CN109479510B - Jujube picking device based on parallelogram arm lifting telescopic mechanism - Google Patents
Jujube picking device based on parallelogram arm lifting telescopic mechanism Download PDFInfo
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- CN109479510B CN109479510B CN201811608134.6A CN201811608134A CN109479510B CN 109479510 B CN109479510 B CN 109479510B CN 201811608134 A CN201811608134 A CN 201811608134A CN 109479510 B CN109479510 B CN 109479510B
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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
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Abstract
Compared with the traditional telescopic rod mode, when the lifting action of the jujube beating operation mechanism is realized, an operator does not need to lift the telescopic rod for operation any more, the operation can be realized only by holding the handle rod for adjustment, so that the lifting action and the front-and-back movement of the jujube beating operation mechanism can be easily and labor-saving; because telescopic machanism adopts the parallelogram structure, adjusts through ratchet control assembly between stock and the chassis pole setting simultaneously, because of two-way ratchet slider has the ratchet characteristic, makes the angle of stock relative chassis pole setting remain unchanged, and the operator need not hold the handle pole and maintain the relative chassis pole setting angle of stock, and is laborsaving, high-efficient more, can realize adopting the jujube operation for a long time, and the suitability is strong.
Description
Technical Field
The invention relates to the technical field of mechanical picking, in particular to a jujube picking device based on a parallelogram arm lifting telescopic mechanism.
Background
Although the yield and the variety of Chinese dates are more, mechanization is not carried out on the picking of the Chinese dates, a plurality of places have defects, large-scale machinery is low in efficiency, small-scale machinery is few in used variety and not complete, semi-automatic machinery is mainly used as the leading factor, for example, a movable fruit picking ladder and a telescopic high picking device are adopted, the quality of fruit picking is improved to a certain degree by the aid of the machinery, the Chinese dates are distributed at all parts of a fruit tree, the traditional picking mode is mainly that the Chinese dates are beaten by using sticks manually, large-scale mechanical equipment is adopted, the cost is high, and strict requirements are met on planting planning of the Chinese dates. Therefore, need semi-automatization's small-size machinery harvesting equipment, when can be applicable to each jujube garden environment, also compare in traditional manual work and pick, promote picking efficiency.
The invention patent with the patent number of CN201320085511.9 discloses an economical and changeable jujube picking rod, and the scheme is as follows: an economical and variable jujube picking rod comprises a telescopic rod, a detachable jujube hook, a detachable hanging net and a detachable link rod, when a picker picks jujube, the jujube picking rod is lifted by a great force, and when the continuous working time is long, the picker is easy to fatigue, so that the jujube picking efficiency is low, and the jujube picking can not be carried out efficiently in a labor-saving way for a long time; the invention with the patent number of CN201520182378.8 discloses an economical and changeable jujube picking rod, wherein an engine, a cab and a steering device are arranged on a machine body, the machine body is arranged on a walking part, a sweeping disc and a fruit sucker are arranged on the lower part of the front end of the machine body, the sweeping disc is positioned at the front end of the fruit sucker, a horizontal conveying device is arranged at the lower end of the machine body, a vertical conveying device is arranged at the tail part of the machine body, a forked disc follow-up fruit receiving mechanism is arranged at the lower end of the machine body and corresponds to the horizontal conveying device, a rapping device is arranged in the middle of the machine body and corresponds to the forked disc follow-up fruit receiving mechanism, a main fruit collecting box is arranged at the rear part of the machine body and corresponds to the output end of the vertical conveying device; the utility model discloses a harvester when advancing in the jujube forest, can collect into the random collection fruit case of harvester with red date on the jujube tree and the red date that falls naturally in the ground in the lump, nevertheless this self-propelled full-hydraulic red date harvester size is huge, and equipment structure is complicated, and is with high costs, and requires very high to the orchard overall arrangement, requires that the orchard planting interval is greater than self-propelled full-hydraulic red date harvester, so be not suitable for the big small-size orchard of fruit tree planting density.
Disclosure of Invention
The invention aims to provide a jujube picking device based on a parallelogram arm lifting telescopic mechanism, so as to solve the defects in the background technology.
