CN112075199A - Based on unmanned aerial vehicle pine nut harvesting device - Google Patents

Based on unmanned aerial vehicle pine nut harvesting device Download PDF

Info

Publication number
CN112075199A
CN112075199A CN202011074923.3A CN202011074923A CN112075199A CN 112075199 A CN112075199 A CN 112075199A CN 202011074923 A CN202011074923 A CN 202011074923A CN 112075199 A CN112075199 A CN 112075199A
Authority
CN
China
Prior art keywords
damping
clamping
bevel gear
arm
aerial vehicle
Prior art date
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.)
Pending
Application number
CN202011074923.3A
Other languages
Chinese (zh)
Inventor
王扬威
吕佩伦
李健
闫杰
李兴东
李三平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northeast Forestry University
Original Assignee
Northeast Forestry University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Northeast Forestry University filed Critical Northeast Forestry University
Priority to CN202011074923.3A priority Critical patent/CN112075199A/en
Publication of CN112075199A publication Critical patent/CN112075199A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Vibration Dampers (AREA)

Abstract

A pine nut picking device based on an unmanned aerial vehicle relates to the technical field of agricultural equipment. Based on unmanned aerial vehicle pine nut harvesting device includes: the damping mechanism comprises a damping upper part, a damping lower part, a plurality of compression springs, a plurality of tension springs and a plurality of damping struts, wherein the lower ends of the tension springs are connected with the top surface of the damping lower part; and the top of the fruit clamping mechanism is connected with the lower damping part, the fruit clamping mechanism comprises a fruit clamping mechanism base body and two clamping arms, each clamping arm is connected with the fruit clamping mechanism base body, and the fruit clamping mechanism drives the clamping ends of the two clamping arms to clamp and separate. Thereby solved and to have carried out corresponding motion in the picking mechanism and can produce the vibration and influence the problem to unmanned aerial vehicle and picking mechanism's picking effect.

