CN110800469A

CN110800469A - Self-triggering apple picking and collecting all-in-one machine

Info

Publication number: CN110800469A
Application number: CN201911277163.3A
Authority: CN
Inventors: 李长玲
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-02-18

Abstract

The invention provides a self-triggering apple picking and collecting integrated machine, which comprises a self-triggering gripper, a telescopic adjusting device, a rotary turntable, a collecting device and a bottom plate vehicle, wherein the gripper part innovatively adopts a self-triggering gripper type design, the force of the gripping jaws can be automatically controlled according to the size of a fruit, the gripping jaws on the periphery are made of rubber materials, the strength of the gripping jaws is ensured, the fruit is prevented from being damaged, the picking can be rapidly carried out, the telescopic adjusting device can adjust a large angle and stretch, the rotary turntable can rotate the gripping jaws, when one gripping jaw works, the other gripping jaw can place an apple into the collecting device, the picking efficiency is improved, the collecting device consists of a buffer device and a conveyor belt, the fruit picked by the gripping jaws is received, a trolley can adapt to different road surfaces, and the product greatly improves the picking efficiency of high trees, the working strength of the fruit grower is reduced.

Description

Self-triggering apple picking and collecting all-in-one machine

Technical Field

The invention relates to the technical field of agricultural automation, in particular to a telescopic self-triggering apple picker.

Background

At present, the picking of fruits at high positions of apple trees is difficult, the demand for picking at high positions is larger and larger along with the growth of fruit trees, the working intensity of manual picking is increased, the picking working efficiency is low, and the picking is unsafe, therefore, machines for picking apples appear in the market at present, for example: the Chinese patent application No. 2018107513707 discloses a handheld telescopic apple picker for picking apples, but the adopted scissors type design is easy to damage fruits and the picking effect is not ideal, and the Chinese patent application No. 2018106015013 discloses an apple picking tool, but the steel wire pulling jaw type design is adopted, so that the working efficiency is low, and therefore a more efficient and practical apple picking tool is urgently needed.

Disclosure of Invention

In order to solve the problems, the invention provides a self-triggering apple picking and collecting all-in-one machine which comprises a self-triggering gripper, a telescopic adjusting device, a rotary turntable, a collecting device and a bottom plate vehicle.

The technical scheme adopted by the invention is as follows: a self-triggering apple picking and collecting all-in-one machine comprises a self-triggering gripper device, a telescopic adjusting device, a rotating device, a collecting device, a trolley and a control device;

the trolley is provided with a collecting device and a control device, rotating devices are arranged on two sides of the collecting device, a telescopic adjusting device is arranged on each rotating device, and a self-triggering gripping device is arranged at the end part of each telescopic adjusting device;

the rotating device can adjust the angle of the self-triggering gripper device, the telescopic adjusting device can adjust the extending distance of the self-triggering gripper device, the self-triggering gripper device can automatically control the force of the gripper claw, and apples are picked up and placed into the collecting device to be collected.

Furthermore, three telescopic adjusting devices are arranged on each rotating device, and each telescopic adjusting device is provided with a self-triggering gripper device.

Further, the self-triggering gripper further comprises: the gripper connecting rod is connected with the gripper upper plate and the gripper lower plate;

the gripper connecting rod is rotatably installed in a clamping groove of the gripper upper plate, the gripper claw is connected with the gripper connecting rod through a shaft pin, the lower end of the gripper claw is rotatably installed on the gripper lower plate, and the gripper lower plate is slidably installed on the telescopic adjusting device.

Furthermore, the number of the hand grab connecting rods and the number of the hand grab claws are four.

Furthermore, the gripper claw is made of rubber materials.

Further, the telescopic adjusting device comprises: the device comprises a length adjusting telescopic rod, a first fixing frame, an angle adjusting telescopic rod and a second fixing frame;

the length adjustment telescopic link rotates and installs on first mount, and first mount fixed mounting is on the rotary device upper plate, and the one end of angle adjustment telescopic link rotates and installs on the length adjustment telescopic link, and the other end rotates and installs on the second mount, and second mount fixed mounting is on the rotary device upper plate.

