CN109983916B

CN109983916B - Pineapple picking device

Info

Publication number: CN109983916B
Application number: CN201910183250.6A
Authority: CN
Inventors: 刘长红; 李创锌; 黎子良; 叶土仙; 朱亮宇; 彭绍湖
Original assignee: Guangzhou University
Current assignee: Guangzhou University
Priority date: 2019-03-11
Filing date: 2019-03-11
Publication date: 2021-11-26
Anticipated expiration: 2039-03-11
Also published as: CN109983916A

Abstract

The invention relates to a pineapple picking device, which comprises a mounting frame, wherein a traveling wheel or a traveling crawler is arranged on the lower side of the mounting frame, a guide frame is arranged on the mounting frame, a guide groove for pineapple trees to enter is arranged on the guide frame, a lifting mechanism is also arranged on the mounting frame and used for driving the guide frame to move up and down, a thrust mechanism is arranged on one side of the guide frame on the guide groove and comprises a driving motor, a parallel four-bar mechanism and a push plate, the parallel four-bar mechanism comprises a first rocker, a second rocker and a connecting rod, the first rocker and the second rocker are arranged in parallel, the connecting rod is connected between the first rocker and the second rocker, one end of the first rocker deviating from the connecting rod is connected with an output shaft of the driving motor, one end of the second rocker deviating from the connecting rod is hinged on the guide frame, the push plate is driven by the parallel four-bar mechanism to push the pineapples in the guide groove to break off the pineapples from the pineapple trees. Compared with the pineapple picking device in the prior art, the pineapple picking device reduces the damage to the pineapple and the seedlings on the pineapple tree.

Description

Pineapple picking device

Technical Field

The invention relates to the technical field of fruit picking devices, in particular to a pineapple picking device.

Background

Pineapple, short stem, most leaves, rosette arrangement, sword-like shape, gradually pointed top, full margin or sharp teeth, green ventral surface, pink green back, brownish red edges and top, small leaves growing on the top of inflorescence, and red color. Extracting inflorescence from leaf cluster, and making it into pine cone; the base of the bract is green, the upper half of the bract is light red, and the bract is triangular and oval; sepals are wide, oval, fleshy, and reddish at the top; the petals are oblong, pointed, purple red at the upper part and white at the lower part. Gather the fruit meat quality. From summer to winter in the flowering phase. The cultivation is carried out in Fujian, Guangdong, Hainan, Guangxi and Yunnan provinces of China. The native tropical region of America is one of famous tropical fruits.

At present, only a few fruit growers have semi-mechanical auxiliary picking devices, and the pineapple picking machines owned by markets mainly full-manual picking at home and abroad are still in the initial development stage. The Chinese patent application with the application publication number of CN109247129A discloses a pineapple picking device, which comprises an installation frame, a lifting device, a transverse moving device, a longitudinal moving device and a picking device, wherein a plurality of supporting leg columns are arranged below the installation frame, walking wheels are arranged at the lower ends of the supporting leg columns, a plurality of connecting rods are arranged on the supporting leg columns in parallel, the lifting device is arranged on the connecting rods, the output end of the lifting device is connected with the bottom side of the installation frame, the longitudinal moving device is fixedly arranged on the installation frame, the transverse moving device is connected with the lower side of the output end of the longitudinal moving device, a first mounting plate is arranged on the output end of the transverse moving device, a lifting device is also arranged on the mounting plate, a second mounting plate is arranged on the output end of the lifting device, and the picking device is arranged on the second mounting plate, the second mounting plate is also provided with a rotating device for driving the picking device to rotate. This device is picked to pineapple has improved the picking efficiency of pineapple through snatching and twisting off the mode. However, the pineapple is different from other fruits and vegetables, the mass of the pineapple is large, and the pineapple picking device is not easy to grab and twist off; and the pineapple picking device is likely to damage the pineapples and seedlings on the pineapple trees in the twisting-off process.

Disclosure of Invention

In order to solve the problems, the invention provides a pineapple picking device, which aims to solve the technical problem that in the prior art, seedlings on pineapples and pineapple trees are easily damaged in the picking process of the pineapple picking device.

