CN110063139A - A kind of triggering apple picking device certainly - Google Patents
A kind of triggering apple picking device certainly Download PDFInfo
- Publication number
- CN110063139A CN110063139A CN201910447016.XA CN201910447016A CN110063139A CN 110063139 A CN110063139 A CN 110063139A CN 201910447016 A CN201910447016 A CN 201910447016A CN 110063139 A CN110063139 A CN 110063139A
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- China
- Prior art keywords
- handgrip
- lifting platform
- mechanical arm
- triggering
- plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/22—Baskets or bags attachable to the picker
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/253—Portable motorised fruit pickers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention provides a kind of from triggering apple picking device, comprising: creeper truck, lifting platform, collection device, mechanical arm, micromatic setting and from triggering handgrip；Lifting platform is set to the creeper truck upper end；Collection device is set to the lifting platform front end；Mechanical arm is set to the lifting platform upper end；Micromatic setting is set to the mechanical arm front end；The micromatic setting front end is set to from triggering handgrip, it can be finely adjusted by micromatic setting, adjust small angle, it the adjustable wide-angle of mechanical arm and stretches, the adjustable height of lifting platform, collection device uses three layers of cloth string bag, catch the fruit that clamping jaw is taken, creeper truck is adapted to different road surfaces, substantially increases the efficiency of high tree apple-picking, reduces the working strength of orchard worker.
Description
Technical field
It is the present invention relates to agricultural automation technical field, in particular to a kind of from triggering apple picking device.
Background technique
Height tree apple tree fruit difficulty picking, picking demand is big, at present artificial picking great work intensity, and working efficiency is low,
Now with some apple-picking tools, there are many problems: a kind of apple-picking is with holding scalable apple picking device-
CN201810751370.7 is easy to damage fruit, a kind of apple-picking tool-using scissor design
CN201810601501.3 pulls clip type design work low efficiency using steel wire, so needing a kind of more efficient practical apple
Picker.
Summary of the invention
In order to solve the problems, such as high tree apple tree fruit difficulty picking and apple-picking tool work low efficiency at present.
The present invention provides a kind of from triggering apple picking device, comprising:
Creeper truck；
Lifting platform is set to the creeper truck upper end；
Collection device is set to the lifting platform front end；
Mechanical arm is set to the lifting platform upper end；
Micromatic setting is set to the mechanical arm front end；And
From triggering handgrip, it is set to the micromatic setting front end；It is described to include: from triggering handgrip
Handgrip upper plate, is surrounded by card slot；
Handgrip lower plate, is surrounded by card slot, is mounted on the micromatic setting；
Handgrip connecting rod, one end and the handgrip upper plate are hinged；
Handgrip claw, bottom end and the handgrip lower plate are hinged, and middle part is rotatablely connected with the handgrip connecting rod other end；
Wherein, when working substance is pressed downward the handgrip upper plate, handgrip connecting rod drives handgrip claw first to open and recloses, and makes work
In the cavity that object is formed completely into the handgrip claw.
Further, the handgrip claw medial surface has rubber material.
Further, the micromatic setting includes:
4th electric cylinders are arranged on the mechanical arm；
Third steering engine is set on the telescopic rod of the 4th electric cylinders；
Second steering engine is set on the motor shaft of the third steering engine, drives second steering engine to turn by the third steering engine
It is dynamic；And
First steering engine is set on the motor shaft of second steering engine, drives first steering engine to turn by second steering engine
It is dynamic.
Further, the mechanical arm includes:
Mechanical arm fixes bottom plate, is arranged in the lifting platform upper end；
The fixed bottom plate rotation connection of support frame, lower end and the mechanical arm；
Telescopic device firm banking is rotatablely connected with support frame as described above upper end；
First electric pushrod, bottom end and support frame as described above are rotatablely connected, push rod top and the telescopic device firm banking
Rotation connection；
The fixed bottom plate rotation connection of second electric pushrod, bottom end and the mechanical arm, push rod top and support frame as described above turn
Dynamic connection；
Telescopic device lead screw is mounted on the telescopic device firm banking；
Guide rail is mounted on the telescopic device firm banking；And
Mechanical arm expansion plate is slidably connected with the guide rail, and the mechanical arm expansion plate and the telescopic device threads of lead screw connect
It connects.