Further, the rotating device comprises: a rotating device upper plate and a rotating device lower plate; the lower plate of the rotating device is fixedly arranged on the fixed frame of the collecting device, and the upper plate of the rotating device is rotatably arranged on the lower plate of the rotating device;

furthermore, the collecting device comprises a collecting device fixing frame, a collecting device fixing base, a collecting device box and a collecting device box conveying belt;

the collecting device fixing frame is fixedly arranged on the collecting device fixing base, and the collecting device fixing base is fixedly arranged on the bottom plate vehicle fixing base.

Furthermore, the floor vehicle comprises a floor vehicle fixing base, a floor vehicle fixing shaft and floor vehicle wheels;

bottom plate car fixed axle fixed mounting is on bottom plate car unable adjustment base, and bottom plate car wheel rotates and installs on bottom plate car fixed axle.

Further, the control device includes: an operation panel, an operation handle and a central processing unit;

the central processor can write control program, and the operation panel and the operation handle can be operated manually or automatically according to the set program.

The invention has the beneficial effects that:

(1) according to the fruit picking machine, the force of the clamping jaws can be automatically controlled according to the size of fruits, the clamping jaws on the periphery are made of rubber materials, the strength of the gripper is guaranteed, meanwhile, the fruits are prevented from being damaged, and the fruits can be picked quickly;

(2) the telescopic adjusting device can be adjusted at a large angle and can be stretched, the rotary turntable can rotate the clamping jaws, when one clamping jaw works, the other clamping jaw can place apples into the collecting device, and the picking efficiency is improved;

(3) the collecting device provided by the invention comprises the buffer device and the conveying belt, the fruits picked by the clamping jaws are caught, the trolley can adapt to different road surfaces, the product greatly improves the picking efficiency of the high-tree apples, and the working strength of fruit growers is reduced.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of the self-triggering gripper of the present invention.

Fig. 3 is a schematic structural view of a telescopic adjusting device part of the present invention.

Fig. 4 is a schematic structural view of a rotating device portion of the present invention.

Fig. 5 is a schematic view of the structure of the collecting device part of the present invention.

Fig. 6 is a schematic structural view of the floor truck part of the present invention.

Reference numerals:

1-self-triggering a gripping device, 2-a telescopic adjusting device, 3-a rotating device, 4-a collecting device and 5-a trolley; 101-a gripper upper plate, 102-a gripper lower plate, 103-a gripper connecting rod and 104-a gripper claw; 201-length adjustment telescopic rod, 202-first fixed frame, 203-angle adjustment telescopic rod, 204-second fixed frame; 301-rotating device upper plate, 302-rotating device lower plate; 401-collecting device holder, 402-collecting device holder base, 403-collecting device box, 404-collecting device box conveyor belt; 501-a fixed base of a chassis, 502-a fixed shaft of the chassis and 503-wheels of the chassis.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Examples

As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6, the self-triggering apple picking and collecting all-in-one machine comprises a self-triggering hand grip device 1, a telescopic adjusting device 2, a rotating device 3, a collecting device 4, a trolley 5 and a control device;

be provided with collection device 4 and controlling means on

dolly

5, 4 both sides of collection device are provided with rotary device 3, are provided with flexible adjusting device 2 on the

rotary device

3, and 2 tip of flexible adjusting device are provided with from triggering tongs device 1, are provided with three flexible adjusting device 2 on every rotary device 3, set up one on every flexible adjusting device 2 and from triggering tongs device 1, and controlling means includes: an operation panel, an operation handle and a central processing unit;

can compile the control program in the central processing unit, but operating panel and operating handle manual control device, also can pick up rubbish according to the automatic pick-up of settlement procedure, during operation with all electrical control equipment and controlling means electric connection, compile the control program in central processing unit as required, can the manual operation operating panel and operating handle come the control equipment during the use, also can set for the procedure in advance, let equipment pick according to setting for the procedure is automatic, rotary device 3 can adjust the angle of self-triggering tongs 1, the distance of stretching out of self-triggering tongs 1 can be adjusted to flexible adjusting device 2, the dynamics of self-triggering tongs 104 can be controlled automatically to self-triggering tongs 1, take the apple and put into collection device 4 and collect.

