CN109348855B - Light convenient fruit picking machine - Google Patents
Light convenient fruit picking machine Download PDFInfo
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- CN109348855B CN109348855B CN201811271357.8A CN201811271357A CN109348855B CN 109348855 B CN109348855 B CN 109348855B CN 201811271357 A CN201811271357 A CN 201811271357A CN 109348855 B CN109348855 B CN 109348855B
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 116
- 238000010008 shearing Methods 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 38
- 230000033001 locomotion Effects 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 241000220225 Malus Species 0.000 description 6
- 239000002420 orchard Substances 0.000 description 5
- 235000021016 apples Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 231100000252 nontoxic Toxicity 0.000 description 2
- 230000003000 nontoxic effect Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
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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
- A01D46/22—Baskets or bags attachable to the picker
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a light and convenient fruit picking machine, relates to the technical field of agricultural equipment, and mainly aims to enable fruit picking to be more convenient and reduce the cost of the picking machine. The main technical scheme of the invention is as follows: the picking machine comprises a base, wherein a first driving mechanism and a second driving mechanism are arranged on the base; the rack is a lifting rack, one end of the rack is respectively connected with the first driving mechanism and the second driving mechanism, and can horizontally move relative to the base under the driving of the first driving mechanism and rotate under the driving of the second driving mechanism; the mechanical arm is a telescopic mechanical arm and is connected with the other end of the rack; the shearing device is arranged on the mechanical arm and comprises scissors, a third driving mechanism connected with the scissors and a fourth driving mechanism connected with the scissors; the collecting device comprises a net bag connected with the scissors and an elastic pipe body communicated with the net bag. The invention is mainly used for picking fruits.
Description
Technical Field
The invention relates to the technical field of agricultural equipment, in particular to a light and convenient fruit picking machine.
Background
At present, the fruit picking in the orchard is mainly carried out in a mechanical picking mode and mainly comprises two modes, wherein one mode is a shaking picking mode, and the other mode is a robot picking mode.
Wherein, to shake formula picking mode, shake the back, can't guarantee usually that the fruit on the fruit tree drops completely, easily leads to partly fruit to continue to persist on the fruit tree, needs artifical the picking afterwards, and it is inconvenient to use. For the picking mode of the robot, the environment in the orchard is complex, and the path cannot be planned in advance, so that the picking robot needs to be provided with more sensors to realize the work of the complex environment, and the cost of the picking robot is high.
Disclosure of Invention
In view of this, the embodiments of the present invention provide a light and convenient fruit picking machine, which mainly aims to make fruit picking more convenient and reduce the cost of the picking machine.
In order to achieve the purpose, the invention mainly provides the following technical scheme:
the embodiment of the invention provides a light and convenient fruit picking machine, which comprises:
the device comprises a base, a first driving mechanism and a second driving mechanism, wherein the base is provided with the first driving mechanism and the second driving mechanism;
the rack is a lifting rack, one end of the rack is respectively connected with the first driving mechanism and the second driving mechanism, and can horizontally move relative to the base under the driving of the first driving mechanism and rotate under the driving of the second driving mechanism;
the mechanical arm is a telescopic mechanical arm and is connected with the other end of the rack;
the shearing device is arranged on the mechanical arm and comprises scissors, a third driving mechanism which is connected with the scissors and used for driving the scissors to perform shearing action, and a fourth driving mechanism which is connected with the scissors and used for driving the scissors to perform up-and-down motion;
the collecting device comprises a net bag connected with the scissors and an elastic pipe body communicated with the net bag.
Further, the scissors comprise a first blade and a second blade which are mutually crossed and rotatably connected;
the third driving mechanism comprises a first motor, a slider-crank mechanism, a first connecting rod and a second connecting rod, the first motor is in driving connection with the slider-crank mechanism, one end of the first connecting rod is connected with a slider of the slider-crank mechanism, the other end of the first connecting rod is in rotating connection with the first blade, one end of the second connecting rod is connected with the slider of the slider-crank mechanism, and the other end of the second connecting rod is in rotating connection with the second blade.
Further, the fourth driving mechanism comprises a second motor and a first lead screw transmission mechanism;
the second motor is in driving connection with a lead screw of the first lead screw transmission mechanism, and a nut of the first lead screw transmission mechanism is connected with the scissors through a connecting piece.