Description

Based on unmanned aerial vehicle pine nut harvesting device
Technical Field
The invention relates to the technical field of agricultural equipment, in particular to a pine nut picking device based on an unmanned aerial vehicle.
Background
At present, the work part of picking pine nuts in northeast places is completed by manpower, which wastes time and labor and is dangerous for people to fall and hurt. And unmanned aerial vehicle can easily fly to the pine top, especially can hover unmanned aerial vehicle in the air, can install the below at unmanned aerial vehicle with picking the device to realize that the pine cone is picked.
However, the existing pine cone picking device based on the unmanned aerial vehicle needs the corresponding picking mechanism to carry out corresponding movement to pick the pine cone in the process of picking the pine cone, and the corresponding picking mechanism can vibrate when carrying out corresponding movement to influence the picking effect on the unmanned aerial vehicle and the picking mechanism.
Disclosure of Invention
The invention aims to solve the problem that the picking effect of the unmanned aerial vehicle and the picking mechanism is influenced by vibration generated when the picking mechanism based on the unmanned aerial vehicle pine cone picking device correspondingly moves to a certain extent.
The invention provides a pine cone picking device based on an unmanned aerial vehicle, which comprises:
a lifting mechanism mounted with a rope, the rope being connected with the drone, the lifting mechanism being adapted to lengthen and shorten the rope;
the damping mechanism comprises a damping upper part, a damping lower part, a plurality of compression springs, a plurality of tension springs and a plurality of damping struts, wherein the damping upper part is connected with the lifting mechanism, the damping struts are in bolt structures, the threaded ends of the damping struts penetrate through the top wall of the damping lower part from the bottom wall of the damping upper part and are in threaded connection with nuts, one compression spring is sleeved on the side wall of each damping strut, the compression springs are arranged between the large end of each damping strut and the bottom wall of the damping upper part, the upper ends of the tension springs are connected with the bottom surface of the damping upper part, and the lower ends of the tension springs are connected with the top surface of the damping lower part; and
the top of the fruit clamping mechanism is connected with the lower damping portion, the fruit clamping mechanism comprises a fruit clamping mechanism base body and two clamping arms, each clamping arm is connected with the fruit clamping mechanism base body, and the fruit clamping mechanism drives the clamping ends of the two clamping arms to clamp and separate.
Furthermore, the clamping arm comprises two vertical arms and a cross arm, the bottom end of one vertical arm is connected with one end of the cross arm, the bottom end of the other vertical arm is connected with the other end of the cross arm, the top end of one vertical arm is hinged with the fruit clamping mechanism base body, the top end of the other vertical arm is hinged with the fruit clamping mechanism base body, and the cross arm is a clamping end of the clamping arm.
Furthermore, the fruit clamping mechanism comprises a first driving motor, a first bevel gear, a second bevel gear, a third bevel gear, a first transmission rod and a second transmission rod, the first driving motor is arranged in the lower damping part,
the first driving motor is connected with the third bevel gear, the first transmission rod is hinged with the fruit clamping mechanism base body, the second transmission rod is hinged with the fruit clamping mechanism base body, the first bevel gear is fixed with one end of the first transmission rod, the second bevel gear is fixed with the second transmission rod,
the top end of one vertical arm of one clamping arm is fixed with the other end of the first transmission rod, the top end of the other vertical arm of the other clamping arm is hinged with the second transmission rod,
the top end of one vertical arm of the other clamping arm is fixed with the second transmission rod, the top end of the other vertical arm of the other clamping arm is hinged with the first transmission rod,
the first bevel gear and the second bevel gear are arranged oppositely, the third bevel gear is arranged between the first bevel gear and the second bevel gear, and the first bevel gear, the second bevel gear and the third bevel gear are meshed with each other.
Further, the nut in threaded connection with the threaded end of the shock strut is double nut.
Further, a plurality of the shock absorbing struts are disposed around a plurality of the compression springs.
Furthermore, the damping mechanism comprises a plurality of first convex columns and a plurality of second convex columns, the first convex columns are fixed on the bottom surface of the upper damping part and protrude downwards, the second convex columns are fixed on the top surface of the lower damping part and protrude upwards, and one first convex column and one second convex column are sleeved in each compression spring.
Further, elevating system includes second driving motor, elevating system base member, worm gear mechanism and reel, second driving motor, worm gear mechanism with the reel install in the elevating system base member, second driving motor with the reel passes through worm gear mechanism transmission is connected, the rope winding is in reel department.
Further, the lifting mechanism comprises an upper shell and a lower shell, the second driving motor, the worm gear mechanism and the reel are installed in the upper shell, the top of the lower shell is connected with the bottom of the upper shell, the upper shell is of a regular hexahedron structure, the lower shell is of a cone structure, the large end of the cone structure is the bottom end of the lower shell, and the bottom end of the lower shell is connected with the upper damping portion.