Further, the collection device includes:
Collection device fixed plate is fixedly connected with the lifting platform；
Collection device lead screw is mounted on the collection device fixed plate；
Collection device guide rail is mounted on the collection device fixed plate；And
The string bag is collected, is connect with the collection device threads of lead screw, the collection string bag and collection device guide rail sliding connect
It connects.
Further, the lifting platform includes:
Lifting platform upper plate is fixedly connected with the mechanical arm lower end；
Lifting platform lower plate is fixedly connected with the creeper truck upper end；
Lifting platform telescopic device is set between the lifting platform upper plate and the lifting platform lower plate；And
Lifting platform push rod is mounted in lifting platform lower plate.
Beneficial effects of the present invention:
1. the apple picking device is by triggering handgrip, micromatic setting, mechanical arm, six part of collection device, lifting platform and creeper truck certainly
It constitutes, grip portion innovatively uses self-triggering gripper type design, can automatically control clamping jaw according to the size of fruit
The clamping jaw of dynamics, surrounding uses rubber material, avoids damage to fruit while guaranteeing handgrip intensity, can quickly be adopted
It plucks.
2. can be finely adjusted by micromatic setting, adjust small angle, by the adjustable wide-angle of mechanical arm and into
Capable flexible, by the adjustable height of lifting platform, triggering oneself, handgrip is comprehensive to pick fruit.
3. collection device uses three layers of cloth string bag, the fruit taken is caught, creeper truck is adapted to different road surfaces, significantly
The efficiency for improving high tree apple-picking, reduces the working strength of orchard worker.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the structural schematic diagram from triggering handgrip of the invention.
Fig. 3 is the structural schematic diagram of micromatic setting of the invention.
Fig. 4 is the structural schematic diagram of mechanical arm section of the invention.
Fig. 5 is the structural schematic diagram of collection device part of the invention.
Fig. 6 is the structural schematic diagram of lifting platform part of the invention.
Fig. 7 is the structural schematic diagram of creeper truck part of the invention.
Drawing reference numeral: 1- triggers handgrip, 2- micromatic setting, 3- mechanical arm, 4- collection device, 5- lifting platform, 6- crawler belt certainly
Vehicle, 101- handgrip upper plate, 102- handgrip lower plate, 103- handgrip connecting rod, 104- handgrip claw, the first steering engine of 201-, 202- second
Steering engine, 203- third steering engine, the 4th electric cylinders of 204-, 301- mechanical arm expansion plate, 302- guide rail, 303- telescopic device lead screw,
304- telescopic device firm banking, 305- support frame, the first electric pushrod of 306-, the second electric pushrod of 307-, 308- mechanical arm
Fixed bottom plate, 401- collect the string bag, 402- collection device lead screw, 403- collection device guide rail, 404- collection device fixed plate,
501- lifting platform upper plate, 502- lifting platform lower plate, 503- lifting platform telescopic device, 504- lifting platform push rod, 601- rotating base,
602- collection frame, 603- crawler belt, 604- Athey wheel, 605- crawler belt wheel support.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Please referring to Fig. 1, Fig. 2 is in an embodiment from triggering apple picking device, comprising:
Creeper truck 6；The walking that power keeps the present apparatus comprehensive is provided to the present apparatus by creeper truck 6, it can be to apple tree
Carry out comprehensive picking.
Lifting platform 5 is set to 6 upper end of creeper truck；Make to adjust on present apparatus vertical direction certainly by lifting platform 5
The height of body comprehensively picks the apple of different height.
Collection device 4 is set to 5 front end of lifting platform；For the apple picked to be collected and is stored.
Mechanical arm 3 is set to 5 upper end of lifting platform；It can carry out the tune of position in perpendicular by mechanical arm 3
It is whole, it is convenient that fruit tree is picked with comprehensive.
Micromatic setting 2 is set to 3 front end of mechanical arm；It can be micro- to being carried out from triggering handgrip 1 by micromatic setting 2
The adjustment in small orientation, convenient for preferably being picked to fruit tree.
From triggering handgrip 1, it is set to 2 front end of micromatic setting；It is described to include: from triggering handgrip 1
Handgrip upper plate 101, is surrounded by card slot；Specifically, spanner upper plate 101 is plectane, is evenly arranged with four on side
A card slot.