Further, the connecting piece comprises a third connecting rod and a fan-shaped frame, and one end of the third connecting rod is connected with the sharp-angled end of the fan-shaped frame;
a rotating shaft of the scissors is connected with a sharp-angle end of the fan-shaped frame, the maximum opening and closing angle of the scissors is equal to the angle of the fan-shaped frame, and the length of the cutting edge of the scissors is equal to the radius of the fan-shaped frame;
the opening of the net bag is fan-shaped and is correspondingly connected with the fan-shaped frame.
Further, the mechanical arm comprises a first part, a third motor, a second lead screw transmission mechanism and a second part;
the third motor is connected with a screw rod of the second screw rod transmission mechanism in a driving mode, one end of the first portion is connected with a screw rod of the second screw rod transmission mechanism, the other end of the first portion is connected with the rack, one end of the second portion is connected with a nut of the second screw rod transmission mechanism, and the other end of the second portion is connected with the shearing device.
Further, the frame includes first body of rod and second body of rod, first body of rod with the second body of rod passes through the screw rod and connects.
Further, the first driving mechanism comprises a fourth motor and a third lead screw transmission mechanism;
the fourth motor is in driving connection with a lead screw of the third lead screw transmission mechanism, and a nut of the third lead screw transmission mechanism is connected with the rack.
Further, the second driving mechanism comprises a fifth motor, a speed reducer and a first gear, wherein an output shaft of the fifth motor is provided with a second gear, and an input shaft and an output shaft of the speed reducer are respectively provided with a third gear and a fourth gear;
one end of the first gear is connected with a nut of the third lead screw transmission mechanism, the other end of the first gear is connected with the rack, the second gear is connected with the third gear in a meshed mode, and the fourth gear is connected with the first gear in a meshed mode.
By means of the technical scheme, the invention at least has the following beneficial effects:
according to the light and convenient fruit picking machine provided by the embodiment of the invention, when fruits are picked, the equipment can be fixed on a movable platform by using the base, and is moved to a working position by using the movable platform, the rack can be positioned at a specified position by adjusting the first driving mechanism, the second driving mechanism and the height of the rack, the shearing device can be adjusted to a specified position by using the third driving mechanism and the fourth driving mechanism, and fruit stalks of the fruits are sheared by using the scissors, so that the fruits can enter the collecting box through the net bag and the elastic pipe body of the collecting device. Compared with the prior art, the technical scheme provided by the embodiment of the invention collects the fruits by shearing the fruit handles of the fruits one by one through the shearing device, avoids fruit residues on trees as a result of accidents, and is convenient to use. Moreover, the equipment is moved to the working position through a proper movable platform, so that the equipment can adapt to the complex environment in the orchard, a sensor is not required to be arranged, and the cost is low. Simultaneously, through collection device's setting for the fruit that is picked by shearing mechanism can get into the collecting box through string bag and elasticity body in proper order, has avoided producing the collision between the fruit and has damaged, has guaranteed the quality of fruit.
Drawings
Fig. 1 is a schematic structural diagram of a lightweight and convenient fruit picking machine at a first view angle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a lightweight convenient fruit picking machine at a second view angle according to an embodiment of the present invention;
FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;
fig. 4 is an enlarged schematic view of a portion B in fig. 2.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present embodiment, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present embodiment.
As shown in fig. 1 and 2, the embodiment of the invention provides a light and convenient fruit picking machine, which comprises a base 1, wherein a first driving mechanism 11 and a second driving mechanism 12 are arranged on the base 1; the rack 2 is a liftable rack 2, one end of the rack 2 is respectively connected with a first driving mechanism 11 and a second driving mechanism 12, and can horizontally move relative to the base 1 under the driving of the first driving mechanism 11 and rotate under the driving of the second driving mechanism 12; the mechanical arm 3 is a telescopic mechanical arm 3 and is connected with the other end of the frame 2; the shearing device is arranged on the mechanical arm 3 and comprises scissors 4, a third driving mechanism which is connected with the scissors 4 and used for driving the scissors 4 to perform shearing action, and a fourth driving mechanism 6 which is connected with the scissors 4 and used for driving the scissors 4 to perform vertical movement; the collecting device 5 comprises a net bag 51 connected with the scissors 4 and an elastic pipe body 52 communicated with the net bag 51. Wherein, string bag 51 and elastic tube 52 can constitute and leak hopper-shaped, and string bag 51 can be flexible string bag 51, for example the string bag 51 that forms is woven by nontoxic harmless lines, and the internal diameter of elastic tube 52 can be a bit bigger than the external diameter of fruit to make the fruit of being cut off the carpopodium can pass through string bag 51 and elastic tube 52 and get into in proper order in the collecting box. Specifically, the elastic tube 52 can be made of any non-toxic, harmless and elastic material, such as rubber, so as to avoid colliding with the fruits and ensure the quality of the fruits.