The technical problem solved by the invention is realized by adopting the following technical scheme:
adopt jujube device based on parallelogram lifts arm telescopic machanism, lift arm telescopic machanism including the parallelogram, beat jujube operation mechanism, the portion of controlling, collection control mechanism, the collecting box and remove the chassis, wherein, the collecting box sets up in removing the chassis bottom, it is fixed with the chassis pole setting on the removal chassis, parallelogram lifts arm telescopic machanism middle part and sets up in chassis pole setting upper portion, the portion of controlling sets up at parallelogram and lifts arm telescopic machanism one end, beat jujube operation mechanism and collection control mechanism setting and lift the arm telescopic machanism other end at the parallelogram, and beat jujube operation mechanism and be located this end upper portion, collection control mechanism is located this end lower part, each part concrete structure is as follows:
the parallelogram arm lifting telescopic mechanism consists of a left parallelogram arm lifting telescopic mechanism and a right parallelogram arm lifting telescopic mechanism, the left parallelogram arm lifting telescopic mechanism consists of a first long rod, a third long rod, a first longitudinal rod and a third longitudinal rod, and the right parallelogram arm lifting telescopic mechanism consists of a second long rod, a fourth long rod, a second longitudinal rod and a fourth longitudinal rod;
in the jujube beating operation mechanism, a jujube beating mechanism bottom plate is arranged on the upper portions of a first longitudinal rod and a second longitudinal rod, an eccentric shaft is arranged on the jujube beating mechanism bottom plate and is connected with an eccentric driving motor, the eccentric driving motor is arranged on one side of the jujube beating mechanism bottom plate, an eccentric rod limiting guide seat is arranged on the upper portion of the jujube beating mechanism bottom plate, an eccentric push rod capable of sliding along the axial direction is arranged in the eccentric rod limiting guide seat, one end of the eccentric push rod is movably connected with one end of an eccentric connecting rod, the other end of the eccentric connecting rod is eccentrically and movably connected with the eccentric shaft, the other end of the eccentric push rod is connected with a comb tooth mounting plate, and jujube; the eccentric driving motor, the eccentric connecting rod and the eccentric push rod form an eccentric structure, and the eccentric driving motor drives the eccentric shaft to perform a turnover motion so as to drive the eccentric push rod to perform a high-frequency reciprocating linear motion;
the control part comprises a handle rod and a handle bracket, the handle bracket is arranged on the third longitudinal rod and the fourth longitudinal rod, the handle rod is arranged on the handle bracket, and meanwhile, a control pull rope for controlling the position of the ratchet wheel sliding control assembly of the moving chassis, a control pull rope for controlling the position of the ratchet wheel control assembly and a control pull rope for adjusting the opening angle in the collection control mechanism are arranged on the handle rod;
in the collecting control mechanism, a left collecting diagonal rod is movably connected with a left collecting transverse rod, a right collecting diagonal rod is movably connected with a right collecting transverse rod, a right collecting diagonal rod is movably connected with a second longitudinal rod, a left collecting diagonal rod is movably connected with a first longitudinal rod, a collecting net is installed on the left collecting transverse rod and the right collecting transverse rod, an opening angle is formed between the left collecting diagonal rod and the right collecting diagonal rod, an opening angle is formed between the left collecting transverse rod and the left collecting diagonal rod, and an opening angle is formed between the right collecting transverse rod and the right collecting diagonal rod respectively, the size of the collecting area of the collecting net can be adjusted by controlling each opening angle, and the adjustment of each opening angle and the position control of a ratchet wheel sliding control assembly and a ratchet wheel control assembly are realized by control pull ropes arranged on a handle rod;
in the movable chassis, a vertical rod fixing inner sleeve is arranged inside the bottom end of a vertical rod of the chassis, the vertical rod of the chassis is fixedly connected with the vertical rod fixing inner sleeve, an angular contact bearing and a deep groove ball bearing are arranged in the vertical rod fixing inner sleeve and sleeved on a vertical rod fixing shaft, the vertical rod fixing shaft is matched with a chassis base through an excircle, the lower end of the vertical rod fixing shaft penetrates through the chassis base, a first bidirectional ratchet wheel sliding seat and a first sliding seat are arranged on one side of the upper end of the vertical rod of the chassis, a second bidirectional ratchet wheel sliding seat and a second sliding seat are arranged on the other side of the upper end of the vertical rod of the chassis, the first bidirectional ratchet wheel sliding seat and the second bidirectional ratchet;
the first long rod can be slidably arranged on the second bidirectional ratchet wheel sliding seat, the second long rod can be slidably arranged on the first bidirectional ratchet wheel sliding seat, the third long rod can be slidably arranged on the second sliding seat, and the fourth long rod can be slidably arranged on the first sliding seat;
in the first bidirectional ratchet wheel sliding seat, a ratchet wheel sliding guide seat is rotatably arranged on the ratchet wheel sliding seat, a ratchet wheel control assembly for controlling the ratchet wheel sliding guide seat to rotate is arranged on the ratchet wheel sliding seat, a bidirectional ratchet wheel sliding block is arranged in the ratchet wheel sliding seat, and a ratchet wheel sliding control assembly for controlling the long rod to slide along the ratchet wheel sliding guide seat is arranged on the ratchet wheel sliding guide seat;
in the first sliding seat, a sliding guide seat is rotatably arranged on the sliding seat;
the first bidirectional ratchet wheel sliding seat is positioned above the first sliding seat, the second bidirectional ratchet wheel sliding seat is positioned above the second sliding seat, and the first bidirectional ratchet wheel sliding seat, the second bidirectional ratchet wheel sliding seat, the first sliding seat and the second sliding seat are respectively coaxial in the direction of the rotation axis of the bidirectional ratchet wheel slide block.
In the invention, the movable chassis is also provided with an electric energy storage box, the collecting box is positioned on one side of the chassis upright stanchion, and the electric energy storage box is positioned on the other side of the chassis upright stanchion.
In the invention, the first long rod, the second long rod, the third long rod and the fourth long rod are the same in length, and the first longitudinal rod, the second longitudinal rod, the third longitudinal rod and the fourth longitudinal rod are the same in length.
In the invention, one end of a first long rod is movably connected with one end of a third longitudinal rod through a second transverse shaft, the other end of the first long rod is movably connected with one end of the first longitudinal rod through the first transverse shaft, one end of the second long rod is movably connected with one end of a fourth longitudinal rod through the second transverse shaft, the other end of the second long rod is movably connected with one end of the second longitudinal rod through the first transverse shaft, one end of the third long rod is movably connected with the other end of the third longitudinal rod through the fourth transverse shaft, the other end of the third long rod is movably connected with the other end of the first longitudinal rod through the third transverse shaft, one end of the fourth long rod is movably connected with the other end of the fourth longitudinal rod through the fourth transverse shaft, and the other end of the fourth long rod is movably connected with the other end of the second longitudinal rod through the third transverse shaft.
