples is improved.

As shown in fig. 2, the storage box 20 is open at the upper end for placing the picked pineapples, preferably, the storage box 20 is movably arranged on the vehicle body 10, and the storage box 20 is provided with a push-pull handle 200.

As shown in fig. 3, the cutting device 30 includes a base 300, scissors 301, and a scissors driving mechanism that controls opening and closing of the scissors 301. The components of the shearing device 30 are mounted on a base 300. The scissors driving mechanism comprises a rack A302, a connecting rod A303, a connecting rod B304, a gear A305, a driving part of the gear A305 and an elastic resetting part.

The rotating shaft 306 of the scissors 301 is fixed on the base 300. One end of the connecting rod A303 is hinged with one handle of the scissors 301, the other handle of the scissors 301 is hinged with one end of the connecting rod B304, one ends of the connecting rods A303 and B304 far away from the scissors 301 are hinged with one end of the rack A302 through a bolt 307, and the other end of the rack A302 is fixedly connected with the elastic reset component. The elastic return member may be a spring 313 mounted to the front end portion of the vehicle body 10.

The gear a305 is engaged with the rack a302, and the driving component of the gear a305 can be realized by various components which can be used for driving the gear a305 to rotate, such as a motor, and as a specific embodiment, the driving component of the gear a305 includes a reel 308, a pull rope 309, a bearing seat a 310, a control handle 311 and the like. The reel 308 is positioned between the gear A305 and the bearing seat A310, the rotating shaft of one side of the reel 308 is connected with the rotating shaft of the gear A305, and the rotating shaft of the other side of the reel 308 is arranged in the bearing seat A310. The pull rope 309 may be a steel wire rope, and is wound around the reel 308, and the pull rope 309 drives the reel 308 to rotate under the action of external force. The operating handle 311 is rotatably provided at an easy-to-operate position, such as the handle 100 of the cart body, by a pin 312, and one end of the pull rope 309 wound around the reel 308 is fixed to the pin 312.

The working principle of the shearing device 30 is as follows: the operating handle 311 is rotated to pull the pull rope 309, so that the reel 308 rotates, the gear A305 which is coaxial with the reel 308 rotates to drive the rack A302 to move linearly, and the connecting rod A303 and the connecting rod B304 move in a plane to drive the scissors 301 to fold, and because a reset component is arranged behind the rack A302, after the pineapples are cut, the tightened pull rope 309 is loosened, the rack A302 automatically resets, and the scissors 301 return to an open state.

As shown in fig. 4, the gripping device 40 includes a housing 400, a robot 401, and a robot driving mechanism that controls opening and closing of the robot 401. The components of the grasping mechanism 40 are mounted in a housing 400 with a robot 401 extending from an opening in the front end of the housing 400. The manipulator driving mechanism comprises a connecting rod C402, a connecting rod D403, a rack B404, a gear B405 and a driving part of the gear B405.

The manipulators 401 are provided with two symmetrical grippers, each manipulator 401 is provided with an arc-shaped gripper, and the two manipulators 401 can clamp the pineapples when being folded. One end of the link C402 is hinged to an arm of one of the manipulators 401 via a pin 406, and an arm of the other manipulator 401 is hinged to one end of the link D403 via a pin 406, the two pins 406 being mounted in the housing 400. The ends of the connecting rod C402 and the connecting rod D403 far away from the manipulator 401 are hinged with a rack B404, and the rack B404 is meshed with a gear B405.

The driving component of gear B405 may be implemented by various components that may be used to drive rotation of gear B405, such as a motor 407. The driving gear B405 is driven by the motor 407 to rotate, so that the connecting rod C402 and the connecting rod D403 are driven to do plane motion, the manipulator 401 realizes two actions of opening and closing, and the manipulator 401 has the function of grabbing pineapples.

As shown in fig. 5, the front end of the vehicle body 10 is provided with a pair of bearing seats B408, and the rear end of the housing 400 of the grasping device 40 is provided with a rotating shaft matched with the bearing seats B408, and the rotating shaft is rotatably arranged on the bearing seats B408, so that the grasping device 40 can rotate around the bearing seats B408 to the upper side of the storage box 20. A pair of bearing seats C409 is disposed above two bearing seats B408 at the front end of the vehicle body 10, a pair of bearing seats D410 is disposed on the upper end surface of the housing 400, one end of the sliding rod 411 is disposed on the bearing seat C409 through a rotating shaft, and the other end of the sliding rod 411 is disposed on the bearing seat D410 through a rotating shaft.

Turning device 50 causes gripping device 40 to rotate up and down, as shown in fig. 5. The turnover device 50 includes an electric push rod 500, a connecting rod 501, and the like. One end of the connecting rod 501 is fixed on the side of the casing 400 of the grabbing device 40, the other end of the connecting rod 501 is fixedly connected with one end of the electric push rod 500, and the other end of the electric push rod 500 is rotatably arranged on the side of the vehicle body 10. Preferably, there are two sets of electric push rods 500 for controlling the rotation of the gripping device 40, which are respectively located at two sides of the gripping device 40.

During operation, the actions of the shearing device 30, the gripping device 40 and the turning device 50 may be controlled manually or by a control device. Preferably, the pineapple picking machine comprises a control device, and the control device comprises a control key A, a control key B, a main control panel and the like. The control button a controls the operating state of the motor 407, which is a driving member of the gear B405, and the control button B controls the operating state of the electric putter 500. The main control board is integrated with a processor, a motor 407 driving circuit, an electric push rod 500 driving circuit, two control key signal acquisition circuits, a power management circuit and the like.

