CN110036763B

CN110036763B - Fruit picking vehicle

Info

Publication number: CN110036763B
Application number: CN201910295878.5A
Authority: CN
Inventors: 李纬国; 张昕; 于明新
Original assignee: Suzhou Dingzhi Ruiguang Intelligent Technology Co ltd
Current assignee: Suzhou Dingzhi Ruiguang Intelligent Technology Co ltd
Priority date: 2019-04-12
Filing date: 2019-04-12
Publication date: 2021-06-25
Anticipated expiration: 2039-04-12
Also published as: CN110036763A

Abstract

Fruit picking vehicle belongs to agricultural machine technical field. The mounting disc is fixed with the automobile body, first sleeve, second sleeve and third sleeve set up from inside to outside clearance slip suit in proper order, sleeve and fourth lower sleeve set up and equal clearance slip suit from top to bottom in the third sleeve outside, the central through-hole fixed connection of third sleeve lower extreme and fixed disk, the central through-hole that the central through-hole of mounting disc and activity dish were passed in proper order to third sleeve upper end and the concentric fixed connection of epitaxial ring board, the concentric fixed connection of sleeve on activity dish and the fourth, be connected with a plurality of cutting mechanism between activity dish and the epitaxial ring board, be connected with fixture between epitaxial ring board and the second sleeve, all install elevating system on fourth lower sleeve, second sleeve and the first sleeve, be equipped with slewing mechanism between sleeve and the fourth lower sleeve on the fourth. The invention has high working efficiency, saves labor force and reduces labor intensity.

Description

Fruit picking vehicle

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a fruit picking vehicle.

Background

The fruit production country in China is also the first great fruit consumption country in the world. The rapid development of fruit growing industry has increased the market demand for orchard machinery. The labor force used in the picking operation accounts for 33-50% of the labor force used in the whole production process, and most of the fruit picking in China is still carried out manually at present. Picking operation is relatively complicated, the seasonality is very strong, if manual picking is used, the efficiency is low, the labor amount is large, economic loss can be caused if hands cannot pick the fruits timely, moreover, the heights of some fruits are too high, great difficulty is brought to picking of workers, and therefore the fruit picking mechanized operation is of great significance.

Disclosure of Invention

The invention aims to provide a fruit picking vehicle, which is used for solving the problems in the prior art.

The technical scheme adopted by the invention is as follows: the fruit picking vehicle comprises a first sleeve, a second sleeve, a third sleeve, a fourth upper sleeve, an outer extension ring plate, a movable disc, a mounting disc, a rotating mechanism, a fourth lower sleeve, a fixed disc, a vehicle body, three lifting mechanisms, a plurality of cutting mechanisms and a plurality of clamping mechanisms; the mounting disc is fixed with the automobile body, first sleeve, second sleeve and third sleeve set up from inside to outside clearance slip suit in proper order, sleeve and fourth lower sleeve set up and equal clearance slip suit from top to bottom in the third sleeve outside, the central through-hole fixed connection of third sleeve lower extreme and fixed disk, the central through-hole that the central through-hole of mounting disc and activity dish were passed in proper order to third sleeve upper end and the concentric fixed connection of epitaxial ring board, the concentric fixed connection of sleeve on activity dish and the fourth, be connected with a plurality of cutting mechanism between activity dish and the epitaxial ring board, be connected with fixture between epitaxial ring board and the second sleeve, all install elevating system on fourth lower sleeve, second sleeve and the first sleeve, be equipped with slewing mechanism between sleeve and the fourth lower sleeve on the fourth.

The invention has the beneficial effects that:

the fruit picker can adjust the height, is convenient for picking fruits with various heights, adopts a mode of picking fruits individually, is not easy to cause damage to the fruits, has high working efficiency, saves labor force and reduces labor intensity.