The technical scheme of the pineapple picking device is as follows:

a pineapple picking device comprises a mounting frame, wherein walking wheels or walking tracks are arranged on the lower side of the mounting frame, a guide frame is mounted on the mounting frame, a guide groove for pineapple trees to enter is formed in the guide frame, a lifting mechanism is further mounted on the mounting frame and used for driving the guide frame to move up and down so as to adjust the guide groove to be at the same height as the bottom of a pineapple, a thrust mechanism is arranged on one side of the guide groove of the guide frame and comprises a driving motor, a parallel four-bar mechanism and a push plate, the parallel four-bar mechanism comprises a first rocker, a second rocker and a connecting rod connected between the first rocker and the second rocker, the end, far away from the connecting rod, of the first rocker is connected with an output shaft of the driving motor, the end, far away from the connecting rod, of the second rocker is hinged to the guide frame, and the push plate is driven by the parallel four-bar mechanism, used for pushing the pineapples in the guide groove to break the pineapples off the pineapple trees.

The beneficial effects are that: when the pineapple picking device is used, the lifting mechanism adjusts the guide frame to be at the same height position with the bottom of a pineapple, the pineapple picking device moves forwards, in the process of advancing, the pineapple enters the guide groove, the driving motor rotates to drive the parallel four-bar mechanism to act, and the parallel four-bar mechanism drives the push rod to push the pineapple in the guide groove, so that the pineapple is broken off from the pineapple, and the picking of the pineapple is completed. Compared with the pineapple picking device in the prior art, the pineapple picking device provided by the invention picks pineapples in an inferred mode, so that pineapples or pineapple trees are prevented from being screwed, and damages to the pineapples and seedlings on the pineapple trees are reduced.

Furthermore, the driving motor is a double-output-shaft motor, the two sets of parallel four-bar mechanisms are provided, and the two sets of parallel four-bar mechanisms are correspondingly connected to output shafts at two ends of the double-output-shaft motor. The driving motor is a double-output-shaft motor, and the two sets of parallel four-bar mechanisms are respectively connected to output shafts at two ends of the double-output-shaft motor, so that the thrust of the push plate is enhanced, and the pineapple can be deduced from the pineapple tree.

Furthermore, first rocking bars in the two sets of parallel four-bar mechanisms are connected through a first connecting rod, the first connecting rod forms a pivot of the first rocking bar and the connecting rod, second rocking bars in the two sets of parallel four-bar mechanisms are connected through a second connecting rod, the second connecting rod forms a pivot of the second rocking bar and the connecting rod, and the push plate is fixedly connected to the second connecting rod. The connecting rod is arranged between the two sets of parallel four-bar mechanisms, so that the structural strength of the parallel four-bar mechanisms is enhanced.

Furthermore, the lifting mechanism comprises a double-output-shaft motor and transmission assemblies respectively connected to output shafts at two ends of the double-output-shaft motor, each transmission assembly comprises a first bevel gear connected with the output shaft of the double-output-shaft motor through a coupler, a second bevel gear meshed with the first bevel gear, a screw rod connected to the second bevel gear, and a screw rod sliding block arranged on the screw rod, and the screw rod sliding block is fixedly connected with the guide frame. The lifting mechanism in this form enhances the lifting force of the lifting mechanism.

Furthermore, a guide rod parallel to the screw rod is arranged on the mounting frame, a mounting frame sliding block is arranged at one end, away from the screw rod sliding block, of the guide frame, and the mounting frame sliding block is sleeved on the guide rod. The guide rod and the sliding block are arranged, so that the stability of the guide frame in the up-and-down movement process is enhanced.

Further, the guide frame includes support body and lower support body, it is articulated mutually with the tip that lower support body is located the guide slot notch to go up the support body, it deviates from between the tip of guide slot notch to go up support body and lower support body to be equipped with buffer spring. The guide frame includes support body and lower support body, and upper and lower support body one end is articulated, one end is equipped with buffer spring, helps reducing the pineapple and is getting into the pressure of guide slot in-process guide frame to the pineapple, helps protecting the pineapple.