When the pine nut picking device is used, the pine nut picking device is moved to the upper side of a pine nut by controlling the unmanned aerial vehicle, the rope is extended and shortened by controlling the lifting mechanism, so that the pine nut clamping mechanism is lifted to a proper position, then the two clamping arms are driven by the pine nut clamping mechanism to clamp and separate the pine nut, and the pine nut falls off from the pine nut to realize picking of the pine nut.
In this process, utilize "the screwed end of shock attenuation pillar pass the roof on shock attenuation lower part from the diapire on shock attenuation upper portion after with nut threaded connection, every shock attenuation pillar lateral wall cover has a compression spring, compression spring arranges in between shock attenuation pillar's stub end and the diapire on shock attenuation upper portion, the upper end that pulls the spring is connected with the bottom surface on shock attenuation upper portion, the lower extreme that pulls the spring is connected with the top surface of shock attenuation lower part" the characteristics, thereby absorb the vibration that produces when pressing from both sides two arm lock locks of fruit mechanism through compression spring and compression spring, prevent that this vibration from transmitting unmanned aerial vehicle through elevating system, thereby avoid unmanned aerial vehicle flight unstability, and the effect of picking pine fruit of influence arm lock, thereby can produce the vibration and influence the problem to the picking effect of unmanned aerial vehicle and picking mechanism when picking mechanism carries out corresponding motion.
Drawings
Fig. 1 is a schematic structural diagram of the pine cone picking device based on the unmanned aerial vehicle;
FIG. 2 is a schematic view of a worm gear;
FIG. 3 is a schematic view of a shock absorbing mechanism;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is a schematic side view of the fruit pinching mechanism;
FIG. 6 is a cross-sectional view B-B of FIG. 5;
fig. 7 is an enlarged view of fig. 6 at C.
Number designation in the figures: 101 upper housing, 102 second drive motor, 103 coupling, 104 worm, 105 worm, 106 sleeve, 107 reel, 108 round nut, 201 damping upper portion, 2011 first boss, 202 damping lower portion, 2021 second boss, 203 damping strut, 204 nut, 205 compression spring, 207 tension spring, 301 first drive motor, 302 clamp mechanism base, 3020 crossbar, 3021 first vertical arm, 3022 second vertical arm, 3023 third vertical arm, 3024 fourth vertical arm, 3051 first bevel gear, 3052 second bevel gear, 3053 third bevel gear, 3081 first drive rod, 3082 second drive rod, 309 long sleeve, 310 first angular contact ball bearing, 311 first short sleeve, 312 second angular contact ball bearing, 313 second short sleeve, 314 thrust ball bearing.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", and the like, which indicate orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Referring to fig. 1 to 4, the present embodiment provides an unmanned aerial vehicle-based pine cone picking device, including:
the lifting mechanism is provided with a rope, the rope is connected with the unmanned aerial vehicle, and the lifting mechanism is suitable for enabling the rope to extend and shorten;
the shock absorption mechanism comprises a shock absorption upper part 201, a shock absorption lower part 202, a plurality of compression springs 205, a plurality of tension springs 207 and a plurality of shock absorption support columns 203, wherein the shock absorption upper part 201 is connected with the lifting mechanism, the shock absorption support columns 203 are in bolt structures, the threaded ends of the shock absorption support columns 203 penetrate through the top wall of the shock absorption lower part 202 from the bottom wall of the shock absorption upper part 201 and then are in threaded connection with nuts 204, one compression spring 205 is sleeved on the side wall of each shock absorption support column 203, the compression springs 205 are arranged between the large end of the shock absorption support columns 203 and the bottom wall of the shock absorption upper part 201, the upper ends of the tension springs 207 are connected with the bottom surface of the shock absorption upper part 201; and
the top of the fruit clamping mechanism is connected with the damping lower part 202, the fruit clamping mechanism comprises a fruit clamping mechanism base 302 and two clamping arms, each clamping arm is connected with the fruit clamping mechanism base 302, and the fruit clamping mechanism drives the clamping ends of the two clamping arms to clamp and separate;
it should be noted that the unmanned aerial vehicle is an unmanned aerial vehicle capable of hovering in the air, and only then, the unmanned aerial vehicle can be hovered in the air, so that the picking device for picking pine nuts based on the unmanned aerial vehicle can pick pine nuts.
When the pine nut picking device is used, the pine nut picking device is moved to the upper side of a pine nut by controlling the unmanned aerial vehicle, the rope is extended and shortened by controlling the lifting mechanism, so that the pine nut clamping mechanism is lifted to a proper position, then the two clamping arms are driven by the pine nut clamping mechanism to clamp and separate the pine nut, and the pine nut falls off from the pine nut to realize picking of the pine nut.
In the process, by using the characteristic that the threaded end of the shock absorbing strut 203 is in threaded connection with the nut 204 after penetrating through the top wall of the shock absorbing upper part 202 from the bottom wall of the shock absorbing upper part 201, the side wall of each shock absorbing strut 203 is sleeved with a compression spring 205, the compression spring 205 is arranged between the large end of the shock absorbing strut 203 and the bottom wall of the shock absorbing upper part 201, the upper end of the tension spring 207 is connected with the bottom surface of the shock absorbing upper part 201, the lower end of the tension spring 207 is connected with the top surface of the shock absorbing lower part 202, thereby absorbing the vibration generated when the two clamping arms of the fruit clamping mechanism are buckled through the compression spring 205 and the compression spring 205, preventing the vibration from being transmitted to the unmanned aerial vehicle through the lifting mechanism, thereby avoid unmanned aerial vehicle flight unstability, and influence the effect of the picking pine cone of arm lock to can produce the vibration and influence the problem to unmanned aerial vehicle and picking mechanism's picking effect when picking mechanism carries out corresponding motion has been solved.