Drawings

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

FIG. 2 is a schematic view of the cutting mechanism of the present invention;

FIG. 3 is a schematic view of the rotating mechanism of the present invention;

FIG. 4 is a schematic view of the body structure of the present invention;

wherein: 100-a cutting mechanism; 110-a cutting linkage; 111-a first cutting link; 112-a second cutting link; 113-a third cutting link; 114-a set square; 120-a cutting rod; 130-cutting sleeve; 140-a cutting knife; 200-a clamping mechanism; 210-a clamping link; 220-a gripper jaw; 230-a clamping plate; 300-a first sleeve; 400-a second sleeve; 500-epitaxial ring plate; 600-a third sleeve; 700-a movable plate; 800-a fourth upper sleeve; 900-mounting a disc; 1000-a rotation mechanism; 1010-upper ring teeth; 1020-a gear; 1030-lower ring seat; 1100-electric lift cylinder; 1200-a fourth lower sleeve; 1300-a lifting mechanism; 1310-a lift motor; 1320-screw rod; 1330-a slider; 1340-screw lifting mechanism one; 1350-screw lifting mechanism II; 1360-screw lifting mechanism III; 1400-fixed disk; 1500-vehicle body; 1501-a frame; 1502-fruit box; 1503-crawler wheels; 1504-chain drive; 1505-rotating seat; 1506-primary lifting lever; 1507-a secondary lifting rod; 1508-a tertiary lifter; 1509-a first step motor; 1510-a secondary stepper motor; 1511-three-stage stepping motor; 1512 — mounting the socket.

Detailed Description

As shown in fig. 1 to 4, the fruit picking cart comprises a first sleeve 300, a second sleeve 400, a third sleeve 600, a fourth upper sleeve 800, an outer extending ring plate 500, a movable plate 700, a mounting plate 900, a rotating mechanism 1000, a fourth lower sleeve 1200, a fixed plate 1400, a cart body 1500, three lifting mechanisms 1300, a plurality of cutting mechanisms 100 and a plurality of clamping mechanisms 200; the mounting disc 900 is fixed with the car body 1500, the first sleeve 300, the second sleeve 400 and the third sleeve 600 are sequentially arranged in a clearance sliding sleeved mode from inside to outside, the fourth upper sleeve 800 and the fourth lower sleeve 1200 are arranged up and down and are sleeved outside the third sleeve 600 in a clearance sliding mode, the lower end of the third sleeve 600 is fixedly connected with a central through hole of the fixed disc 1400, the upper end of the third sleeve 600 sequentially penetrates through the central through hole of the mounting disc 900 and the central through hole of the movable disc 700 to be fixedly connected with the epitaxial annular plate 500 in a concentric mode, the movable disc 700 and the fourth upper sleeve 800 are fixedly connected in a concentric mode, a plurality of cutting mechanisms 100 are connected between the movable disc 700 and the epitaxial annular plate 500, a clamping mechanism 200 is connected between the epitaxial annular plate 500 and the second sleeve 400, lifting mechanisms 1300 are all installed on the fourth lower sleeve 1200, the second sleeve 400 and the first sleeve 300, and a rotating mechanism 1000 is arranged between the fourth upper sleeve 800 and the fourth lower sleeve 1200, driving the fourth upper sleeve 800, the movable plate 700 and the cutting mechanism 100 to rotate horizontally.

The gripper mechanisms 200 and cutting mechanisms 100 are arranged in an annular staggered arrangement around the third sleeve 600.

The number of the cutting mechanisms 100 is preferably three, and the number of the clamping mechanisms 200 is preferably three.

The working principle is as follows: the fourth lower sleeve 1200, the second sleeve 400 and the third sleeve 600 go up and down through the lifting mechanism 1300, the second sleeve 400 moves upwards, push several clamping mechanisms 200 to shrink inwards to clamp fruits, then the fourth lower sleeve 1200 goes up and down and pushes the fourth upper sleeve 800 to go up and down and the movable plate 700 goes up and down, push several cutting knives 100 of the cutting mechanism 100 to shrink inwards, then under the driving of the rotating mechanism 1000, the fruit is rotated and cut down, the fruit falls into the fruit basket 1502 of the vehicle body 1500 from the first sleeve 300, the first sleeve 300 can move up and down, and the fruit is convenient to receive.

As shown in fig. 2, each of the cutting mechanisms 100 includes a cutting linkage 110, a cutting rod 120, a cutting sleeve 130 and a cutting knife 140; the lower end of the cutting rod 120 is fixed on the cutting link mechanism 110, the cutting sleeve 130 is detachably sleeved on the cutting rod 120, and the upper end of the cutting sleeve 130 is integrally connected with a cutting knife 140.