Handgrip lower plate 102, is surrounded by card slot, is mounted on the micromatic setting 2；Specifically, spanner lower plate 102 is pacified
On the first steering engine 201 on micromatic setting 2, spanner upper plate 101 is plectane, is uniformly arranged that there are four card slots on side.
Handgrip connecting rod 103, one end and the handgrip upper plate 101 are hinged；Specifically, handgrip connecting rod 103 is four, and four are grabbed
One end of hand connecting rod 103 is rotatablely connected respectively at four card slots on handgrip upper plate 101.
Handgrip claw 104, bottom end and the handgrip lower plate 102 are hinged, middle part and 103 other end of handgrip connecting rod
Rotation connection；Specifically, spanner claw 104 is four, and the bottom end of four spanner claws 104 is respectively and in spanner lower plate 102
Four card slot rotation connections, the middle part of four spanner claws 104 are rotatablely connected with the other end of four handgrip connecting rods 103 respectively,
Spanner claw 104 is the claw of similar concave, and four spanner claws 104, which are shunk, forms the entirety that there is cavity in an inside, cavity
For accommodating apple.
Wherein, when working substance is pressed downward the handgrip upper plate 101, handgrip connecting rod 103 drives handgrip claw 104 first to open
It recloses, in the cavity for forming working substance completely into the handgrip claw 104.Be conducive to the protection to apple in this way, make
Apple will not be damaged from triggering handgrip 1.
In one optional embodiment of the embodiment of the present invention, 104 medial surface of handgrip claw has rubber material.Tool
Body, handgrip claw 104 medial surface have rubber material flexible, by can be preferably to adopting with rubber material flexible
The apple taken off is protected.
In one optional embodiment of the embodiment of the present invention, include: referring to Fig. 3 micromatic setting 2
4th electric cylinders 204 are arranged on the mechanical arm 3；
Third steering engine 203 is set on the telescopic rod of the 4th electric cylinders 204；
Second steering engine 202 is set on the motor shaft of the third steering engine 203, drives described by the third steering engine 203
The rotation of two steering engines 202；And
First steering engine 201 is set on the motor shaft of second steering engine 202, drives described by second steering engine 202
The rotation of one steering engine 201 can be driven from triggering handgrip 1 by the first steering engine 201 and be rotated down.
It, can by the first steering engine 201 of setting, the second steering engine 202, third steering engine 203 and the 4th electric cylinders 204 in the present embodiment
Enable the crawl apple more accurate from triggering handgrip 1 to the minor adjustment from triggering 1 position of handgrip to realize.
In one optional embodiment of the embodiment of the present invention, include: referring to Fig. 4 mechanical arm 3
Mechanical arm fixes bottom plate 308, is arranged in 5 upper end of lifting platform；Specifically, the fixed bottom plate 308 of mechanical arm is mounted on liter
501 upper surface of platform upper plate drops.
The fixed bottom plate 308 of support frame 305, lower end and the mechanical arm is rotatablely connected；
Telescopic device firm banking 304 is rotatablely connected with 305 upper end of support frame as described above；Specifically, in telescopic device firm banking
Spindle motor is provided on 304, spindle motor is used to that telescopic device lead screw 303 is driven to rotate, and then passes through telescopic device lead screw
303 drive mechanical arm expansion plate 301 engaged therewith mobile.
First electric pushrod 306, bottom end and support frame as described above 305 are rotatablely connected, push rod top and the flexible dress
Set the rotation connection of firm banking 304；
The fixed bottom plate 308 of second electric pushrod 307, bottom end and the mechanical arm is rotatablely connected, push rod top and the branch
Support 305 is rotatablely connected；
Telescopic device lead screw 303 is mounted on the telescopic device firm banking 304；
Guide rail 302 is mounted on the telescopic device firm banking 304；And
Mechanical arm expansion plate 301 is slidably connected with the guide rail 302, the mechanical arm expansion plate 301 and the telescopic device silk
Thick stick 303 is threadedly coupled.
In the present embodiment, support frame 305 can be made to rotate in perpendicular centainly by the way that the second electric pushrod 307 is arranged
Angle, by be arranged the first electric pushrod 306 telescopic device firm banking 304 can be made to rotate certain angle in the horizontal plane
Degree, can make mechanical arm expansion plate 301 stretch, pass through by telescopic device lead screw 303 and telescopic device firm banking 304
Mechanical arm 3, which is arranged, may be implemented multi-faceted movement.