Further, be connected with the guide board on the lower support body for in leading pineapple tree to the guiding groove, be equipped with the guide arm that extends from top to bottom on the mounting bracket, the guide board slides along the guide of guide arm direction. The guide plate is helpful for the pineapples to enter the guide groove.

Furthermore, a baffle capable of rotating towards the guide groove is arranged on a notch of the guide groove, a shifting piece is arranged in the guide groove in the rotation stroke of the baffle, and the shifting piece is used for controlling the action of the thrust mechanism so that the action of the thrust mechanism can infer the pineapple when the pineapple tree enters the guide groove. Is convenient to control.

Furthermore, the push plate is provided with an arc surface used for wrapping the pineapples, and anti-skid grains are arranged on the arc surface. The push plate is provided with the cambered surface and the anti-skid lines, so that the pineapple can be pushed.

Further, the pineapple picking device further comprises a control system, the control system comprises an infrared emitter and a processor connected with the infrared emitter, the processor is connected with the lifting mechanism, the infrared emitter is used for detecting the position of the bottom of the pineapple, and the processor receives signals from the infrared emitter and judges whether the lifting device is required to act so as to adjust the guide groove to be at the same height as the bottom of the pineapple. The pineapple picking device is provided with a control system, so that automatic adjustment of the guide frame can be realized, and the operation is convenient.

Drawings

FIG. 1 is a schematic structural view of a pineapple picking device of the present invention;

FIG. 2 is a schematic view of the pineapple picking apparatus of the present invention with the mounting frame removed;

FIG. 3 is a schematic view of the structure of the guide frame in the pineapple picking apparatus of the present invention;

in the figure: 1-a mounting frame; 101-a guide rod; 2-a guide frame; 201-upper frame body; 202-lower frame body; 203-a buffer spring; 204-a mount slider; 205-a guide slot; 3-walking wheels; 4-a first double output shaft motor; 5-a coupler; 6-a first bevel gear; 7-a second bevel gear; 8-a screw rod; 9-horizontal bearing seat; 10-a screw rod slide block; 11-a second double output shaft motor; 12-a first rocker; 13-a connecting rod; 14-a second rocker; 15-a first connecting rod; 16-a second connecting rod; 17-a third connecting rod; 18-a push plate; 19-a baffle plate; 20-a switch; 21-a guide rod; 22-guide plate.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

The first embodiment of the pineapple picking device of the invention, as shown in fig. 1, comprises a mounting frame 1, wherein a guide frame 2, a lifting mechanism and a thrust mechanism are mounted on the mounting frame 1. The lifting mechanism is used for driving the guide frame 2 to lift so as to adjust the guide frame 2 to be as high as the bottom of the pineapple. The guide frame 2 is provided with a guide groove 205 for the pineapple to enter, and a thrust mechanism is arranged at one side of the guide frame 2 at the guide groove 205 and is used for deducing the pineapple on the pineapple stem entering the guide groove 205. The lower side of the mounting frame 1 is provided with a walking wheel 3 and a speed reducing motor for driving the walking wheel 3. When the pineapple picking device is used, the pineapple picking device moves forwards along the ridged pineapples, the pineapples enter the guide groove 205 in the forward moving process, the pushing mechanism deduces the pineapples on the pineapple stems entering the guide groove 205, and the pineapple picking purpose is achieved.

Specifically, as shown in fig. 2, the lifting mechanism includes a first double-output-shaft motor 4 and a transmission assembly respectively connected to output shafts at two ends of the first double-output-shaft motor 4, and the first double-output-shaft motor 4 is fixed on the mounting frame 1 through a mounting plate. The two sets of transmission assemblies have the same structure, and the structure of the two sets of transmission assemblies is described by taking a set of transmission assemblies as an example, wherein each transmission assembly comprises a first bevel gear 6 connected with one output shaft of the first double-output shaft motor 4 through a coupler 5, a second bevel gear 7 meshed with the first bevel gear 6, a screw rod 8 connected to the second bevel gear 7 and a screw rod slide block 10 arranged on the screw rod 8, two ends of the screw rod 8 are fixed on the mounting frame 1 through horizontal bearing seats 9, and the screw rod slide block 10 is fixedly connected with the guide frame 2. When the first double-output-shaft motor 4 rotates, the first bevel gear 6 is driven to rotate, the first bevel gear 6 drives the second bevel gear 7 to rotate, the screw rod 8 rotates along with the second bevel gear 7, the screw rod 8 rotates to drive the screw rod sliding block 10 to move axially, and therefore the guide frame 2 is lifted.