Each of the cutting linkages 110 includes a first cutting link 111, a second cutting link 112, a third cutting link 113, and a triangle 114; the lower end of the first cutting connecting rod 111 and the lower end of the third cutting connecting rod 113 are rotatably connected with the upper surface of the movable disc 700 through respective shaft seats, the lower end of the first cutting connecting rod 111 and the lower end of the third cutting connecting rod 113 are arranged in an inclined mode from top to bottom, the upper end of the first cutting connecting rod 111 is coaxially hinged with one end of the second cutting connecting rod 112, the other end of the second cutting connecting rod 112 is coaxially hinged with the upper end of the triangular plate 114, the lower end of the triangular plate 114 is hinged with the upper surface of the epitaxial ring plate 500 through a shaft seat ball, the middle of the triangular plate 114 is coaxially hinged with the upper end of the third cutting connecting rod 113, and the upper surface of the second cutting connecting rod 112 is fixedly connected with the lower.

When the movable plate 700 is lifted up under the action of the fourth lower sleeve 1200, the upper end of the third cutting link 113 pushes the upper end of the triangle 114 to move inwards and pulls the second cutting link 112 to move inwards, at this time, the upper end of the first cutting link 111 pushes the second cutting link 112 to move inwards and drives the cutting rod 120 and the cutting knife 140 to move inwards, and the distance between the cutting knives 140 gradually shrinks to cut fruits.

As shown in fig. 2, each of the clamping mechanisms 200 includes a clamping claw 220, a clamping plate 230 and a clamping link 210, the clamping plate 230 is integrally connected to the inner side of the upper end of the clamping claw 220, the inner side of the clamping claw 220 is in an outwardly concave arc shape so as to facilitate clamping of fruits, the lower end of the clamping claw 220 is rotatably connected to the upper end surface of the second sleeve 400 through a shaft seat, the outer side of the middle of the clamping claw 220 is coaxially hinged to the upper end of the clamping link 210, and the lower end of the clamping link 210 is rotatably connected to the upper surface of the outer annular plate 500 through a shaft seat. The clamping link 210 is gradually inclined outward from the top to the bottom.

When the second sleeve 400 moves upward, the gripper link 210 pushes the gripper fingers 220 and the gripper plate 230 to move inward, and several gripper fingers 220 gradually contract to grip the fruit.

The shaft seat is composed of a U-shaped seat and a rotating shaft rotationally connected with the U-shaped seat.

As shown in fig. 1, the three lifting mechanisms 1300 are all screw lifting mechanisms.

Each screw lifting mechanism comprises a lifting motor 1310, a screw 1320 and a slide block 1330, wherein the output shaft of the lifting motor 1310 is fixedly connected with the screw 1320, and the slide block 1330 is in threaded connection with the screw 1320.

The three screw lifting mechanisms are respectively a screw lifting mechanism I1340, a screw lifting mechanism II 1350 and a screw lifting mechanism III 1360.

The lifting motor 1310 of the third screw lifting mechanism 1360 is fixedly installed on the fixed disk 1400, and the sliding block 1330 thereof is fixedly connected with the lower end of the fourth lower sleeve 1200 to drive the fourth lower sleeve 1200 to slide up and down along the third sleeve 600.

The lifting motor 1310 of the second screw rod lifting mechanism 1350 is fixedly installed on the fixed plate 1400, and the sliding block 1330 thereof is fixedly connected with the lower end of the second sleeve 400 to drive the second sleeve 400 to slide up and down along the third sleeve 600.

The lifting motor 1310 of the first screw lifting mechanism 1340 is fixedly arranged on the sliding block 1330 of the second screw lifting mechanism 1350, and the sliding block 1330 of the first screw lifting mechanism 1340 is fixedly connected with the lower end of the first sleeve 300 to drive the first sleeve 300 to slide up and down along the second sleeve 400.

As shown in fig. 3, the rotating mechanism 1000 includes an upper ring gear 1010, a gear 1020, a lower ring base 1030, and a rotating motor; the upper ring gear 1010 is coaxially and fixedly sleeved at the lower end of the fourth upper sleeve 800, a plurality of outer teeth which are annularly arranged are formed in the lower circumferential surface of the upper ring gear 1010, the lower ring seat 1030 is fixedly sleeved at the upper end of the fourth lower sleeve 1200, a gear 1020 is fixedly sleeved on an output shaft of the rotating motor, the gear 1020 is meshed with the upper ring pool, and the rotating motor is fixed on the lower ring seat 1030. In the initial position, the gear 1020 is disengaged from the upper ring teeth 1010, and during the rotation operation, the fourth lower sleeve 1200 moves upwards to push the gear 1020 to be engaged with the upper ring teeth 1010, so that the rotation motor is started to drive the gear 1020 to rotate, the gear 1020 drives the upper ring teeth 1010 to perform horizontal circular motion, and the fourth upper sleeve 800 is driven to rotate, so that the outer ring plate 500 and the cutting device 100 move circumferentially to cut fruits.