Under the control of the control device, the operating process of the pineapple picking machine can be as follows: 1) the pineapple picking machine is pushed to run along a lane in the field, when pineapples need to be picked, the pineapple picking machine is rotated by a certain angle, and the scissors 301 are clamped at the bottom ends of the pineapples; 2) when the control key A is in the first state position (for example, the control key A is pressed), the main control board drives the motor 407 of the grabbing device 40 to rotate when detecting that the control key A is in the first state position, and the manipulator 401 clamps the pineapple under the driving of the motor 407; 3) rotating an operating handle 311 of the shearing device 30, pulling the pull rope 309, enabling the scissors 301 to fold and shear the stem of the pineapple tree, and separating the pineapple from the pineapple tree; 4) when the control key B is detected to be in the first state position (for example, the control key B is pressed), the main control board drives the electric push rod 500 to contract, and the grabbing device 40 is turned over to the upper side of the storage box 20; 5) when the control key a is in the second state position (for example, the control key a is released or pressed again), the main control board detects that the control key a is in the second state position, the driving motor 407 rotates in the reverse direction, the manipulator 401 releases the pineapples, and the pineapples fall into the storage box 20; 6) and (3) enabling the control key B to be in a second state position (for example, loosening or pressing the control key B again), driving the electric push rod 500 to extend when the main control board detects that the control key B is in the second state position, resetting the grabbing device 40, and finishing picking.

Claims

1. A pineapple picking machine, comprising:

a vehicle body (10);

the storage box (20) is arranged on the vehicle body and used for storing pineapples;

the pineapple peeling machine comprises a cutting device (30) which is positioned at the front end part of a vehicle body (10) and used for cutting pineapples from stems, wherein the cutting device (30) comprises a base (300), scissors (301) and a scissors driving mechanism for controlling the opening and closing of the scissors (301), and the scissors driving mechanism comprises a rack A (302), a connecting rod A (303), a connecting rod B (304), a gear A (305), a driving part of the gear A (305) and an elastic resetting part; a rotating shaft (306) of the scissors (301) is fixed on the base (300), one end of a connecting rod A (303) is hinged with one handle of the scissors (301), the other handle of the scissors (301) is hinged with one end of a connecting rod B (304), one ends, far away from the scissors (301), of the connecting rod A (303) and the connecting rod B (304) are hinged with one end of a rack A (302), the other end of the rack A (302) is fixedly connected with an elastic reset component, and a gear A (305) is meshed with the rack A (302);

the grabbing device (40) is positioned above the shearing device (30) at the front end of the vehicle body (10) and used for clamping pineapples in the picking process, the grabbing device (40) comprises a shell (400), two mechanical arms (401) extending out of an opening at the front end of the shell (400) and a mechanical arm driving mechanism for controlling the opening and closing of the mechanical arms (401), the mechanical arm driving mechanism comprises a connecting rod C (402), a connecting rod D (403), a rack B (404), a gear B (405) and a driving part of the gear B (405), the connecting rod C (402) and the connecting rod D (403) are respectively hinged with the two mechanical arms (401), one ends, far away from the mechanical arms (401), of the connecting rod C (402) and the connecting rod D (403) are hinged with the rack B (404), and the rack B (404) is meshed with the gear B (405); and

the overturning device (50) is used for overturning the grabbing device (40) above the storage box (20), when the grabbing device (40) overturns above the storage box (20), a driving part of a gear B (405) acts to enable the manipulator (401) to loosen the clamped pineapple, wherein a pair of bearing seats B (408) and a pair of bearing seats C (409) are arranged at the front end of the vehicle body (10), a pair of bearing seats D (410) are arranged on the shell (400), the rear end of the shell (400) is rotatably arranged on the bearing seats B (408), one end of a sliding rod (411) is rotatably arranged on the bearing seats C (409), the other end of the sliding rod (411) is rotatably arranged on the bearing seats D (410), the overturning device (50) comprises an electric push rod (500) and a connecting rod (501), one end of the connecting rod (501) is fixed on the side face of the shell (400) of the grabbing device (40), and the other end of the connecting rod (501) is fixedly connected with one end of the electric push rod (500), the other end of the electric push rod (500) is rotatably arranged on the side surface of the vehicle body (10).

2. The pineapple picking machine according to claim 1, wherein the shearing means (30) is arranged in parallel with the gripping means (40).

3. The pineapple picking machine according to claim 1, wherein the elastic return means comprises a spring (313) mounted on the front end portion of the vehicle body (10).

4. The pineapple picking machine according to claim 1, wherein the driving component of the gear A (305) comprises a winding wheel (308), a pulling rope (309) and a bearing seat A (310), the winding wheel (308) is positioned between the gear A (305) and the bearing seat A (310), a rotating shaft on one side of the winding wheel (308) is connected with a rotating shaft of the gear A (305), the rotating shaft on the other side of the winding wheel (308) is arranged in the bearing seat A (310), and the pulling rope (309) is wound on the winding wheel (308).

5. The pineapple picking machine according to claim 4, wherein the body (10) is provided with a rotatable operating handle (311), and one end of the pulling rope (309) wound around the reel (308) is connected to the operating handle (311).

6. The pineapple picking machine of claim 1, comprising a control device comprising:

the control key A is provided with a first state bit and a second state bit;

the control key B is provided with a first state bit and a second state bit; and

the main control board is respectively connected with the control key A, the control key B, a driving part of the gear B (405) and an electric push rod (500); when the main control board detects that the control key A is in the first state position, a driving part of a driving gear B (405) operates; when the main control board detects that the control key B is in the first state position, the main control board drives the electric push rod (500) to contract; when the main control board detects that the control key A is in the second state position, the driving part of the driving gear B (405) runs reversely; and when the main control panel detects that the control key B is in the second state position, the main control panel drives the electric push rod (500) to extend.