The guide frame 2 includes an upper frame body 201 and a lower frame body 202, the upper frame body 201 and the lower frame body 202 are hinged at one end of the notch of the guide groove 205, the upper frame body 201 and the lower frame body 202 are hinged specifically through hinges, the number of the hinges is three, and the rotation axes of the upper frame body 201 and the lower frame body 202 are perpendicular to the extension line of the guide groove 205. The buffer springs 203 are arranged between the ends of the notches of the upper frame body 201 and the lower frame body 202, which are away from the guide grooves 205, the number of the buffer springs 203 is three, two of the three buffer springs 203 are respectively positioned at two sides of the guide grooves 205, and the buffer springs 203 are used for reducing the acting force of the guide frame 2 on the pineapples in the process of entering the guide grooves 205, so that the pineapple can be protected. Lower frame body 202 is provided with two mounting bracket sliders 204 in the one side that deviates from the lead screw slider, is provided with guide arm 101 with 8 parallel arrangement of lead screw on the mounting bracket 1, and mounting bracket slider 204 suit is on guide arm 101. When the lifting mechanism drives the guide frame 2 to move up and down, the mounting frame sliding block 204 slides up and down along the guide rod 101, so that the stability of the guide frame 2 in the process of moving up and down is enhanced. The guide plate 22 is connected to the lower frame 202 of the guide frame 2 and used for guiding the pineapple trees into the guide groove 205, the guide frame 1 is provided with a guide rod 21 arranged in parallel with the screw rod 8, and the guide plate 22 is guided and assembled on the guide rod 21 so that the guide frame 2 moves up and down along with the lower frame 202 when the lower frame 202 moves up and down.

The thrust mechanism comprises a driving motor, two parallel four-bar mechanisms and a push plate 18, wherein the driving motor is a second double output shaft motor 11, the number of the parallel four-bar mechanisms is two, and the two parallel four-bar mechanisms are respectively arranged on output shafts at two ends of the second double output shaft motor 11. Now, a set of parallel four-bar mechanism is taken as an example to explain the structure of the parallel four-bar mechanism, the parallel four-bar mechanism comprises a first rocker 12, a second rocker 14 and a connecting rod 13 connected between the first rocker and the second rocker, the first rocker 12 is connected with one output shaft of a second double output shaft motor 11 at the end departing from the connection with the connecting rod 13, the second rocker 14 is hinged with a guide frame 2 at the end departing from the connection with the connecting rod 13, a push plate 18 is driven by the parallel four bars to push the pineapples in a guide groove 205 to break the pineapples off from the pineapple trees.

In order to enhance the structural strength of the thrust mechanism, the first rocking bars 12 in the two sets of parallel four-bar mechanisms are connected through first connecting rods 15, and the first connecting rods 15 form pivots of the first rocking bars 12 and the connecting rods 13; the upper ends of the second rocking bars 14 in the two sets of parallel four-bar mechanisms are connected through second connecting rods 16, the second connecting rods 16 form pivots of the second rocking bars 14 and the connecting rods 13, the lower ends of the second rocking bars are connected through third connecting rods 17, and the third connecting rods 17 form pivots of the second rocking bars 14 and the guide frame 2. The guide frame 2 is provided with a hinged seat hinged with the first rocker 12 and the second rocker 14 respectively. The push plate 18 is fixedly connected to the second connecting rod 16, an arc surface wrapping the pineapples is arranged on the push plate 18, and anti-slip lines are arranged on the arc surface and used for enhancing friction force between the push plate 18 and the pineapples.