The light and convenient fruit picking machine can be applied to picking fruits, taking apple picking as an example, the specific working process can be as follows: firstly, the base 1 is fixed on a movable platform, the movable platform can be selected freely according to the complex environment of the orchard, for example, a trolley with wheels is utilized to move the picking machine to a safe working position, the collecting box is placed at a designated position to be opposite to the end part of the elastic tube body 52 of the collecting device 5, of course, the collecting box can be placed on the movable platform, at the moment, the position and the angle of the rack 2 relative to the base 1 can be changed by controlling the first driving mechanism 11 and the second driving mechanism 12, the height of the rack 2 and the length of the mechanical arm 3 can be adjusted, so that the cutting device can reach the position of the apple, moreover, the position of the scissors 4 in the cutting device can be adjusted by controlling the fourth driving mechanism 6, so that two cutting edges of the scissors 4 are positioned at two sides of the apple stem, at the moment, the scissors 4 can be driven to cut the apple stem by controlling the third driving mechanism, so that the apples fall to the net bag 51 and enter the collecting box through the elastic pipe body 52, and so on until all the apples are picked.
According to the light and convenient fruit picking machine provided by the embodiment of the invention, when fruits are picked, the equipment can be fixed on a movable platform by using the base, and is moved to a working position by using the movable platform, the rack can be positioned at a specified position by adjusting the first driving mechanism, the second driving mechanism and the height of the rack, the shearing device can be adjusted to a specified position by using the third driving mechanism and the fourth driving mechanism, and fruit stalks of the fruits are sheared by using the scissors, so that the fruits can enter the collecting box through the net bag and the elastic pipe body of the collecting device. Compared with the prior art, the technical scheme provided by the embodiment of the invention collects the fruits by shearing the fruit handles of the fruits one by one through the shearing device, avoids fruit residues on trees as a result of accidents, and is convenient to use. Moreover, the equipment is moved to the working position through a proper movable platform, so that the equipment can adapt to the complex environment in the orchard, a sensor is not required to be arranged, and the cost is low. Simultaneously, through collection device's setting for the fruit that is picked by shearing mechanism can get into the collecting box through string bag and elasticity body in proper order, has avoided producing the collision between the fruit and has damaged, has guaranteed the quality of fruit.
Specifically, the third driving mechanism may have various structural forms as long as the scissors 4 can be driven to perform a cutting action, and in an alternative embodiment, referring to fig. 1, 2 and 3, the scissors 4 comprise a first blade 41 and a second blade 42 which are mutually crossed and rotatably connected; the third driving mechanism may specifically include a first motor, a slider-crank mechanism, a first connecting rod and a second connecting rod, the first motor is drivingly connected to the slider-crank mechanism, one end of the first connecting rod is connected to the slider of the slider-crank mechanism, the other end of the first connecting rod is rotatably connected to the first blade 41, one end of the second connecting rod is connected to the slider of the slider-crank mechanism, and the other end of the second connecting rod is rotatably connected to the second blade 42. Wherein, the crank motion of first motor drive slider-crank mechanism to drive the slider and carry out linear motion, and then make first connecting rod and second connecting rod drive first blade 41 and the motion of second blade 42 respectively along with the linear motion of slider, open and shut the action, realize cuting, simple structure, it is convenient to realize. Further, there are various manners of rotatably connecting the first link to the first blade 41 or the second link to the second blade 42, for example, connecting rods may be integrally provided at distal ends of the first blade 41 and the second blade 42, and connecting rings 411, 421 may be provided at respective sides of each connecting rod, and at the same time, rotating shafts may be provided at opposite ends of the first link and the second link, and the first link and the second link may be rotatably inserted into the connecting rings 411, 421 of the first blade 41 and the second blade 42 through the respective rotating shafts, so that the rotatable connection between the first link and the first blade 41 or between the second link and the second blade 42 is achieved.