As shown in fig. 1, the mounting plate 900 is ball-hinged to the fourth upper sleeve 800 through a ball bearing.

Be connected with a plurality of electric lift jar 1100 between mounting disc 900 and the fixed disk 1400, every electric lift jar 1100's push rod outer end all with mounting disc 900 bottom surface ball joint, every electric lift jar 1100's stiff end all with the upper surface ball joint of fixed disk 1400.

The inclination angle between the fixed plate 1400 and the mounting plate 900 can be adjusted by adjusting the lifting of the electric lifting rod 1100, so that the first sleeve 300, the second sleeve 400, the third sleeve 600 and the fourth upper sleeve 800 can be inclined, and fruits at different angles can be picked conveniently.

As shown in fig. 4, the cart body 1500 includes a cart frame 1501, a fruit box 1502, a rotating seat 1505, a mounting socket 1512, a primary lifting rod 1506, a secondary lifting rod 1507, a tertiary lifting rod 1508, a primary stepping motor 1509, a secondary stepping motor 1510, a tertiary stepping motor 1511 and two-side crawler wheels 1503; crawler wheels 1503 are installed on the left side and the right side of the frame 1501, a wheel engine drives the crawler wheels 1503 on the two sides through a chain transmission mechanism 1504, the crawler wheels 1503 on the two sides drive the frame 1510 to move to a proper position, the fruit box 1502 is connected with the lower end of the frame 1501 in a drawing sliding manner, the lower end of the first-stage lifting rod 1506 and the first-stage stepping motor 1509 are installed on a rotating plane of the rotating seat 1505, the first-stage stepping motor 1509 is horizontally arranged and drives the lower end of the first-stage lifting rod 1506 to rotate, the lifting angle of the first-stage lifting rod 1506 is adjusted, the upper end of the first-stage lifting rod 1506 is coaxially hinged with the lower end of the second-stage lifting rod 1507, the second-stage stepping motor 1510 drives the second-stage lifting rod 1507 to rotate, the lifting angle of the second-stage lifting rod 1507 is adjusted, the upper end of the, a mounting socket 1512 is fixed at the upper end of the third-level lifting rod 1508, and the mounting plate 900 is inserted into a central through hole of the mounting socket 1512.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a fruit picking vehicle which characterized in that: the device comprises a first sleeve (300), a second sleeve (400), a third sleeve (600), a fourth upper sleeve (800), an outer extension ring plate (500), a movable disc (700), an installation disc (900), a rotating mechanism (1000), a fourth lower sleeve (1200), a fixed disc (1400), a vehicle body (1500), three lifting mechanisms (1300), a plurality of cutting mechanisms (100) and a plurality of clamping mechanisms (200); the mounting disc (900) is fixed with a car body (1500), the first sleeve (300), the second sleeve (400) and the third sleeve (600) are sequentially arranged in a clearance sliding sleeved mode from inside to outside, the fourth upper sleeve (800) and the fourth lower sleeve (1200) are arranged up and down and are sleeved outside the third sleeve (600) in a clearance sliding mode, the lower end of the third sleeve (600) is fixedly connected with a central through hole of a fixed disc (1400), the upper end of the third sleeve (600) sequentially penetrates through the central through hole of the mounting disc (900) and the central through hole of a movable disc (700) and is fixedly connected with an epitaxial ring plate (500) in a concentric mode, the movable disc (700) is fixedly connected with the fourth upper sleeve (800) in a concentric mode, a plurality of cutting mechanisms (100) are connected between the movable disc (700) and the epitaxial ring plate (500), and a clamping mechanism (200) is connected between the epitaxial ring plate (500) and the second sleeve (400), and the fourth lower sleeve (1200), the second sleeve (400) and the first sleeve (300) are all provided with a lifting mechanism (1300), and a rotating mechanism (1000) is arranged between the fourth upper sleeve (800) and the fourth lower sleeve (1200).