In this embodiment, a baffle 19 that can rotate towards the guide groove 205 is disposed at the notch of the guide groove 205, and a torsion spring is installed between the baffle 19 and the guide frame 2 for applying an acting force to the baffle 19 to rotate towards the notch. The guide frame 2 is provided with a shifting piece at the tail end of the rotation stroke of the baffle 19, and the shifting piece is used for shifting the switch 20 to control the action of the thrust mechanism to infer the pineapple.

In this embodiment, the pineapple picking device further comprises a control system, the control system comprises an infrared emitter and a processor connected with the infrared emitter, the processor is connected with the lifting mechanism, the infrared emitter is used for detecting the position of the bottom of the pineapple, and the processor receives a signal from the infrared emitter and judges whether the lifting mechanism is needed to act so as to adjust the guide frame 2 to be at the same height as the bottom of the pineapple.

The pineapple picking device provided by the invention has the use principle that: starting the device, wherein the device moves forwards, and when the infrared emitter detects that the pineapples approach, the infrared emitter sends an induction signal to the processor; the processor obtains the height of the bottom of the pineapple according to the induction signal, and simultaneously sends a signal to the first double-output-shaft motor 4 in the lifting mechanism to control the number of rotation turns of the first double-output-shaft motor 14 so as to adjust the guide frame 2 to be at the same height with the bottom of the pineapple. When the pineapple pushes the baffle plate 19 to enter the guide groove 205, the baffle plate 19 pushes the poking piece to trigger the thrust mechanism, the second double-output-shaft motor 11 in the thrust mechanism rotates to drive the first rocker 12 in the parallel four-bar mechanism to swing towards the direction of the guide groove 205, the first rocker 12 drives the connecting rod 13 to move towards the direction of the guide groove 205, the push plate 18 is driven to move towards the guide groove 205, and the pineapple is pushed to be broken off from the pineapple tree. At this time, under the action of the torsion spring, the push plate 18 is reset, the switch 20 controlling the thrust mechanism to move towards the inside of the guide groove 205 is turned off, and the second double-output-shaft motor 11 in the thrust mechanism rotates reversely to drive the parallel four-bar mechanism to move, so that the push plate 18 returns to the initial position. When the pineapples need to be picked continuously, the processor repeats the operation according to the signals transmitted by the infrared transmitter; when the pineapple picking is completed, the processor sends a signal to the infrared transmitter and closes the infrared transmitter.

The second embodiment of the pineapple picking device of the invention is different from the first embodiment of the pineapple picking device in that the thrust mechanism in the embodiment only comprises a set of parallel four-bar mechanism, correspondingly, the driving motor only has one driving end, and the push plate can be fixedly connected to the connecting rod. The rest is the same as the first embodiment, and is not described again.

The third embodiment of the pineapple picking device of the present invention is different from the first embodiment of the pineapple picking device in that a walking crawler and a reduction motor for driving the walking crawler are installed on the lower side of the mounting frame in the present embodiment. The rest is the same as the first embodiment, and is not described again.

The fourth embodiment of the pineapple picking device of the present invention is different from the first embodiment of the pineapple picking device in that the driving motor in the lifting mechanism of the present embodiment has only one output shaft, and correspondingly, the transmission assembly has only one set. The rest is the same as the first embodiment, and is not described again.

The difference between the fifth embodiment of the pineapple picking device of the present invention and the first embodiment of the pineapple picking device is that the guide frame in this embodiment only includes the lower frame body, and the pushing mechanism is fixedly connected to the lower frame body.