Further, the clamping arm comprises two vertical arms and a cross arm 3020, the bottom end of one vertical arm is connected with one end of the cross arm 3020, the bottom end of the other vertical arm is connected with the other end of the cross arm 3020, the top end of one vertical arm is hinged with the fruit clamping mechanism base 302, the top end of the other vertical arm is hinged with the fruit clamping mechanism base 302, and the cross arm 3020 is the clamping end of the clamping arm.
The clamping arm is simple in structure and light in weight, and pine nuts can be effectively picked.
Further, the clamping arm comprises two vertical arms and a cross arm 3020, the bottom end of one vertical arm is connected with one end of the cross arm 3020, the bottom end of the other vertical arm is connected with the other end of the cross arm 3020, the top end of one vertical arm is hinged with the fruit clamping mechanism base 302, the top end of the other vertical arm is hinged with the fruit clamping mechanism base 302, and the cross arm 3020 is the clamping end of the clamping arm.
The clamping arm is simple in structure and light in weight, and pine nuts can be effectively picked.
Further, the fruit-clamping mechanism includes a first driving motor 301, a first bevel gear 3051, a second bevel gear 3052, a third bevel gear 3053, a first driving rod 3081 and a second driving rod 3082, the first driving motor 301 is installed in the shock-absorbing lower portion 202,
the first driving motor 301 is connected with the third bevel gear 3053, the first transmission rod 3081 is hinged with the fruit clamping mechanism base, the second transmission rod 3082 is hinged with the fruit clamping mechanism base, the first bevel gear 3051 is fixed with one end of the first transmission rod 3081, the second bevel gear 3052 is fixed with the second transmission rod 3082,
the top end of one vertical arm (i.e., the first vertical arm 3021) of one of the clamp arms is fixed to the other end of the first transmission rod 3081, the top end of the other vertical arm (i.e., the second vertical arm 3022) of one of the clamp arms is hinged to the second transmission rod 3082,
the top end of one vertical arm (i.e., the third vertical arm 3023) of the other arm is fixed to the second transmission rod 3082, the top end of the other vertical arm (i.e., the fourth vertical arm 3024) of the other arm is hinged to the first transmission rod 3081,
the first bevel gear 3051 and the second bevel gear 3052 are oppositely arranged, the third bevel gear 3053 is arranged between the first bevel gear 3051 and the second bevel gear 3052, and the first bevel gear 3051, the second bevel gear 3052 and the third bevel gear 3053 are engaged with each other.
In the using process, the first driving motor 301 drives the third bevel gear 3053 to rotate, so that the second bevel gear 3052 and the first bevel gear 3051 are reversely rotated, and accordingly, one vertical arm (i.e., the first vertical arm 3021) of one corresponding clamping arm and one vertical arm (i.e., the third vertical arm 3023) of the other clamping arm are respectively driven to be simultaneously clamped or simultaneously separated, and the top end of the other vertical arm (i.e., the second vertical arm 3022) of one clamping arm is hinged to the second transmission rod 3082, and the top end of the other vertical arm (i.e., the fourth vertical arm 3024) of the other clamping arm is hinged to the first transmission rod 3081, so that the clamping ends of the two clamping arms can be smoothly clamped and separated, and therefore, the two clamping arms have strong clamping force, and a good picking effect is achieved.
Further, the nut 204 threadedly coupled to the threaded end of the shock strut 203 is a double nut 204.
The double nuts 204 have a good pre-tightening effect and can prevent the shock strut 203 from loosening.
Further, a plurality of shock absorbing struts 203 are disposed around the plurality of compression springs 205.
Due to the arrangement, the compression spring 205 and the tension spring 207 can be reasonably arranged, vibration generated in the working process of the clamping arms can be fully absorbed, and meanwhile, the connection strength of the shock absorption upper part 201 and the shock absorption lower part 202 can be improved.
Further, the shock absorbing mechanism includes a plurality of first protruding columns 2011 and a plurality of second protruding columns 2021, the plurality of first protruding columns 2011 are fixed on the bottom surface of the shock absorbing upper portion 201 and protrude downward, the plurality of second protruding columns 2021 are fixed on the top surface of the shock absorbing lower portion 202 and protrude upward, and a first protruding column 2011 and a second protruding column 2021 are sleeved in each compression spring 205.
The first convex column 2011 and the second convex column 2021 are sleeved in each compression spring 205, so that the first convex column 2011 and the second convex column 2021 generate deformation guide for the tension spring 207, the tension spring 207 is prevented from deforming randomly and easily breaking and damaging, the upper part and the lower part of the tension spring 207 can only be stretched vertically, and the arrangement aims to mainly consider that wind blows through the picking process, and generally, the wind at a high position is larger, so that the pine nut picking device swings more severely in the wind, and in this case, the first convex column 2011 and the second convex column 2021 are sleeved in each compression spring 205 to play a role in guiding, so that the compression spring 205 is prevented from seriously swinging.