Specifically, the fourth driving mechanism 6 may have various structural forms as long as the scissors 4 can be driven to move up and down, and in an alternative embodiment, referring to fig. 1 and 3, the fourth driving mechanism 6 may specifically include a second motor 61 and a first lead screw transmission mechanism 62; the second motor 61 is drivingly connected with a lead screw 621 of the first lead screw transmission mechanism 62, and a nut 622 of the first lead screw transmission mechanism 62 is connected with the scissors 4 through a connecting piece 7. The lead screw 621 of the first lead screw transmission mechanism 62 can be arranged perpendicular to the mechanical arm 3, so that the nut 622 can drive the scissors 4 to move up and down along the lead screw relative to the rack 2 through the connecting piece 7, the structure is simple, and the implementation is convenient. Of course, in order to ensure reliable movement of the first lead screw transmission mechanism 62, the mechanism may further include a guide post 623 located around the lead screw 621, such that the nut 622 moves up and down along the lead screw 621 and the guide post 623.
Specifically, referring to fig. 1 and 3, the aforementioned connecting member 7 may include a third link 71 and a fan-shaped frame 72, and one end of the third link 71 is connected with a pointed end of the fan-shaped frame 72; the rotating shaft of the scissors 4 is connected with the sharp-angle end of the fan-shaped frame 72, the maximum opening and closing angle of the scissors 4 is equal to the angle of the fan-shaped frame 72, and the length of the cutting edge of the scissors 4 is equal to the radius of the fan-shaped frame 72; the net bag 51 has a fan-shaped opening and is correspondingly connected with the fan-shaped frame. Realized no matter which position of 4 cutting edges of scissors cuts off the back with the stalk, the fruit all can accurately drop to string bag 51, and can not drop to the outside, guaranteed the smooth harvesting of fruit and collected, improved and picked efficiency.
Specifically, referring to fig. 1 and 2, the mechanical arm 3 may have various telescopic structural forms as long as the length change can be realized, and in an alternative embodiment, the mechanical arm 3 may specifically include a first portion 31, a third motor, a second lead screw transmission mechanism 33 and a second portion 32; the third motor is in driving connection with the lead screw 331 of the second lead screw transmission mechanism 33, one end of the first part 31 is connected with the lead screw 331 of the second lead screw transmission mechanism 33, the other end is connected with the frame 2, one end of the second part 32 is connected with the nut 332 of the second lead screw transmission mechanism 33, and the other end is connected with the shearing device. Wherein, the first portion 31 may be a plate-shaped structure with a wider width, and the third motor and the second lead screw transmission mechanism 33 may be directly disposed on the first portion 31, and the second portion 32 may be a plate-shaped structure with a narrower width, which is connected with the nut 332 of the second lead screw transmission mechanism 33, so as to realize that the second portion 32 moves along with the movement of the nut 332, thereby changing the position of the second portion 32 relative to the first portion 31, and further changing the overall length of the robot arm 3. In order to reduce the overall weight of the picker, the first and second portions 31, 32 of the robotic arm 3 may be made of an aluminium alloy material.
In particular, the frame 2 may have various lifting structures as long as the height can be changed, and in an alternative embodiment, referring to fig. 1 and 2, the frame 2 may specifically include a first rod 21 and a second rod 22, and the first rod 21 and the second rod 22 are connected by a screw 23. The screw 23 may be fixedly connected to the first rod 21, an internal thread adapted to the screw 23 may be disposed inside the second rod 22, the internal thread may be formed by a nut 24 disposed inside the second rod 22, and the nut 24 and the screw 23 are in threaded connection, so that the first rod 21 and the second rod 22 are connected to each other and can move relatively, thereby changing the length of the rack 2. To ensure the aesthetic appearance, the second rod 22 may be cylindrical and may have an inner diameter slightly larger than the outer diameter of the first rod 21, so that a portion of the first rod 21 may be inserted into the second rod 22.