2. The fruit picking cart of claim 1, wherein: each cutting mechanism (100) comprises a cutting connecting rod mechanism (110), a cutting rod (120), a cutting sleeve (130) and a cutting knife (140); the lower end of the cutting rod (120) is fixed on the cutting link mechanism (110), the cutting sleeve (130) is detachably sleeved on the cutting rod (120), and the upper end of the cutting sleeve (130) is integrally connected with a cutting knife (140).

3. The fruit picking cart of claim 2, wherein: each cutting connecting rod mechanism (110) comprises a first cutting connecting rod (111), a second cutting connecting rod (112), a third cutting connecting rod (113) and a triangular plate (114); first cutting connecting rod (111) lower extreme and third cutting connecting rod (113) lower extreme all are connected with activity dish (700) upper surface rotation, and first cutting connecting rod (111) upper end and the coaxial articulated of second cutting connecting rod (112) one end, the second cutting connecting rod (112) other end and set square (114) upper end are coaxial articulated, set square (114) lower extreme and epitaxial ring board (500) upper surface ball hinge joint, set square (114) middle part and the coaxial articulated of third cutting connecting rod (113) upper end, second cutting connecting rod (112) upper surface and cutting pole (120) lower extreme fixed connection.

4. The fruit picking cart of claim 1, wherein: every fixture (200) all includes grip pawl (220), grip block (230) and centre gripping connecting rod (210), grip pawl (220) upper end inboard body coupling has grip block (230), and grip pawl (220) lower extreme rotates with second sleeve (400) up end to be connected, and grip pawl (220) middle part outside and the coaxial hinge in grip connecting rod (210) upper end, grip connecting rod (210) lower extreme rotates with epitaxial annular plate (500) upper surface to be connected.

5. The fruit picking cart of claim 1, wherein: the three lifting mechanisms (1300) are all screw lifting mechanisms.

6. The fruit picking cart of claim 1, wherein: the rotating mechanism (1000) comprises upper ring teeth (1010), a gear (1020), a lower ring seat (1030) and a rotating motor; go up coaxial fixed suit of ring tooth (1010) and go up sleeve (800) lower extreme on the fourth, set up a plurality of outer teeth that the annular was arranged on the lower periphery of going up ring tooth (1010), the fixed suit of ring seat (1030) is in sleeve (1200) upper end down on the fourth, the fixed suit of output shaft of rotating the motor is equipped with gear (1020), and gear (1020) and last ring bath meshing are connected, the rotation motor is fixed on ring seat (1030) down.

7. The fruit picking cart of claim 1, wherein: the mounting disc (900) is hinged with the fourth upper sleeve (800) through a ball bearing sleeve ball.

8. The fruit picking cart of claim 7, wherein: be connected with a plurality of electric lift jar (1100) between mounting disc (900) and fixed disk (1400), every the push rod outer end of electric lift jar (1100) all with mounting disc (900) bottom surface ball joint, the stiff end of every electric lift jar (1100) all with the upper surface ball joint of fixed disk (1400).

9. The fruit picking cart of claim 1, wherein: the cart body (1500) comprises a cart frame (1501), a fruit box (1502), a rotating seat (1505), a mounting socket (1512), a first-stage lifting rod (1506), a second-stage lifting rod (1507), a third-stage lifting rod (1508), a first-stage stepping motor (1509), a second-stage stepping motor (1510), a third-stage stepping motor (1511) and two-side crawler wheels (1503); crawler wheels (1503) are installed on the left side and the right side of the frame (1501), a wheel engine drives the crawler wheels (1503) on the two sides through a chain transmission mechanism (1504), the fruit box (1502) is in pull-out sliding connection with the lower end of the frame (1501), the lower end of the first-level lifting rod (1506) and the first-level stepping motor (1509) are installed on a rotating plane of the rotating seat (1505), the first-level stepping motor (1509) is horizontally arranged and drives the lower end of the first-level lifting rod (1506) to rotate, the upper end of the first-level lifting rod (1506) is coaxially hinged with the lower end of the second-level lifting rod (1507), the second-level stepping motor (1510) drives the second-level lifting rod (1507) to rotate, the upper end of the second-level lifting rod (1507) is coaxially hinged with the lower end of the third-level lifting rod (1508), the third-level stepping motor (1511), the mounting plate (900) is inserted and mounted in a central through hole of the mounting socket (1512).