Further, the elevating mechanism includes a second driving motor 102, an elevating mechanism base, a worm gear mechanism, and a reel 107, the second driving motor 102, the worm gear mechanism, and the reel 107 are installed in the elevating mechanism base, the second driving motor 102 and the reel 107 are drivingly connected by the worm gear mechanism, and the rope is wound around the reel 107.
The worm and gear mechanism not only can realize control of cross power transmission, but also has strong self-locking, so that the second driving motor 102 can be connected with the screw, and the reel 107 is connected with the worm; in this way, the reel 107 cannot rotate without the worm being driven by the second driving motor 102, so that the lifting mechanism can be suspended at a set height, and when the worm is driven by the second driving motor 102 to rotate, the worm 105 drives the worm 106 to rotate, so that the rotation of the reel 107 is realized, and the lifting of the lifting mechanism is realized. Thereby avoid the pine nut to pick device and unmanned aerial vehicle and drop. The use safety is ensured.
Further, the top ends of the two vertical arms are connected with the damping base 205 through deep groove ball bearings.
The deep groove ball bearing has the advantages of small friction resistance and high rotating speed, can be used for bearing radial load or simultaneously acting in the radial direction and the axial direction, and can improve the rotating stability of the clamping arm, thereby ensuring the accurate action of the clamping arm.
Further, the elevating mechanism includes an upper housing 101, the second driving motor 102, the worm gear mechanism and the reel 107 are installed in the upper housing 101, the upper housing 101 has a regular hexahedral structure,
the upper portion shell 101 here can fully protect elevating system, prevents that unmanned aerial vehicle from in the flight process, and the branch that takes place the pine gets into elevating system, guarantees elevating system's safety, reduces unmanned aerial vehicle flight resistance.
It should be noted that, in this embodiment, the power source of the first driving motor 301 and the second driving motor 102 may be a battery of the unmanned aerial vehicle, or an independent battery may be provided for the first driving motor 301 and the second driving motor 102, and in addition, the forward rotation, the reverse rotation, and the stop of the first driving motor 301 and the second driving motor 102 may be controlled by radio communication, that is, radio remote control receivers may be respectively installed at the first driving motor 301 and the second driving motor 102, so as to control the forward rotation, the reverse rotation, and the stop of the first driving motor 301 and the second driving motor 102 by radio.
As shown in fig. 1 and 2, the lifting mechanism is composed of an upper housing 101, a second driving motor 102, a coupling 103, a worm 104, a worm 105, a sleeve 106, a reel 107, a round nut 108, and four deep groove ball bearings. As shown in fig. 1 and 3, the shock-absorbing mechanism is composed of a shock-absorbing upper part 201, a shock-absorbing lower part 202, a shock-absorbing strut 203, a nut 204, a compression spring 205, and a tension spring 207. As shown in fig. 1 and 5, the fruit clamping mechanism further includes a long sleeve 309, a first angular contact ball bearing 310, a first short sleeve 311, a second angular contact ball bearing 312, a second short sleeve 313 and a thrust ball bearing 314.
As shown in fig. 1 and 2, a worm 105 is sleeved on a worm shaft, the worm is in key connection with the worm shaft, and a sleeve 106 is sleeved on the worm shaft to axially fix the worm. The reel 107 abuts against the sleeve, the reel is also keyed to the worm shaft, and a round nut 108 is screwed onto the worm shaft to axially locate the reel. Deep groove ball bearings are mounted on both ends of the shaft and are fixed to the housing 101 by circlips for holes. The two ends of the worm 104 are provided with deep groove ball bearings and are fixed on the shell by elastic check rings through holes. The gear motor 102 is fixed to the housing using a bolt connection, and the motor shaft is connected to the worm shaft by a coupling 103. The steel wire rope is wound on the winding wheel.
As shown in fig. 1 and 3, in the shock absorbing mechanism, a tension spring 207 is welded on the convex columns of the shock absorbing upper part 201 and the shock absorbing lower part 202 by adopting a welding method, and the total number is 4. The compression spring 205 is sleeved on the shock absorption support column 203, the shock absorption support column penetrates through the upper shock absorption part and the lower shock absorption part and is fixed by the nut 204, and the total number of the shock absorption support columns is 8 and the shock absorption support columns are arranged around the lifting lug. The double nuts can prevent the shock absorption supporting columns from loosening from the lower shock absorption parts. The steel wire wound on the reel is fixed at the first convex column, the lower damping part and the fruit clamping mechanism base body 302 are fixedly connected through bolts, and the first driving motor 301 is fixed at the lower damping part.
As shown in fig. 1 to 7, the thrust ball bearing 314 is placed in a bearing hole of the nut-clamping mechanism base, the shaft is inserted into an inner hole of the nut-clamping mechanism base, and a plurality of vertical arms, a first short sleeve 311, a second angular contact ball bearing 312 and a second short sleeve 313 are sequentially installed and finally inserted into an outer hole of the nut-clamping mechanism base. A first angular contact ball bearing 310 and a long sleeve 309 are sequentially installed from the other side of the shaft, and finally a first bevel gear and a second bevel gear are installed. The shaft of the first driving motor is connected with the third bevel gear in a key mode, and the third bevel gear is axially fixed through an elastic retainer ring for the shaft.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.