Specifically, the first driving mechanism 11 may have various structural forms as long as the driving frame 2 can perform horizontal movement relative to the base 1, and in an alternative embodiment, referring to fig. 1 and 2, the first driving mechanism 11 may specifically include a fourth motor 111 and a third screw transmission mechanism 112; the fourth motor 111 is drivingly connected to a lead screw 1121 of the third lead screw transmission 112, and a nut 1122 of the third lead screw transmission 112 is connected to the frame 2. The base 1 can be used as a housing of the third screw transmission mechanism 112, and a connecting plate with a threaded hole can be arranged at the bottom of the base for fixedly connecting with the movable platform. And the fourth motor 111 and the lead screw of third lead screw drive mechanism 112 can set up in base 1, and frame 2 is connected with the screw for frame 2 can carry out horizontal motion along the lead screw along with the screw, certainly, can set up the spout with the position that screw 1122 contacted on base 1, so that screw 1122 drives frame 2 and moves, and simple structure realizes the convenience.
Specifically, referring to fig. 1, fig. 2 and fig. 4, the second driving mechanism 12 may have various structural forms as long as the driving frame 2 can rotate, and in an alternative embodiment, the second driving mechanism 12 may specifically include a fifth motor 121, a speed reducer 122 and a first gear 123, an output shaft of the fifth motor 121 is provided with a second gear 124, and an input shaft and an output shaft of the speed reducer 122 are provided with a third gear 125 and a fourth gear 126, respectively; one end of the first gear 123 is connected to the nut 1122 of the third screw transmission 112, the other end is connected to the rack 2, the second gear 124 is connected to the third gear 125 in a meshing manner, the fourth gear 126 is connected to the first gear 123 in a meshing manner, and the diameter of the first gear 123 is larger than that of the fourth gear 126, wherein the rack 2 and the first gear 123 can be connected through a key. Thereby, the torque of the fifth motor 121 is transmitted to the frame 2 through the engagement of the speed reducer 122 and each gear, so that the frame 2 can rotate stably, and the structure is simple and convenient to implement.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A lightweight, portable fruit picker, comprising:
the device comprises a base, a first driving mechanism and a second driving mechanism, wherein the base is provided with the first driving mechanism and the second driving mechanism;
the rack is a lifting rack, one end of the rack is respectively connected with the first driving mechanism and the second driving mechanism, and can horizontally move relative to the base under the driving of the first driving mechanism and rotate under the driving of the second driving mechanism;
the mechanical arm is a telescopic mechanical arm and is connected with the other end of the rack;
the shearing device is arranged on the mechanical arm and comprises scissors, a third driving mechanism which is connected with the scissors and used for driving the scissors to perform shearing action, and a fourth driving mechanism which is connected with the scissors and used for driving the scissors to perform up-and-down motion;
the collecting device comprises a net bag connected with the scissors and an elastic pipe body communicated with the net bag;
the fourth driving mechanism comprises a second motor and a first lead screw transmission mechanism;
the second motor is in driving connection with the screw rod of the first screw rod transmission mechanism, the nut of the first screw rod transmission mechanism is connected with the scissors through a connecting piece,
the connecting piece comprises a third connecting rod and a fan-shaped frame, and one end of the third connecting rod is connected with the sharp-angled end of the fan-shaped frame;
a rotating shaft of the scissors is connected with a sharp-angle end of the fan-shaped frame, the maximum opening and closing angle of the scissors is equal to the angle of the fan-shaped frame, and the length of a cutting edge of the scissors is equal to the radius of the fan-shaped frame;
the opening of the net bag is fan-shaped and is correspondingly connected with the fan-shaped frame.
2. The lightweight handy fruit picker according to claim 1,
the scissors comprise a first blade and a second blade which are mutually crossed and rotationally connected;
the third driving mechanism comprises a first motor, a slider-crank mechanism, a first connecting rod and a second connecting rod, the first motor is in driving connection with the slider-crank mechanism, one end of the first connecting rod is connected with a slider of the slider-crank mechanism, the other end of the first connecting rod is in rotating connection with the first blade, one end of the second connecting rod is connected with the slider of the slider-crank mechanism, and the other end of the second connecting rod is in rotating connection with the second blade.