In the invention, one end of the eccentric push rod is movably connected with one end of the eccentric connecting rod through a pin shaft.
In the invention, the mounting plate connecting piece used for enabling the date beating comb mounting plate to vibrate up and down in a plane all the time is arranged on the comb mounting plate, and the other end of the eccentric push rod is fixedly connected with the bottom of the mounting plate connecting piece.
In the invention, the eccentric driving motor is connected with the eccentric shaft through a coupling.
In the invention, a plurality of chassis walking wheels are arranged at the bottom of the chassis base and distributed along the periphery of the chassis base, and the chassis walking wheels can walk under the drive of a motor or the push of external force.
In the invention, angular contact bearings are positioned at the upper side and the lower side of a deep groove ball bearing, a shaft retainer ring is arranged at the upper end of a vertical rod fixing shaft and is contacted with the angular contact bearing at the upper side of the deep groove ball bearing, the angular contact bearing at the lower side of the deep groove ball bearing is contacted with a shaft shoulder of the vertical rod fixing shaft, the angular contact bearing arranged in a vertical rod fixing inner sleeve and the lower side of the deep groove ball bearing are fastened and limited through a bearing limiting fastener, the bearing limiting fastener is connected with the vertical rod fixing inner sleeve in a threaded fit manner, the upper part of the bearing limiting fastener is contacted with the angular contact bearing at the lower side of the deep groove ball bearing, the angular contact bearing at the upper side of the deep groove ball bearing is contacted with a step in the vertical rod fixing inner.
In the invention, the lower end of the vertical rod fixing shaft penetrates through the chassis base and is locked by the fixing shaft fastening component.
In the invention, before the date beating operation is carried out, the device is moved to the position under a date tree to be picked, then an operator adjusts the positions of the ratchet wheel sliding control components on the first bidirectional ratchet wheel sliding seat and the second bidirectional ratchet wheel sliding seat, holds the handle rod, adjusts the ratchet wheel sliding control components through controlling the pull rope, when the ratchet wheel sliding control components are pulled to the middle position, the first long rod and the second long rod which are arranged on the ratchet wheel sliding guide seat can freely slide in two directions along the guiding direction of the ratchet wheel sliding guide seat, when the ratchet wheel sliding control components are pulled to the left position, the first long rod and the second long rod which are arranged on the ratchet wheel sliding guide seat can slide along the guiding direction of the ratchet wheel sliding guide seat to the extending direction, when the ratchet wheel sliding control components are pulled to the right position, the first long rod and the second long rod which are arranged on the ratchet wheel sliding guide seat can slide along the guiding direction of the ratchet, therefore, the lifting action and the back-and-forth movement of the parallelogram arm-lifting telescopic mechanism are realized to drive the lifting action and the back-and-forth movement of the jujube-beating operation mechanism, the device reaches the position of the jujube-beating required, the positions of the ratchet wheel control components on the first bidirectional ratchet wheel sliding seat and the second bidirectional ratchet wheel sliding seat are adjusted, when the ratchet wheel control components are shifted to the middle position, the ratchet wheel sliding guide seat can freely rotate in two directions, when the ratchet wheel control components are shifted to the left position, the bidirectional ratchet wheel sliding block can only rotate clockwise, when the ratchet wheel control components are shifted to the right position, the bidirectional ratchet wheel sliding block can only rotate anticlockwise to keep the angle of the adjusted long rod and the chassis upright rod, finally, the eccentric driving motor is started, the eccentric structure converts the circular motion of the eccentric wheel into the reciprocating linear motion of the eccentric push rod, and then the jujube-, the jujube beating comb teeth vibrate up and down, and the jujubes fall into the collecting net through vibration and are collected into the collecting box through the collecting net.
Has the advantages that: compared with the traditional telescopic rod mode, when the lifting action of the jujube beating operation mechanism is realized, an operator does not need to lift the telescopic rod for operation any more, and the operation can be realized only by holding the handle rod for adjustment, so that the lifting action and the front-and-back movement of the jujube beating operation mechanism can be easily and labor-saving; because telescopic machanism adopts the parallelogram structure, adjusts through ratchet control assembly between stock and the chassis pole setting simultaneously, because of two-way ratchet slider has the ratchet characteristic, makes the angle of the relative chassis pole setting of stock keep unchangeable, and the operator need not hold the handle pole and maintain the relative chassis pole setting angle of stock, and is more laborsaving, high-efficient, can realize adopting the jujube operation for a long time, is applicable to the big small-size orchard of fruit tree planting density.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.
FIG. 2 is a schematic structural view of a jujube-beating operation mechanism according to a preferred embodiment of the present invention.
FIG. 3 is a schematic view of the installation of the parallelogram arm-raising telescoping mechanism, the collection control mechanism and the collection box in the preferred embodiment of the invention.
Fig. 4 is a schematic structural diagram of a mobile chassis according to a preferred embodiment of the invention.
FIG. 5 is a schematic view of the installation of the parallelogram arm-raising telescopic mechanism, the jujube-beating mechanism and the movable chassis in the preferred embodiment of the invention.
FIG. 6 is a top view of the date-beating mechanism and the movable chassis according to the preferred embodiment of the present invention.
Fig. 7 is a schematic diagram of the internal structure of the mobile chassis according to the preferred embodiment of the invention.
FIG. 8 is a schematic view of a first bi-directional ratchet sliding seat according to a preferred embodiment of the present invention.