In an alternative implementation of the embodiment of the present invention, as shown in fig. 2, the self-triggering gripper 1 further includes: a hand grip upper plate 101, a hand grip lower plate 102 and a hand grip connecting rod 103; the gripper connecting rods 103 are rotatably mounted in clamping grooves of the gripper upper plate 101, the gripper claws 104 are connected with the gripper connecting rods 103 through shaft pins, the lower ends of the gripper claws 104 are rotatably mounted on the gripper lower plate 102, the gripper lower plate 102 is slidably mounted on the telescopic adjusting device 2, the gripper connecting rods 103 and the gripper claws 104 are four, the gripper claws 104 are made of rubber materials, the force of the gripper claws 104 can be automatically controlled according to the size of a fruit, the peripheral gripper claws 104 are made of rubber materials, damage to the fruit is avoided while the gripper strength is guaranteed, and picking can be performed quickly.

In an alternative implementation manner of the embodiment of the present invention, as shown in fig. 3, the telescopic adjustment device 2 includes a length adjustment telescopic rod 201, a first fixing frame 202, an angle adjustment telescopic rod 203, and a second fixing frame 204, the length adjustment telescopic rod 201 is rotatably mounted on the first fixing frame 202, the first fixing frame 202 is fixedly mounted on the rotating device upper plate 301, one end of the angle adjustment telescopic rod 203 is rotatably mounted on the length adjustment telescopic rod 201, the other end is rotatably mounted on the second fixing frame 204, and the second fixing frame 204 is fixedly mounted on the rotating device upper plate 301, when the present invention is used, firstly, according to the position of a fruit, the angle of the self-triggering adjustment device 1 is adjusted by the angle adjustment telescopic rod 203, the position of the self-triggering adjustment device 1 is adjusted by the length adjustment telescopic rod 201, when a fruit presses the gripper upper plate 101 downwards, the link mechanism drives the gripping jaws to open, and (5) grasping the fruit to realize the grasping process.

In an alternative implementation of the embodiment of the present invention, as shown in fig. 4-6, the rotating device 3 includes a rotating device upper plate 301 and a rotating device lower plate 302, the rotating device lower plate 302 is fixedly mounted on the collecting device fixing frame 401, and the rotating device upper plate 301 is rotatably mounted on the rotating device lower plate 302; the collecting device 4 comprises a collecting device fixing frame 401, a collecting device fixing base 402, a collecting device box 403 and a collecting device box conveyor belt 404, wherein the collecting device fixing frame 401 is fixedly arranged on the collecting device fixing base 402, and the collecting device fixing base 402 is fixedly arranged on the floor vehicle fixing base 501; the floor vehicle 5 comprises a floor vehicle fixing base 501, a floor vehicle fixing shaft 502 and floor vehicle wheels 503, the floor vehicle fixing shaft 502 is fixedly installed on the floor vehicle fixing base 501, the floor vehicle wheels 503 are rotatably installed on the floor vehicle fixing shaft 502, after grabbing is completed, a first steering engine 201 in the fine adjustment device 2 rotates, fruits are put down, the fruits drop on the collecting device 4, and finally the fruits are collected into the collecting device small box 403.