In one optional embodiment of the embodiment of the present invention, include: referring to Fig. 5 collection device 4
Collection device fixed plate 404 is fixedly connected with the lifting platform 5；Specifically, collection device fixed plate 404 is fixedly mounted
In the side of lifting platform upper plate 501.
Collection device lead screw 402 is mounted on the collection device fixed plate 404；
Collection device guide rail 403 is mounted on the collection device fixed plate 404；And
The string bag 401 is collected, is threadedly coupled with the collection device lead screw 402, the collection string bag 401 is led with the collection device
Rail 403 is slidably connected.Specifically, collecting the string bag 401 is flexible material, and collecting the string bag 401 can be cloth.
In one optional embodiment of the embodiment of the present invention, include: referring to Fig. 6 lifting platform 5
Lifting platform upper plate 501 is fixedly connected with 3 lower end of mechanical arm；
Lifting platform lower plate 502 is fixedly connected with 6 upper end of creeper truck；
Lifting platform telescopic device 503 is set between the lifting platform upper plate 501 and the lifting platform lower plate 502；And
Lifting platform push rod 504 is mounted in lifting platform lower plate 502.Specifically, lifting platform push rod 504 is slidably mounted on lifting platform
In lower plate 502, lifting platform telescopic device 503 is driven to stretch by pushing lifting platform push rod 504, to drive lifting platform
Upper plate 501 is risen or fallen.
In one optional embodiment of the embodiment of the present invention, include referring to Fig. 7 creeper truck 6
Collection frame 602, specifically, collection frame 602 be a square container, in can store the apple collected.
Rotating base 601 is fixedly mounted in collection frame 602；
Crawler belt wheel support 605 is fixedly mounted on 602 side of collection frame；
Athey wheel 604 is rotatably installed on crawler belt wheel support 605；
Crawler belt 603 cooperates with Athey wheel 604.
In the present embodiment, the device on creeper truck 6 may be implemented by the rotating base 601 of setting and be able to carry out rotation,
It is carried out by the device that the crawler belt wheel support 605, Athey wheel 604 and crawler belt 603 of setting can be such that creeper truck 6 is able to drive thereon
Walking.
The present invention at least further includes following advantages:
The present invention passes through the first electricity by adjustable 3 height of mechanical arm of lifting platform 5 according to fruit position first when in use
It is flexible to adjust mechanical arm by telescopic device lead screw 303 for the angle of dynamic push rod 306 and the second electric pushrod 307 adjustment mechanical arm 3
The position of plate 301, the adjustment that micromatic setting 2 can be small is from the position for triggering handgrip 1, when fruit is pressed downward handgrip upper plate 101
When, handgrip connecting rod 103 drives handgrip claw 104 first to open and recloses, and forms fruit completely into the handgrip claw 104
In cavity, crawl process is realized, after completing crawl, the first steering engine 201 in micromatic setting 2 is rotated, and is put down fruit, is fallen and receiving
On acquisition means 4, the efficiency of high tree apple-picking is substantially increased, the working strength of orchard worker is reduced.
Claims (6)
1. a kind of from triggering apple picking device characterized by comprising
Creeper truck (6)；
Lifting platform (5) is set to the creeper truck (6) upper end；
Collection device (4) is set to the lifting platform (5) front end；
Mechanical arm (3) is set to the lifting platform (5) upper end；
Micromatic setting (2) is set to the mechanical arm (3) front end；And
From triggering handgrip (1), it is set to the micromatic setting (2) front end；It is described to include: from triggering handgrip (1)
Handgrip upper plate (101), is surrounded by card slot；
Handgrip lower plate (102), is surrounded by card slot, is mounted on the micromatic setting (2)；
Handgrip connecting rod (103), one end and the handgrip upper plate (101) are hinged；
Hingedly, middle part is another with the handgrip connecting rod (103) for handgrip claw (104), bottom end and the handgrip lower plate (102)
End rotation connection；
Wherein, when working substance is pressed downward handgrip upper plate (101), handgrip connecting rod (103) drives handgrip claw (104) first to open
It opens and recloses, in the cavity for forming working substance completely into the handgrip claw (104).
2. according to claim 1 from triggering apple picking device, which is characterized in that handgrip claw (104) medial surface
With rubber material.