Fig. 9 is a schematic structural view of a first sliding seat in a preferred embodiment of the invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
Referring to fig. 1-9, the jujube picking device based on the parallelogram arm-raising telescoping mechanism comprises a parallelogram arm-raising telescoping mechanism 1, a jujube-beating operation mechanism 2, an operation part 3, a collection control mechanism 4, a collection box 5, a movable chassis 6 and an electric energy storage box 7, wherein the collection box 5 and the electric energy storage box 7 are arranged on a chassis base 6-2 at the bottom of the movable chassis 6, the collection box 5 is positioned at one side of a chassis upright 6-1, the electric energy storage box 7 is positioned at the other side of the chassis upright 6-1, the middle part of the parallelogram arm-raising telescoping mechanism 1 is arranged at the upper part of the chassis upright 6-1, the operation part 3 is arranged at one end of the parallelogram arm-raising telescoping mechanism 1, the jujube-beating operation mechanism 2 and the collection control mechanism 4 are arranged at the other end of the parallelogram arm-raising telescoping mechanism 1, the jujube-beating operation mechanism 2 is positioned at the upper part of the, the concrete structure of each part is as follows:
the parallelogram lifting arm telescopic mechanism 1 comprises a first transverse shaft 1-1, a second transverse shaft 1-2, a third transverse shaft 1-3, a fourth transverse shaft 1-4, a first long rod 1-5, a second long rod 1-6, a third long rod 1-7, a fourth long rod 1-8, a first longitudinal rod 1-9, a second longitudinal rod 1-10, a third longitudinal rod 1-11 and a fourth longitudinal rod 1-12, wherein the first long rod 1-5 is slidably arranged on a second bidirectional ratchet wheel sliding seat 6-5, the second long rod 1-6 is slidably arranged on a first bidirectional ratchet wheel sliding seat 6-4, the third long rod 1-7 is slidably arranged on a second sliding seat 6-7, the fourth long rod 1-8 is slidably arranged on a first sliding seat 6-6, and one end of the first long rod 1-5 passes through the second transverse shaft 1-2 and the third long rod 1-11 One end of the first long rod 1-5 is movably connected, the other end of the first long rod 1-5 is movably connected with one end of the first longitudinal rod 1-9 through the first transverse shaft 1-1, one end of the second long rod 1-6 is movably connected with one end of the fourth longitudinal rod 1-12 through the second transverse shaft 1-2, the other end of the second long rod 1-6 is movably connected with one end of the second longitudinal rod 1-10 through the first transverse shaft 1-1, one end of the third long rod 1-7 is movably connected with the other end of the third longitudinal rod 1-11 through the fourth transverse shaft 1-4, the other end of the third long rod 1-7 is movably connected with the other end of the first longitudinal rod 1-9 through the third transverse shaft 1-3, one end of the fourth long rod 1-8 is movably connected with the other end of the fourth longitudinal rod 1-12 through the fourth transverse shaft 1-4, the other end of the fourth long rod 1-8 is movably connected with the other end of the second longitudinal rod 1-10 through a third transverse shaft 1-3; the lengths of the first long rod 1-5, the second long rod 1-6, the third long rod 1-7 and the fourth long rod 1-8 are the same, the lengths of the first longitudinal rod 1-9, the second longitudinal rod 1-10, the third longitudinal rod 1-11 and the fourth longitudinal rod 1-12 are the same, the first long rod 1-5, the third long rod 1-7, the first longitudinal rod 1-9 and the third longitudinal rod 1-11 form a left parallelogram arm lifting telescopic mechanism, the second long rod 1-6, the fourth long rod 1-8, the second longitudinal rod 1-10 and the fourth longitudinal rod 1-12 form a right parallelogram arm lifting telescopic mechanism, and the left parallelogram arm lifting telescopic mechanism and the right parallelogram arm lifting telescopic mechanism form a parallelogram arm telescopic mechanism;
the date beating operation mechanism 2 comprises date beating comb teeth 2-1, a comb tooth mounting plate 2-2, a mounting plate connecting piece 2-3, an eccentric rod limiting guide seat 2-4, an eccentric driving motor 2-5, an eccentric shaft 2-6, an eccentric connecting rod 2-7, a date beating mechanism bottom plate 2-8 and an eccentric push rod 2-9, wherein the date beating mechanism bottom plate 2-8 is respectively arranged at the upper parts of a first longitudinal rod 1-9 and a second longitudinal rod 1-10, the eccentric shaft 2-6 is arranged on the date beating mechanism bottom plate 2-8 through a bearing, the eccentric driving motor 2-5 is arranged at one side of the date beating mechanism bottom plate 2-8 and drives the eccentric shaft 2-6 to rotate, the eccentric rod limiting guide seat 2-4 is arranged at the upper part of the date beating mechanism bottom plate 2-8, and the eccentric push rod 2-9 arranged in the eccentric rod limiting guide seat 2-4 can slide along the, one end of an eccentric push rod 2-9 is movably connected with one end of an eccentric connecting rod 2-7 through a pin shaft, the other end of the eccentric connecting rod 2-7 is eccentrically and movably connected with an eccentric shaft 2-6, the other end of the eccentric push rod 2-9 is fixedly connected with the bottom of a mounting plate connecting piece 2-3, a comb tooth mounting plate 2-2 is arranged on the mounting plate connecting piece 2-3, the mounting plate connecting piece 2-3 is used for enabling a date beating comb tooth mounting plate 25 to vibrate up and down in a plane all the time, and date beating comb teeth 2-1 are uniformly distributed on the comb tooth mounting; the eccentric driving motor 2-5 is connected with the eccentric shaft 2-6 through a coupler, the eccentric driving motor 2-5, the eccentric connecting rod 2-7 and the eccentric push rod 2-9 form an eccentric structure, and the eccentric driving motor 2-5 drives the eccentric shaft 2-6 to perform a circulating motion so as to drive the eccentric push rod 2-9 to perform a high-frequency reciprocating linear motion;