3. The lightweight handy fruit picker according to claim 1,
the mechanical arm comprises a first part, a third motor, a second lead screw transmission mechanism and a second part;
the third motor is connected with a screw rod of the second screw rod transmission mechanism in a driving mode, one end of the first portion is connected with a screw rod of the second screw rod transmission mechanism, the other end of the first portion is connected with the rack, one end of the second portion is connected with a nut of the second screw rod transmission mechanism, and the other end of the second portion is connected with the shearing device.
4. The lightweight handy fruit picker according to claim 1,
the frame includes the first body of rod and the second body of rod, the first body of rod with the second body of rod passes through the screw rod and connects.
5. The lightweight handy fruit picker according to claim 1,
the first driving mechanism comprises a fourth motor and a third lead screw transmission mechanism;
the fourth motor is in driving connection with a lead screw of the third lead screw transmission mechanism, and a nut of the third lead screw transmission mechanism is connected with the rack.
6. The lightweight handy fruit picker according to claim 5,
the second driving mechanism comprises a fifth motor, a speed reducer and a first gear, wherein an output shaft of the fifth motor is provided with a second gear, and an input shaft and an output shaft of the speed reducer are respectively provided with a third gear and a fourth gear;
one end of the first gear is connected with a nut of the third lead screw transmission mechanism, the other end of the first gear is connected with the rack, the second gear is connected with the third gear in a meshed mode, and the fourth gear is connected with the first gear in a meshed mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811271357.8A CN109348855B (en) | 2018-10-29 | 2018-10-29 | Light convenient fruit picking machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811271357.8A CN109348855B (en) | 2018-10-29 | 2018-10-29 | Light convenient fruit picking machine |
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| CN109348855A CN109348855A (en) | 2019-02-19 |
| CN109348855B true CN109348855B (en) | 2021-06-11 |
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| CN201811271357.8A Expired - Fee Related CN109348855B (en) | 2018-10-29 | 2018-10-29 | Light convenient fruit picking machine |
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| CN109997515A (en) * | 2019-04-12 | 2019-07-12 | 浙江农林大学 | A kind of cones of Pinus koraiensis picking mechanical arm |
| CN113455196A (en) * | 2021-07-09 | 2021-10-01 | 苏州新农益科技有限公司 | Fruit picking device |
| CN113875397B (en) * | 2021-12-07 | 2022-03-01 | 建德市里叶十里荷生态旅游发展有限公司 | Parent-child type lotus pond lotus harvester |
| CN114375711A (en) * | 2021-12-27 | 2022-04-22 | 广州极飞科技股份有限公司 | Polar coordinate type crop processing device, crop processing equipment and crop processing method |
| CN115443809B (en) * | 2022-09-15 | 2024-04-05 | 杭州大天数控机床有限公司 | Kinetic energy recoil type fruit harvester |
| CN117256331B (en) * | 2023-11-07 | 2024-05-07 | 安徽农业大学 | Negative pressure type fruit picking mechanical arm and intelligent control system thereof |
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| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN202079617U (en) * | 2011-05-10 | 2011-12-21 | 淮安信息职业技术学院 | Electric scissors |
| WO2014185760A1 (en) * | 2013-05-16 | 2014-11-20 | Université Mohammed V Souissi | Mechanical device for harvesting cactus products by twisting |
| CN103406925A (en) * | 2013-07-16 | 2013-11-27 | 山河智能装备股份有限公司 | Parallel shear mechanism |
| CN105144992A (en) * | 2015-09-24 | 2015-12-16 | 江苏农林职业技术学院 | Strawberry picking and collecting device |
| CN205922069U (en) * | 2016-08-29 | 2017-02-08 | 夏邑县永震农业发展有限公司 | Go up and down to pick car |
| CN206821315U (en) * | 2017-05-23 | 2018-01-02 | 镇远县盛源生态农业种植有限责任公司 | A kind of efficient stripper unit of fruit-bearing forest fruit |
| CN107371606A (en) * | 2017-08-02 | 2017-11-24 | 合肥科地尔农业技术开发有限公司 | A kind of adjustable for height picking fruit device |
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| CN109348855A (en) | 2019-02-19 |
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