The sixth embodiment of the pineapple picking device of the present invention is different from the first embodiment of the pineapple picking device in that a connecting rod is not disposed between the two sets of parallel four-bar mechanisms in the present embodiment, and the rest is the same as the first embodiment, and thus, the description thereof is omitted.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A pineapple picking device is characterized in that: the pineapple tree lifting device comprises a mounting frame (1), wherein a traveling wheel (3) or a traveling crawler is arranged on the lower side of the mounting frame (1), a guide frame (2) is mounted on the mounting frame (1), a guide groove (205) for pineapple trees to enter is formed in the guide frame (2), a lifting mechanism is further mounted on the mounting frame (1), the lifting mechanism is used for driving the guide frame (2) to move up and down so as to adjust the guide groove (205) to be at the same height as the bottom of a pineapple, a thrust mechanism is arranged on one side of the guide groove (205) of the guide frame (2), the thrust mechanism comprises a driving motor, a parallel four-bar mechanism and a push plate (18), the parallel four-bar mechanism comprises a first rocker (12) and a second rocker (14) which are arranged in parallel and a connecting rod (13) connected between the first rocker and the second rocker, one end of the first rocker (12) departing from the connecting rod (13) is connected with an output shaft of the driving motor, one end of the second rocker (14), which is far away from the end connected with the connecting rod (13), is hinged on the guide frame (2), and the push plate (18) is driven by a parallel four-bar mechanism and is used for pushing the pineapples in the guide groove (205) to break off the pineapples from the pineapple trees; a baffle (19) capable of rotating towards the guide groove (205) is arranged at the notch of the guide groove (205), a torsion spring is arranged between the baffle (19) and the guide frame (2), the torsion spring is used for applying acting force to the baffle (19) to rotate towards the notch, a poking piece is arranged at the tail end of the rotation stroke of the baffle (19) in the guide groove (205), the poking piece is used for poking a switch (20), and the switch (20) controls the thrust mechanism to act so as to infer the pineapple; the guide frame (2) comprises an upper frame body (201) and a lower frame body (202), the upper frame body (201) and the lower frame body (202) are hinged at the end part of the notch of the guide groove (205), and a buffer spring (203) is arranged between the end parts of the upper frame body (201) and the lower frame body (202) deviating from the notch of the guide groove (205); be connected with guide board (22) on lower support body (202) for guide the pineapple tree to guide groove (205) in, be equipped with guide arm (21) that extend from top to bottom on mounting bracket (1), guide board (22) are followed guide arm (21) direction and are slided.

2. The device for picking pineapples according to claim 1, wherein: the driving motor is a double-output-shaft motor, the parallel four-bar mechanisms are provided with two sets, and the two sets of parallel four-bar mechanisms are correspondingly connected to output shafts at two ends of the double-output-shaft motor.

3. The device for picking pineapples according to claim 2, wherein: first rocking bars (12) in the two sets of parallel four-bar mechanisms are connected through a first connecting rod (15), the first connecting rod (15) forms a pivot of the first rocking bar (12) and the connecting rod (13), second rocking bars (14) in the two sets of parallel four-bar mechanisms are connected through a second connecting rod (16), the second connecting rod (16) forms a pivot of the second rocking bar (14) and the connecting rod (13), and the push plate (18) is fixedly connected to the second connecting rod (16).

4. The device for picking pineapples according to any one of claims 1 to 3, wherein: the lifting mechanism comprises a double-output-shaft motor and transmission assemblies respectively connected to output shafts at two ends of the double-output-shaft motor, each transmission assembly comprises a first bevel gear (6) connected with an output shaft of the double-output-shaft motor through a coupler, a second bevel gear (7) meshed with the first bevel gear (6), a screw rod (8) connected to the second bevel gear (7) and a screw rod sliding block (10) arranged on the screw rod (8), and the screw rod sliding block (10) is fixedly connected with the guide frame (2).

5. The device for picking pineapples according to claim 4, wherein: be equipped with guide arm (101) parallel with the lead screw on mounting bracket (1), the one end that lead screw slider (10) were kept away from in guide bracket (2) is equipped with mounting bracket slider (204), mounting bracket slider (204) suit is on guide arm (101) parallel with the lead screw.

6. The device for picking pineapples according to any one of claims 1 to 3, wherein: the push plate (18) is provided with an arc surface used for wrapping the pineapples, and anti-skid lines are arranged on the arc surface.

7. The device for picking pineapples according to any one of claims 1 to 3, wherein: the pineapple picking device further comprises a control system, the control system comprises an infrared emitter and a processor connected with the infrared emitter, the processor is connected with the lifting mechanism, the infrared emitter is used for detecting the position of the bottom of the pineapple, the processor receives signals from the infrared emitter and judges whether the lifting device is needed to act so as to adjust the guide groove (205) to be at the same height as the bottom of the pineapple.