the operating part 3 comprises a handle rod 3-1 and a handle bracket 3-2, the handle bracket 3-2 is respectively arranged on the third vertical rod 1-11 and the fourth vertical rod 1-12 from top to bottom, and the handle rod 3-1 is arranged on the handle bracket 3-2;
the collecting control mechanism 4 comprises a left collecting diagonal rod 4-1, a right collecting diagonal rod 4-2, a left collecting transverse rod 4-3, a right collecting transverse rod 4-4 and a collecting net 4-5, wherein the left collecting diagonal rod 4-1 is movably connected with the left collecting transverse rod 4-3, the right collecting diagonal rod 4-2 is movably connected with the right collecting transverse rod 4-4, the right collecting diagonal rod 4-2 is movably connected with a second longitudinal rod 1-10, the left collecting diagonal rod 4-1 is movably connected with a first longitudinal rod 1-9, the collecting net 4-5 is arranged on the left collecting transverse rod 4-3 and the right collecting transverse rod 4-4, a certain opening angle is formed between the left collecting diagonal rod 4-1 and the right collecting diagonal rod 4-2, the left collecting transverse rod 4-3 and the left collecting diagonal rod 4-1, A certain opening angle is formed between the right collecting cross rod 4-4 and the right collecting oblique rod 4-2 respectively, the size of the collecting area of the collecting net 4-5 can be adjusted by controlling the opening angles, and the adjustment of the opening angles and the position control of the ratchet wheel sliding control assembly B and the ratchet wheel control assembly C are realized by control pull ropes arranged on the handle rod 3-1;
the movable chassis 6 comprises a chassis upright post 6-1, a chassis base 6-2, chassis walking wheels 6-3, a first bidirectional ratchet wheel sliding seat 6-4, a second bidirectional ratchet wheel sliding seat 6-5, a first sliding seat 6-6, a second sliding seat 6-7, a vertical post fixed shaft 6-8, a vertical post fixed inner sleeve 6-9, an angular contact bearing 6-10, a deep groove ball bearing 6-11, a fixed shaft fastening assembly 6-12, a locking fastener 6-13, a bearing limiting fastener 6-14, a shaft retainer ring 6-15, a ratchet wheel sliding guide seat A, a ratchet wheel sliding control assembly B, a ratchet wheel control assembly C, a ratchet wheel sliding seat D, a sliding guide seat X and a sliding seat Y, wherein a plurality of chassis walking wheels 6-3 are arranged at the bottom of the chassis base 6-2 and distributed along the periphery of the chassis base 6-2, the chassis traveling wheel 6-3 can travel by being driven by a motor or pushed by external force, the bottom end of the chassis upright 6-1 is internally provided with an upright fixing inner sleeve 6-9, the chassis upright 6-1 is tightly connected with the upright fixing inner sleeve 6-9, an angular contact bearing 6-10 and a deep groove ball bearing 6-11 are arranged in the upright fixing inner sleeve 6-9 and sleeved on an upright fixing shaft 6-8, the angular contact bearing 6-10 is positioned at the upper side and the lower side of the deep groove ball bearing 6-11, a shaft retainer ring 6-15 is arranged at the upper end of the upright fixing shaft 6-8 and is in contact spacing with the angular contact bearing 6-10 at one side above the deep groove ball bearing 6-11, the angular contact bearing 6-10 at one side below the deep groove ball bearing 6-11 is in contact spacing with a shaft, the lower parts of the angular contact bearings 6-10 and the deep groove ball bearings 6-11 arranged in the vertical rod fixing inner sleeves 6-9 are fastened and limited through bearing limiting fasteners 6-14, the bearing limiting fasteners 6-14 are connected with the vertical rod fixing inner sleeves 6-9 in a threaded fit mode, the upper parts of the bearing limiting fasteners 6-14 are in contact limiting with the angular contact bearings 6-10 at one side below the deep groove ball bearings 6-11, the angular contact bearings 6-10 at one side above the deep groove ball bearings 6-11 are in contact limiting with inner steps of the vertical rod fixing inner sleeves 6-9, anti-loosening fasteners 6-13 are arranged at the lower sides of the bearing limiting fasteners 6-14 to splice the bearing limiting fasteners 6-14, and the anti-loosening fasteners 6-13 are connected with the vertical rod fixing inner sleeves 6-9 in a threaded fit, mounting holes are respectively formed in the anti-loosening fastening piece 6-13 and the bearing limiting fastening piece 6-14, the vertical rod fixing shaft 6-8 is in contact limiting with the chassis base 6-2 through a shaft shoulder and is matched with the chassis base 6-2 through an excircle, the lower end of the vertical rod fixing shaft 6-8 penetrates through the chassis base 6-2 and is locked through the fixing shaft fastening assembly 6-12, one side of the upper end of the chassis vertical rod 6-1 is provided with a first bidirectional ratchet wheel sliding seat 6-4 and a first sliding seat 6-6, the other side of the upper end of the chassis vertical rod 6-1 is provided with a second bidirectional ratchet wheel sliding seat 6-5 and a second sliding seat 6-7, the first bidirectional ratchet wheel sliding seat 6-4 and the second bidirectional ratchet wheel sliding seat 6-5 are identical in structure, and the first sliding seat 6-6 and the second sliding seat 6-7 are identical in structure;
the first bidirectional ratchet sliding seat 6-4 is structurally described as follows:
the ratchet wheel sliding guide seat A is rotatably arranged on a ratchet wheel sliding seat D through a bearing, a ratchet wheel control assembly C is arranged on the ratchet wheel sliding seat D and used for controlling the ratchet wheel sliding guide seat A to rotate, a bidirectional ratchet wheel sliding block is arranged in the ratchet wheel sliding seat D, a ratchet wheel sliding control assembly B is arranged on the ratchet wheel sliding guide seat A and used for controlling each long rod to slide along the ratchet wheel sliding guide seat A, when the ratchet wheel control assembly C is dialed to the middle position, the ratchet wheel sliding guide seat A can freely rotate in two directions, when the ratchet wheel control assembly C is dialed to the left position, the bidirectional ratchet wheel sliding block can only rotate clockwise, and when the ratchet wheel control assembly C is dialed to the right position, the bidirectional ratchet wheel sliding block can only rotate anticlockwise; when the ratchet wheel sliding control component B is shifted to the middle position, the second long rod 1-6 arranged on the ratchet wheel sliding guide seat A can freely slide along the guide direction of the ratchet wheel sliding guide seat A in a two-way mode, when the ratchet wheel sliding control component B is shifted to the left position, the second long rod 1-6 arranged on the ratchet wheel sliding guide seat A can slide along the guide direction of the ratchet wheel sliding guide seat A to the extending direction, and when the ratchet wheel sliding control component B is shifted to the right position, the second long rod 1-6 arranged on the ratchet wheel sliding guide seat A can slide along the guide direction of the ratchet wheel sliding guide seat A to the retracting direction;
the structure of the first sliding seat 6-6 is described as follows:
the sliding guide seat X is rotatably arranged on the sliding seat Y through a bearing, and a fourth long rod 1-8 arranged on the sliding guide seat X can freely slide in two directions along the guide direction of the sliding guide seat X; the first bidirectional ratchet wheel sliding seat 6-4 and the second bidirectional ratchet wheel sliding seat 6-5 are positioned above the first sliding seat 6-6 and the second sliding seat 6-7, and the first bidirectional ratchet wheel sliding seat 6-4 and the second bidirectional ratchet wheel sliding seat 6-5, the first sliding seat 6-6 and the second sliding seat 6-7 are respectively coaxial in the direction of the rotation axis of the sliding block;
before jujube-beating operation is carried out, the device is moved to a position below a jujube tree to be picked, then an operator adjusts the ratchet wheel sliding control component B on the first bidirectional ratchet wheel sliding seat 6-4 and the second bidirectional ratchet wheel sliding seat 6-5, holds the handle rod 3-1 to adjust the lifting action and the front-and-back movement of the parallelogram lifting arm telescopic mechanism 1 so as to drive the jujube-beating operation mechanism 2 to lift and move back and forth, so that the device reaches the position of the jujube-beating, then adjusts the ratchet wheel control component C on the first bidirectional ratchet wheel sliding seat 6-4 and the second bidirectional ratchet wheel sliding seat 6-5 so as to keep the angle between the adjusted long rod and the chassis upright rod 6-1, finally, the eccentric driving motor 2-5 is started, and the eccentric structure converts the circular motion of the eccentric wheel into the reciprocating linear motion of the eccentric push rod 2-9, further driving the date beating operation mechanism 2 to do the same reciprocating linear motion, realizing the up-and-down vibration of the date beating comb teeth 2-1, leading the dates to fall into the collecting net 4-5 through the vibration, and collecting the dates into the collecting box 5 through the collecting net 4-5;
the base plate 2-8 of the date beating mechanism is arranged at the upper parts of the first longitudinal rod 1-9 and the second longitudinal rod 1-10, and the handle rod 3-1 is used for performing telescopic action to realize the lifting action and the front-back movement of the date beating operation mechanism 2; because the telescopic mechanism adopts a parallelogram structure, compared with the traditional telescopic rod form, when the lifting action of the jujube beating operation mechanism 2 is realized, an operator does not need to lift the telescopic rod for operation any more, and the operation can be realized only by holding the handle rod 3-1 for adjustment, so that the lifting action and the front-back movement of the jujube beating operation mechanism 2 can be easily and laborsaving; meanwhile, the long rod and the chassis upright rod 6-1 are adjusted through the ratchet wheel control component C, and the bidirectional ratchet wheel sliding block has the ratchet wheel characteristic, so that the angle of the long rod relative to the chassis upright rod 6-1 is kept unchanged, an operator does not need to hold the handle rod 3-1 to maintain the angle of the long rod relative to the chassis upright rod 6-1, the labor is saved, the efficiency is improved, and the long-time jujube picking operation can be realized.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. Adopt jujube device based on parallelogram lifts arm telescopic machanism, lift arm telescopic machanism including the parallelogram, beat jujube operation mechanism, the portion of controlling, collection control mechanism, the collecting box and remove the chassis, a serial communication port, the collecting box sets up in removing the chassis bottom, it is fixed with the chassis pole setting on the removal chassis, parallelogram lifts arm telescopic machanism middle part and sets up in chassis pole setting upper portion, the portion of controlling sets up at parallelogram and lifts arm telescopic machanism one end, beat jujube operation mechanism and collection control mechanism setting and lift the arm telescopic machanism other end at the parallelogram, and beat jujube operation mechanism and be located this end upper portion, collection control mechanism is located this end lower part, each part concrete structure is as follows:
the parallelogram arm lifting telescopic mechanism consists of a left parallelogram arm lifting telescopic mechanism and a right parallelogram arm lifting telescopic mechanism, the left parallelogram arm lifting telescopic mechanism consists of a first long rod, a third long rod, a first longitudinal rod and a third longitudinal rod, and the right parallelogram arm lifting telescopic mechanism consists of a second long rod, a fourth long rod, a second longitudinal rod and a fourth longitudinal rod;
in the jujube beating operation mechanism, a jujube beating mechanism bottom plate is arranged on the upper portions of a first longitudinal rod and a second longitudinal rod, an eccentric shaft is arranged on the jujube beating mechanism bottom plate and is connected with an eccentric driving motor, the eccentric driving motor is arranged on one side of the jujube beating mechanism bottom plate, an eccentric rod limiting guide seat is arranged on the upper portion of the jujube beating mechanism bottom plate, an eccentric push rod capable of sliding along the axial direction is arranged in the eccentric rod limiting guide seat, one end of the eccentric push rod is movably connected with one end of an eccentric connecting rod, the other end of the eccentric connecting rod is eccentrically and movably connected with the eccentric shaft, the other end of the eccentric push rod is connected with a comb tooth mounting plate, and jujube; the eccentric driving motor, the eccentric connecting rod and the eccentric push rod form an eccentric structure;
the control part comprises a handle rod and a handle bracket, the handle bracket is arranged on the third longitudinal rod and the fourth longitudinal rod, the handle rod is arranged on the handle bracket, and meanwhile, a control pull rope for controlling the position of the ratchet wheel sliding control assembly of the moving chassis, a control pull rope for controlling the position of the ratchet wheel control assembly and a control pull rope for adjusting the opening angle in the collection control mechanism are arranged on the handle rod;
in the collecting control mechanism, a left collecting diagonal rod is movably connected with a left collecting transverse rod, a right collecting diagonal rod is movably connected with a right collecting transverse rod, a right collecting diagonal rod is movably connected with a second longitudinal rod, a left collecting diagonal rod is movably connected with a first longitudinal rod, a collecting net is installed on the left collecting transverse rod and the right collecting transverse rod, an opening angle is formed between the left collecting diagonal rod and the right collecting diagonal rod, and an opening angle is formed between the left collecting transverse rod and the left collecting diagonal rod and between the right collecting transverse rod and the right collecting diagonal rod respectively;
in the movable chassis, a vertical rod fixing inner sleeve is arranged inside the bottom end of a vertical rod of the chassis, the vertical rod of the chassis is fixedly connected with the vertical rod fixing inner sleeve, an angular contact bearing and a deep groove ball bearing are arranged in the vertical rod fixing inner sleeve and sleeved on a vertical rod fixing shaft, the vertical rod fixing shaft is matched with a chassis base through an excircle, the lower end of the vertical rod fixing shaft penetrates through the chassis base, a first bidirectional ratchet wheel sliding seat and a first sliding seat are arranged on one side of the upper end of the vertical rod of the chassis, a second bidirectional ratchet wheel sliding seat and a second sliding seat are arranged on the other side of the upper end of the vertical rod of the chassis, the first bidirectional ratchet wheel sliding seat and the second bidirectional ratchet;
the first long rod can be slidably arranged on the second bidirectional ratchet wheel sliding seat, the second long rod can be slidably arranged on the first bidirectional ratchet wheel sliding seat, the third long rod can be slidably arranged on the second sliding seat, and the fourth long rod can be slidably arranged on the first sliding seat;
in the first bidirectional ratchet wheel sliding seat, a ratchet wheel sliding guide seat is rotatably arranged on the ratchet wheel sliding seat, a ratchet wheel control assembly for controlling the ratchet wheel sliding guide seat to rotate is arranged on the ratchet wheel sliding seat, a bidirectional ratchet wheel sliding block is arranged in the ratchet wheel sliding seat, and a ratchet wheel sliding control assembly for controlling the long rod to slide along the ratchet wheel sliding guide seat is arranged on the ratchet wheel sliding guide seat;
in the first sliding seat, a sliding guide seat is rotatably arranged on the sliding seat;
the first bidirectional ratchet wheel sliding seat is positioned above the first sliding seat, the second bidirectional ratchet wheel sliding seat is positioned above the second sliding seat, and the first bidirectional ratchet wheel sliding seat, the second bidirectional ratchet wheel sliding seat, the first sliding seat and the second sliding seat are respectively coaxial in the direction of the rotation axis of the bidirectional ratchet wheel slide block.
2. The jujube picking device based on the parallelogram arm lifting telescopic mechanism as claimed in claim 1, wherein an electric energy storage box is further arranged on the movable chassis, the collecting box is positioned on one side of the chassis vertical rod, and the electric energy storage box is positioned on the other side of the chassis vertical rod.
3. The date picking device based on the parallelogram arm lifting telescopic mechanism as claimed in claim 1, wherein the first long rod, the second long rod, the third long rod and the fourth long rod are the same in length, and the first longitudinal rod, the second longitudinal rod, the third longitudinal rod and the fourth longitudinal rod are the same in length.