3. according to claim 1 from triggering apple picking device, which is characterized in that the micromatic setting (2) includes:
4th electric cylinders (204) are arranged on the mechanical arm (3)；
Third steering engine (203) is set on the telescopic rod of the 4th electric cylinders (204)；
Second steering engine (202) is set on the motor shaft of the third steering engine (203), is driven by the third steering engine (203)
Second steering engine (202) rotation；And
First steering engine (201) is set on the motor shaft of second steering engine (202), is driven by second steering engine (202)
First steering engine (201) rotation.
4. according to claim 1 from triggering apple picking device, which is characterized in that the mechanical arm (3) includes:
Mechanical arm is fixed bottom plate (308), is arranged in the lifting platform (5) upper end；
Support frame (305), lower end and the mechanical arm fixed bottom plate (308) rotation connection；
Telescopic device firm banking (304) is rotatablely connected with support frame as described above (305) upper end；
First electric pushrod (306), bottom end and support frame as described above (305) are rotatablely connected, push rod top and the flexible dress
Set firm banking (304) rotation connection；
Second electric pushrod (307), bottom end and the mechanical arm fixed bottom plate (308) rotation connection, push rod top and institute
State support frame (305) rotation connection；
Telescopic device lead screw (303) is mounted on the telescopic device firm banking (304)；
Guide rail (302) is mounted on the telescopic device firm banking (304)；And
Mechanical arm expansion plate (301) is slidably connected with the guide rail (302), and the mechanical arm expansion plate (301) is stretched with described
Device lead screw (303) is threadedly coupled.
5. according to claim 1 from triggering apple picking device, which is characterized in that the collection device (4) includes:
Collection device fixed plate (404) is fixedly connected with the lifting platform (5)；
Collection device lead screw (402) is mounted on the collection device fixed plate (404)；
Collection device guide rail (403) is mounted on the collection device fixed plate (404)；And
It collects the string bag (401), is threadedly coupled with the collection device lead screw (402), the collection string bag (401) and the collection
Device guide rail (403) is slidably connected.
6. according to claim 1 from triggering apple picking device, which is characterized in that the lifting platform (5) includes:
Lifting platform upper plate (501) is fixedly connected with the mechanical arm (3) lower end；
Lifting platform lower plate (502) is fixedly connected with the creeper truck (6) upper end；
Lifting platform telescopic device (503) is set between the lifting platform upper plate (501) and the lifting platform lower plate (502)；And
Lifting platform push rod (504) is mounted on lifting platform lower plate (502).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910447016.XA CN110063139B (en) | 2019-05-27 | 2019-05-27 | Self-triggering apple picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910447016.XA CN110063139B (en) | 2019-05-27 | 2019-05-27 | Self-triggering apple picker |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110063139A true CN110063139A (en) | 2019-07-30 |
| CN110063139B CN110063139B (en) | 2022-08-09 |
Family
ID=67371641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910447016.XA Active CN110063139B (en) | 2019-05-27 | 2019-05-27 | Self-triggering apple picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110063139B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110800469A (en) * | 2019-12-12 | 2020-02-18 | 李长玲 | Self-triggering apple picking and collecting all-in-one machine |
| CN113349919A (en) * | 2021-06-29 | 2021-09-07 | 湖州市妇幼保健院 | Gastrointestinal endoscope polyp removal auxiliary collector and method |
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| CN113349919A (en) * | 2021-06-29 | 2021-09-07 | 湖州市妇幼保健院 | Gastrointestinal endoscope polyp removal auxiliary collector and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110063139B (en) | 2022-08-09 |
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Effective date of registration: 20220720 Address after: 362300 No. 169-26, Huancheng West Road, Ximei community, Ximei street, Nan'an City, Quanzhou City, Fujian Province Applicant after: Nan'an yingchai Industrial Design Co.,Ltd. Address before: Room 760, building F, Ningbo Science and Technology Park, No. 10, Meijing Road, Ningbo, Zhejiang 315000 Applicant before: Su Ping |
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Effective date of registration: 20230928 Address after: No. 2, Facade Room, Longyiyuan Community, Huangling County, Yan'an City, Shaanxi Province, 716000 Patentee after: Huangling County Honghao Agricultural Technology Co.,Ltd. Address before: 362300 No. 169-26, Huancheng West Road, Ximei community, Ximei street, Nan'an City, Quanzhou City, Fujian Province Patentee before: Nan'an yingchai Industrial Design Co.,Ltd. |