Claims (8)

1. The utility model provides a device is picked to pine nut based on unmanned aerial vehicle which characterized in that includes:
a lifting mechanism mounted with a rope, the rope being connected with the drone, the lifting mechanism being adapted to lengthen and shorten the rope;
the damping mechanism comprises a damping upper part, a damping lower part, a plurality of compression springs, a plurality of tension springs and a plurality of damping struts, wherein the damping upper part is connected with the lifting mechanism, the damping struts are in bolt structures, the threaded ends of the damping struts penetrate through the top wall of the damping lower part from the bottom wall of the damping upper part and are in threaded connection with nuts, one compression spring is sleeved on the side wall of each damping strut, the compression springs are arranged between the large end of each damping strut and the bottom wall of the damping upper part, the upper ends of the tension springs are connected with the bottom surface of the damping upper part, and the lower ends of the tension springs are connected with the top surface of the damping lower part; and
the top of the fruit clamping mechanism is connected with the lower damping portion, the fruit clamping mechanism comprises a fruit clamping mechanism base body and two clamping arms, each clamping arm is connected with the fruit clamping mechanism base body, and the fruit clamping mechanism drives the clamping ends of the two clamping arms to clamp and separate.
2. The pine cone picking device based on unmanned aerial vehicle of claim 1, wherein: the clamping arm comprises two vertical arms and a cross arm, the bottom end of one vertical arm is connected with one end of the cross arm, the bottom end of the other vertical arm is connected with the other end of the cross arm, the top end of one vertical arm is hinged with the fruit clamping mechanism base body, the top end of the other vertical arm is hinged with the fruit clamping mechanism base body, and the cross arm is a clamping end of the clamping arm.
3. The pine cone picking device based on unmanned aerial vehicle of claim 2, wherein: the fruit clamping mechanism comprises a first driving motor, a first bevel gear, a second bevel gear, a third bevel gear, a first transmission rod and a second transmission rod, the first driving motor is arranged in the lower damping part,
the first driving motor is connected with the third bevel gear, the first transmission rod is hinged with the fruit clamping mechanism base body, the second transmission rod is hinged with the fruit clamping mechanism base body, the first bevel gear is fixed with one end of the first transmission rod, the second bevel gear is fixed with the second transmission rod,
the top end of one vertical arm of one clamping arm is fixed with the other end of the first transmission rod, the top end of the other vertical arm of the other clamping arm is hinged with the second transmission rod,
the top end of one vertical arm of the other clamping arm is fixed with the second transmission rod, the top end of the other vertical arm of the other clamping arm is hinged with the first transmission rod,
the first bevel gear and the second bevel gear are arranged oppositely, the third bevel gear is arranged between the first bevel gear and the second bevel gear, and the first bevel gear, the second bevel gear and the third bevel gear are meshed with each other.
4. Device is picked to pine cone based on unmanned aerial vehicle according to claim 3 characterized in that: and the nut in threaded connection with the threaded end of the shock absorption strut is double nut.
5. Device is picked to pine cone based on unmanned aerial vehicle according to claim 3 characterized in that: a plurality of the shock strut is disposed around a plurality of the compression springs.
6. Device is picked to pine cone based on unmanned aerial vehicle according to claim 5 characterized in that: the damping mechanism comprises a plurality of first convex columns and a plurality of second convex columns, the first convex columns are fixed on the bottom surface of the upper part of the damping mechanism and protrude downwards, the second convex columns are fixed on the top surface of the lower part of the damping mechanism and protrude upwards, and one first convex column and one second convex column are sleeved in each compression spring.
7. Device is picked to pine cone based on unmanned aerial vehicle according to claim 6, characterized in that: elevating system includes second driving motor, elevating system base member, worm gear mechanism and reel, second driving motor worm gear mechanism with the reel install in the elevating system base member, second driving motor with the reel passes through worm gear mechanism transmission is connected, the rope winding is in reel department.
8. Device is picked to pine cone based on unmanned aerial vehicle according to claim 7, characterized in that: the lifting mechanism comprises an upper shell and a lower shell, the second driving motor, the worm gear mechanism and the reel are installed in the upper shell, the top of the lower shell is connected with the bottom of the upper shell, the upper shell is of a regular hexahedron structure, the lower shell is of a cone structure, the large end of the cone structure is the bottom of the lower shell, and the bottom of the lower shell is connected with the upper shock absorption portion.
CN202011074923.3A 2020-10-09 2020-10-09 Based on unmanned aerial vehicle pine nut harvesting device Pending CN112075199A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011074923.3A CN112075199A (en) 2020-10-09 2020-10-09 Based on unmanned aerial vehicle pine nut harvesting device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011074923.3A CN112075199A (en) 2020-10-09 2020-10-09 Based on unmanned aerial vehicle pine nut harvesting device