4. The date picking device based on the parallelogram arm raising telescopic mechanism as claimed in claim 1, wherein one end of the first long rod is movably connected with one end of the third longitudinal rod through the second transverse shaft, the other end of the first long rod is movably connected with one end of the first longitudinal rod through the first transverse shaft, one end of the second long rod is movably connected with one end of the fourth longitudinal rod through the second transverse shaft, the other end of the second long rod is movably connected with one end of the second longitudinal rod through the first transverse shaft, one end of the third long rod is movably connected with the other end of the third longitudinal rod through the fourth transverse shaft, the other end of the third long rod is movably connected with the other end of the first longitudinal rod through the third transverse shaft, one end of the fourth long rod is movably connected with the other end of the fourth longitudinal rod through the fourth transverse shaft, and the other end of the fourth long rod is movably connected with the other end of the second longitudinal rod through the third transverse shaft.
5. The jujube picking device based on the parallelogram arm lifting telescopic mechanism as claimed in claim 1, wherein one end of the eccentric push rod is movably connected with one end of the eccentric connecting rod through a pin shaft.
6. The jujube picking device based on the parallelogram lifting arm telescopic mechanism as claimed in claim 1, wherein the comb mounting plate is provided with a mounting plate connecting piece for enabling the jujube picking comb mounting plate to vibrate up and down in a plane all the time, and the other end of the eccentric push rod is fixedly connected with the bottom of the mounting plate connecting piece.
7. The jujube picking device based on the parallelogram arm lifting telescopic mechanism as claimed in claim 1, wherein a plurality of chassis walking wheels are arranged at the bottom of the chassis base and distributed along the periphery of the chassis base.
8. The jujube picking device based on the parallelogram arm-lifting telescopic mechanism as claimed in claim 1, wherein the eccentric driving motor is connected with the eccentric shaft through a coupling.
9. The date picking device based on the parallelogram lifting arm telescopic mechanism is characterized in that angular contact bearings are arranged on the upper side and the lower side of a deep groove ball bearing, shaft retaining rings are arranged at the upper end of a vertical rod fixing shaft and are in contact with the angular contact bearing on the upper side of the deep groove ball bearing, the angular contact bearing on the lower side of the deep groove ball bearing is in contact with a shaft shoulder of the vertical rod fixing shaft, and the angular contact bearing on the upper side of the deep groove ball bearing is in contact with an inner step of a vertical rod fixing inner sleeve.
10. The date picking device based on the parallelogram arm-raising telescopic mechanism as claimed in any one of claims 1 to 9, wherein before date picking operation, the device is moved under a date tree to be picked, then an operator adjusts the positions of the ratchet wheel slide control components on the first bidirectional ratchet wheel slide seat and the second bidirectional ratchet wheel slide seat, holds the handle rod, adjusts the ratchet wheel slide control components through the control pull rope, when the ratchet wheel slide control components are pulled to the middle position, the first long rod and the second long rod installed on the ratchet wheel slide guide seat can freely slide along the guiding direction of the ratchet wheel slide guide seat in both directions, when the ratchet wheel slide control components are pulled to the left position, the first long rod and the second long rod installed on the ratchet wheel slide guide seat can slide along the guiding direction of the ratchet wheel slide guide seat in the extending direction, when the ratchet wheel slide control components are pulled to the right position, the first long rod and the second long rod which are arranged on the ratchet wheel sliding guide seat can slide along the direction of the ratchet wheel sliding guide seat to shrink, thereby realizing the lifting action and the back-and-forth movement of the parallelogram arm lifting telescopic mechanism and further driving the jujube beating operation mechanism to lift and move back and forth, leading the device to reach the position of the jujube beating, then adjusting the positions of the ratchet wheel control components on the first bidirectional ratchet wheel sliding seat and the second bidirectional ratchet wheel sliding seat, when the ratchet wheel control components are dialed to the middle position, the ratchet wheel sliding guide seat can freely rotate in two directions, when the ratchet wheel control components are dialed to the left position, the bidirectional ratchet wheel slide block can only rotate clockwise, when the ratchet wheel control components are dialed to the right position, the bidirectional ratchet wheel slide block can only rotate anticlockwise to keep the angle between the adjusted long rod and the chassis upright rod, finally, the eccentric driving motor is started, and the eccentric structure converts the circumferential motion of the eccentric wheel into the, and then drive and beat jujube operation mechanism and do the same reciprocal linear motion, realize beating the vibrations of jujube broach from top to bottom, the jujube falls into in the collection net through vibrations, collects to the collection case through the collection net.
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| CN201811608134.6A CN109479510B (en) | 2018-12-27 | 2018-12-27 | Jujube picking device based on parallelogram arm lifting telescopic mechanism |
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| CN201811608134.6A CN109479510B (en) | 2018-12-27 | 2018-12-27 | Jujube picking device based on parallelogram arm lifting telescopic mechanism |
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| CN109479510B true CN109479510B (en) | 2020-03-03 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109964648B (en) * | 2019-04-11 | 2021-01-22 | 洛阳师范学院 | Movable omnibearing controlled jujube beater |
| CN110252703A (en) * | 2019-07-09 | 2019-09-20 | 绍兴绍运制版有限公司 | The cleaning device of symmetrical metal roller |
| CN113039931B (en) * | 2021-03-10 | 2022-10-14 | 哈尔滨神州精英科技开发有限公司 | Greenhouse green vegetable nondestructive picking integrated system |
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