Claims

1. A self-triggering apple picking and collecting all-in-one machine is characterized by comprising a self-triggering gripper device (1), a telescopic adjusting device (2), a rotating device (3), a collecting device (4), a trolley (5) and a control device;

the trolley (5) is provided with a collecting device (4) and a control device, rotating devices (3) are arranged on two sides of the collecting device (4), a telescopic adjusting device (2) is arranged on each rotating device (3), and a self-triggering gripper device (1) is arranged at the end part of each telescopic adjusting device (2);

the angle of the self-triggering gripper device (1) can be adjusted through the rotating device (3), the extending distance of the self-triggering gripper device (1) can be adjusted through the telescopic adjusting device (2), the force of the gripper claw (104) can be automatically controlled through the self-triggering gripper device (1), and the apples are picked down and placed into the collecting device (4) to be collected.

2. The integrated machine for picking and collecting apples with self-triggering function according to claim 1, wherein three telescopic adjusting devices (2) are arranged on each rotating device (3), and one self-triggering hand grip device 1 is arranged on each telescopic adjusting device (2).

3. The integrated machine for picking and collecting apples according to claim 1, wherein the self-triggering hand grip device (1) further comprises: the device comprises a hand grip upper plate (101), a hand grip lower plate (102) and a hand grip connecting rod (103);

the hand grab connecting rod (103) is rotatably installed in a clamping groove of the hand grab upper plate (101), the hand grab claw (104) is connected with the hand grab connecting rod (103) through a shaft pin, the lower end of the hand grab claw (104) is rotatably installed on the hand grab lower plate (102), and the hand grab lower plate (102) is slidably installed on the telescopic adjusting device (201).

4. The self-triggering apple picking and collecting all-in-one machine as claimed in claim 3, wherein the number of the hand grip connecting rods (103) and the hand grip claws (104) is four.

5. The self-triggering apple picking and collecting all-in-one machine as claimed in claim 4, wherein the hand claw (104) is made of rubber material.

6. The machine as claimed in claim 1, wherein the telescopic adjustment means (2) comprises: a length adjustment telescopic rod (201), a first fixing frame (202), an angle adjustment telescopic rod (203) and a second fixing frame (204);

the length adjustment telescopic rod (201) is rotatably installed on the first fixing support (202), the first fixing support (202) is fixedly installed on a rotating device upper plate (301) of the rotating device (3), one end of the angle adjustment telescopic rod (203) is rotatably installed on the length adjustment telescopic rod (201), the other end of the angle adjustment telescopic rod is rotatably installed on the second fixing frame (204), and the second fixing frame (204) is fixedly installed on the rotating device upper plate (301).

7. A self-triggering apple picking and collecting all-in-one machine according to claim 1, wherein the rotating device (3) comprises: a rotating device upper plate (301) and a rotating device lower plate (302);

the rotating device lower plate (302) is fixedly arranged on the collecting device fixing frame (401), and the rotating device upper plate (301) is rotatably arranged on the rotating device lower plate (302).

8. The self-triggering apple picking and collecting all-in-one machine as claimed in claim 1, wherein the collecting device (4) comprises a collecting device fixing frame (401), a collecting device fixing base (402), a collecting device box (403) and a collecting device box conveyor belt (404);

the collecting device fixing frame (401) is fixedly arranged on the collecting device fixing base (402), and the collecting device fixing base (402) is fixedly arranged on a bottom plate vehicle fixing base (5011) of the bottom plate vehicle (5).

9. A self-triggering apple picking and collecting all-in-one machine as claimed in claim 1, said floor truck (5) comprising: the device comprises a floor vehicle fixing base (501), a floor vehicle fixing shaft (502) and floor vehicle wheels (503);

the bottom plate vehicle fixing shaft (502) is fixedly arranged on the bottom plate vehicle fixing base (501), and the bottom plate vehicle wheels (503) are rotatably arranged on the bottom plate vehicle fixing shaft (502).

10. A self-triggering apple picking and collecting all-in-one machine as claimed in any one of claims 1 to 9, wherein the control device comprises: an operation panel, an operation handle and a central processing unit;