Publications (1)

Publication Number Publication Date
CN112075199A true CN112075199A (en) 2020-12-15

Family

ID=73730159

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011074923.3A Pending CN112075199A (en) 2020-10-09 2020-10-09 Based on unmanned aerial vehicle pine nut harvesting device

Country Status (1)

Country Link
CN (1) CN112075199A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112790004A (en) * 2021-03-09 2021-05-14 西京学院 High-frequency vibration type walnut picking system carried by unmanned aerial vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112790004A (en) * 2021-03-09 2021-05-14 西京学院 High-frequency vibration type walnut picking system carried by unmanned aerial vehicle

Similar Documents

Publication Publication Date Title
CN112075199A (en) Based on unmanned aerial vehicle pine nut harvesting device
CN212278905U (en) Based on unmanned aerial vehicle pine nut harvesting device
CN110199825B (en) Automatic lifting type high-altitude wood cutting equipment
CN113482311B (en) Construction auxiliary mounting frame for green engineering construction
CN117048846B (en) Device and method for preventing aircraft from excessively sinking in full-aircraft drop test
CN213083521U (en) Nacelle lifting mechanism and unmanned aerial vehicle
CN212413874U (en) Pine nut picking device for unmanned aerial vehicle
CN112075200A (en) Pine nut picking device for unmanned aerial vehicle
CN215978374U (en) Safety frame for green building construction
CN212530090U (en) Unmanned aerial vehicle patrols and examines auxiliary device
AU2022363643A1 (en) Robot installed utility line hardware
CN213719476U (en) Pine wood nematode prevention and control device
CN212845995U (en) Alarm device for meteorological monitoring
CN110171575B (en) Unmanned aerial vehicle with diversified protect function
CN210822736U (en) Unmanned aerial vehicle undercarriage with damping in rotation direction
CN219428407U (en) Pesticide unmanned aerial vehicle stable in taking off and landing
CN219668479U (en) Search and rescue unmanned aerial vehicle convenient for putting in materials
CN109914407B (en) Pile driver with supporting function for constructional engineering
CN219707343U (en) Environment monitoring unmanned aerial vehicle
CN211008473U (en) Petroleum drilling derrick
CN216516764U (en) Safety device is used in construction of high-rise building outer wall
CN211919006U (en) Unmanned aerial vehicle throwing device with semiconductor sensor
CN216140189U (en) Unmanned aerial vehicle protection device
CN215168591U (en) Novel prevent wind antidetonation communication tower
CN219808373U (en) Ramming pile assembly with damping function

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination