CN112273050A - Rapid picking equipment for persimmon trees and using method thereof - Google Patents
Rapid picking equipment for persimmon trees and using method thereof Download PDFInfo
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- CN112273050A CN112273050A CN202011242230.0A CN202011242230A CN112273050A CN 112273050 A CN112273050 A CN 112273050A CN 202011242230 A CN202011242230 A CN 202011242230A CN 112273050 A CN112273050 A CN 112273050A
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- rotating shaft
- motor
- persimmon
- sliding
- force arm
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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
- A01D46/20—Platforms with lifting and lowering devices
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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
- A01D46/24—Devices for picking apples or like fruit
-
- 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
- A01D46/30—Robotic devices for individually picking crops
Abstract
The invention relates to the technical field of fruit picking, in particular to a rapid picking device for persimmon trees and a using method thereof.
Description
Technical Field
The invention relates to the technical field of fruit picking, in particular to a rapid picking device for persimmon trees and a using method thereof.
Background
Persimmon trees are long-lived fruit trees cultivated in China, fruits are usually used as fruits after deastringency, and can be eaten at any time in one year, the labor force used by the picking operation of persimmon trees accounts for 33% -50% of the labor force used in the whole production process, most of persimmon picking in China is mainly carried out manually at present, the picking operation is complex, if the persimmon trees are picked manually, the efficiency is low, the labor amount is large, the fruits are easy to damage, and if the persimmon trees cannot be picked timely enough, economic loss can be caused.
However, current persimmon tree equipment of plucking has very big shortcoming in the use, current persimmon tree equipment of plucking can't the shift position, be unfavorable for enlarging the application range of equipment of plucking, the taking of persimmon has brought the inconvenience on for different persimmon trees, the speed of plucking has been influenced, current persimmon tree equipment of plucking uses not flexible enough, can not rotate and pluck altitude mixture control, current persimmon tree equipment of plucking reliability is not high, at the in-process of plucking the persimmon, easily crowd the broken with the persimmon.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a rapid persimmon tree picking device and a using method thereof.
The technical scheme adopted by the invention for solving the technical problems is as follows: a quick picking device for persimmon trees comprises a bottom rail, a sliding plate, a rotary table and a gripper, wherein sliding rails are welded on two sides of the top of the bottom rail, the cross section of each sliding rail is of an I-shaped structure, a supporting block is welded at the top end of the bottom rail, a toothed plate is welded on the top of each supporting block, and gear teeth are arranged on one side of each toothed plate;
the sliding plate comprises a sliding block and a first motor, sliding blocks are welded on two sides of the bottom end of the sliding plate, a sliding groove is formed in the bottom end of the sliding block, the area of the section of the sliding groove is matched with the area of the section of the sliding rail, the sliding plate is in sliding fit with the sliding rail through the sliding blocks, the first motor is installed at the top of the sliding plate, a first rotating shaft is arranged at the bottom end of the first motor, a gear is arranged at the bottom end of the first rotating shaft and meshed with a toothed plate, a second motor is installed at the center of the top of the sliding plate through a bolt, a second rotating shaft is arranged at the top of the second motor, a rotating table is arranged at the top of the second rotating shaft, the first rotating shaft is driven by the first motor and drives the gear to rotate, the sliding plate rolls on one side of the gear through the gear, so that, the fast picking equipment for the persimmon trees can move conveniently, so that the application range of the picking equipment is enlarged, the speed of picking the persimmons is improved, and the fast picking equipment for the persimmon trees can be suitable for more complicated landforms by using the bottom rail, the sliding rail and the sliding block;
a third motor is installed on one side of the rotary table, a third rotating shaft is arranged at one end, close to the rotary table, of the third motor, the third rotating shaft penetrates through the rotary table, a large force arm is connected onto the third rotating shaft, an installation block is welded at one end, far away from the third rotating shaft, of the large force arm, a fourth motor is installed at one side of the installation block, a fourth rotating shaft is arranged at one end, far away from the installation block, of the fourth motor, the fourth rotating shaft penetrates through the installation block, a small force arm is connected onto the fourth rotating shaft, a gripper is installed at one end, far away from the fourth rotating shaft, of the small force arm, the third rotating shaft is driven by the third motor to rotate, the large force arm is driven by the third rotating shaft, the large force arm can rotate up and down around the rotary table to be adjusted, the fourth rotating shaft is driven by the fourth motor, the small force arm can rotate up and down around the mounting block to be adjusted, and the picking height of the equipment for quickly picking the persimmon trees can be adjusted by rotating and adjusting the large force arm and the small force arm;
the tongs includes connector, finger and pneumatic cylinder, the one end that little arm of force was kept away from to the connector articulates there is a plurality of finger, the middle part of finger is equipped with the pneumatic cylinder, the one end of pneumatic cylinder is equipped with the second connecting hole, the pneumatic cylinder is articulated with the finger through the second connecting hole, the one end that the second connecting hole was kept away from to the pneumatic cylinder is equipped with the hydraulic stem, the one end that the pneumatic cylinder was kept away from to the hydraulic stem is equipped with first connecting hole, the hydraulic stem is articulated with the connector through first connecting hole, drives through the pneumatic cylinder, makes the hydraulic stem remove to drive the finger and rotate around the connector, through the synchronous normal running fit of a plurality of fingers, snatch the operation to the persimmon on the persimmon tree, thereby take off the persimmon on.
Preferably, the cross-section of end rail is "U" type structure, and the both sides of end rail are equipped with a plurality of otic placode, and the otic placode bottom runs through there is the bracing piece, and the bottom welding of bracing piece has the backing plate, supports this equipment through using the backing plate, reduces the pressure of this equipment to ground, makes this equipment use on can the soft soil.
Preferably, equidistant welding in the both sides of end rail of a plurality of otic placode, and the otic placode is located the bottom of end rail, and the bracing piece is connected with otic placode screw-thread fit, moves the bracing piece through twisting, can adjust the height of bracing piece bottom backing plate, through the adjustment bracing piece, makes this a quick equipment of plucking for the persimmon tree can carry out work on uneven ground.
Preferably, first motor and first axis of rotation all are vertical setting, and first axis of rotation runs through the slide, and first motor passes through the bolt and installs the top at the slide.
Preferably, the sliding plate is horizontally arranged, and the width of the cross section of the sliding plate is larger than that of the cross section of the bottom rail, so that the sliding plate can stably run on the bottom rail.
Preferably, the bottom of slide welds the equal interval welding in both sides and has a plurality of slider, and the quantity of slide bottom both sides slider equals, slides on the slide rail through a plurality of sliders, makes the slide more firm of operation on the slide rail.
Preferably, the revolving stage is "U" type structure, and third motor and third axis of rotation all are the level setting, and third axis of rotation normal running fit is on the revolving stage, and third axis of rotation and big power arm welding make the third axis of rotation can directly drive the big power arm and rotate.
Preferably, the installation piece is "U" type structure, and fourth motor and fourth axis of rotation all are the level setting, and fourth axis of rotation normal running fit is on the installation piece, and the welding of fourth axis of rotation and little arm of force makes the third axis of rotation can directly drive little arm of force and rotate.
Preferably, tongs and the little arm of force pass through bolted connection, and the finger is the arc setting, and one side of finger is equipped with the rubber pad, and the one end that little arm of force was kept away from to the connector is equipped with the baffle, and radians such as a plurality of finger articulates in the one end of connector, through setting the finger into the arc structure to set up the rubber pad on the finger, can play a guard action to the persimmon, avoid plucking the in-process, with the crowded brokenly of persimmon.
Preferably, the using method specifically comprises the following steps:
the method comprises the following steps: the first motor drives the first rotating shaft, the first rotating shaft drives the gear to rotate, the gear rolls on one side of the gear to drive the sliding plate, the sliding plate moves on the sliding rail through the sliding block, and the sliding plate moves left and right to move the position of the rapid picking equipment for the persimmon trees;
step two: the second rotating shaft is driven by the second motor to rotate, the second rotating shaft drives the rotating table to rotate in the horizontal direction, the working direction of the equipment for quickly picking the persimmon trees is adjusted, the third rotating shaft is driven by the third motor to rotate, the third rotating shaft drives the large force arm, the large force arm can rotate up and down around the rotating table to be adjusted, the fourth rotating shaft is driven by the fourth motor to rotate, the small force arm can rotate up and down around the mounting block to be adjusted, and the picking height of the equipment for quickly picking the persimmon trees is adjusted by rotating and adjusting the large force arm and the small force arm;
step three: through the pneumatic cylinder drive, make the hydraulic stem remove to the drive finger rotates around the connector, through the synchronous normal running fit of a plurality of fingers, snatchs the operation to the persimmon production on the persimmon tree, takes off the persimmon on the persimmon tree.
The invention has the beneficial effects that:
(1) according to the rapid picking equipment for the persimmon trees and the using method thereof, the first motor drives the first rotating shaft, the first rotating shaft drives the gear to rotate, the gear rolls on one side of the gear to drive the sliding plate, the sliding plate moves on the sliding rail through the sliding block, and the sliding plate moves left and right to enable the rapid picking equipment for the persimmon trees to move conveniently, so that the using range of the picking equipment is enlarged, convenience is brought to picking of persimmons on different persimmon trees, the picking speed of the persimmons is improved, and the rapid picking equipment for the persimmon trees can be suitable for more complicated landforms and the moving stability of the picking equipment is improved by using the bottom rail, the sliding rail and the sliding block.
(2) The invention relates to a rapid picking device for persimmon trees and a using method thereof, wherein a second rotating shaft is driven by a second motor to rotate, the second rotating shaft drives a rotating platform to rotate in the horizontal direction, a third rotating shaft is driven by a third motor to rotate, the third rotating shaft drives a large force arm to rotate up and down around the rotating platform, a fourth rotating shaft is driven by a fourth motor to rotate, the fourth rotating shaft drives a small force arm to rotate up and down around a mounting block, the rotating platform is rotated to pick the persimmon trees in a larger range at the same horizontal height, so that the working coverage of the picking device is enlarged, the picking height of the rapid picking device can be adjusted by rotating and adjusting the large force arm and the small force arm, improve the flexibility that this harvesting equipment used, simultaneously, make this harvesting equipment can compatible not the persimmon tree of co-altitude, bring the facility for the use of different ages of trees persimmon tree.
(3) According to the rapid picking device for the persimmon tree and the using method of the rapid picking device, the hydraulic rod is driven by the hydraulic cylinder to move, so that the finger rods are driven to rotate around the connector, the persimmon on the persimmon tree is picked through the synchronous rotating and matching of the plurality of finger rods, the persimmon on the persimmon tree is picked, the finger rods are arranged to be in the arc-shaped structure, and the rubber pads are arranged on the finger rods, so that the persimmon can be protected, the persimmon is prevented from being broken in the picking process, and the use reliability of the picking device is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the bottom rail structure of the present invention.
Fig. 3 is a schematic view of the structure of the skateboard of the present invention.
Figure 4 is a schematic view of the gear and toothed plate engagement of the present invention.
Fig. 5 is a schematic view of the structure of the turntable of the present invention.
FIG. 6 is a schematic diagram of the large and small arms of the present invention.
Fig. 7 is a schematic structural diagram of a fourth motor according to the present invention.
Fig. 8 is a schematic view of the gripper of the present invention.
Fig. 9 is a schematic view of the structure of the connecting head of the present invention.
FIG. 10 is a schematic view of the finger structure of the present invention.
Fig. 11 is a schematic structural view of the hydraulic cylinder of the present invention.
In the figure: 1. a bottom rail; 101. an ear plate; 102. a support bar; 103. a base plate; 104. a slide rail; 105. a support block; 106. a toothed plate; 2. a slide plate; 201. a slider; 202. a chute; 203. a first motor; 204. a first rotating shaft; 205. a gear; 3. a second motor; 301. a second rotating shaft; 4. a turntable; 5. a third motor; 501. a third rotating shaft; 6. a large force arm; 601. mounting blocks; 7. a fourth motor; 701. a fourth rotating shaft; 8. a small force arm; 9. a gripper; 901. a connector; 902. a baffle plate; 903. a finger; 904. a rubber pad; 905. a hydraulic cylinder; 906. a hydraulic lever; 907. a first connection hole; 908. and a second connection hole.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-11, the rapid picking device for persimmon trees comprises a bottom rail 1, a sliding plate 2, a rotary table 4 and a gripper 9, wherein sliding rails 104 are welded on two sides of the top of the bottom rail 1, the cross section of each sliding rail 104 is in an i-shaped structure, a supporting block 105 is welded on the top end of the bottom rail 1, a toothed plate 106 is welded on the top of each supporting block 105, and gear teeth are arranged on one side of each toothed plate 106;
the sliding plate 2 comprises a sliding block 201 and a first motor 203, the sliding block 201 is welded on both sides of the bottom end of the sliding plate 2, a sliding groove 202 is formed in the bottom end of the sliding block 201, the area of the section of the sliding groove 202 is matched with the area of the section of the sliding rail 104, the sliding plate 2 is in sliding fit with the sliding rail 104 through the sliding block 201, the first motor 203 is installed at the top of the sliding plate 2, a first rotating shaft 204 is arranged at the bottom end of the first motor 203, a gear 205 is arranged at the bottom end of the first rotating shaft 204, the gear 205 is meshed with a toothed plate 106, a second motor 3 is installed at the center of the top of the sliding plate 2 through a bolt, a second rotating shaft 301 is arranged at the top of the second rotating shaft 3, a turntable 4 is arranged at the top of the second rotating shaft 301, the first rotating shaft 204 is driven by the first motor 203, the first rotating shaft 204 drives the gear 205 to, the sliding plate 2 is moved left and right, so that the rapid picking equipment for the persimmon trees can move conveniently, the application range of the picking equipment is expanded, convenience is brought to picking of persimmons on different persimmon trees, the picking speed of the persimmons is improved, the rapid picking equipment for the persimmon trees can be suitable for more complicated landforms by using the bottom rail 1, the sliding rail 104 and the sliding block 201, and the moving stability of the picking equipment is improved;
a third motor 5 is arranged on one side of the rotary table 4, a third rotating shaft 501 is arranged at one end of the third motor 5 close to the rotary table 4, the third rotating shaft 501 penetrates through the rotary table 4, a large force arm 6 is connected onto the third rotating shaft 501, an installation block 601 is welded at one end of the large force arm 6 far away from the third rotating shaft 501, a fourth motor 7 is arranged at one side of the installation block 601, a fourth rotating shaft 701 is arranged at one end of the fourth motor 7 far away from the installation block 601, the fourth rotating shaft 701 penetrates through the installation block 601, a small force arm 8 is connected onto the fourth rotating shaft 701, a gripper 9 is arranged at one end of the small force arm 8 far away from the fourth rotating shaft 701, the third rotating shaft 501 is driven by the third motor 5 to rotate the third rotating shaft 501, the third rotating shaft 501 drives the large force arm 6 to enable the large force arm 6 to rotate up and down around the rotary table 4 to adjust, the fourth, the fourth rotating shaft 701 drives the small force arm 8, so that the small force arm 8 can rotate up and down around the mounting block 601 for adjustment, the picking height of the equipment for quickly picking the persimmon trees can be adjusted by rotating and adjusting the large force arm 6 and the small force arm 8, the use flexibility of the picking equipment is improved, meanwhile, the picking equipment can be compatible with the persimmon trees with different heights, and convenience is brought to the use of the persimmon trees with different ages;
the gripper 9 comprises a connector 901, finger rods 903 and a hydraulic cylinder 905, one end of the connector 901, which is far away from the small force arm 8, is hinged with a plurality of finger rods 903, the middle of the finger rods 903 is provided with a hydraulic cylinder 905, one end of the hydraulic cylinder 905 is provided with a second connecting hole 908, the hydraulic cylinder 905 is hinged with the finger rods 903 through the second connecting hole 908, one end of the hydraulic cylinder 905, which is far away from the second connecting hole 908, is provided with a hydraulic rod 906, one end of the hydraulic rod 906, which is far away from the hydraulic cylinder 905, is provided with a first connecting hole 907, the hydraulic rod 906 is hinged with the connector 901 through the first connecting hole 907, the hydraulic rod 906 is driven through the hydraulic cylinder 905 to move, so that the finger rods 903 are driven to rotate around the connector 901, through synchronous rotating fit of the plurality of finger.
The cross-section of end rail 1 is "U" type structure, and the both sides of end rail 1 are equipped with a plurality of otic placode 101, and otic placode 101 bottom is run through has bracing piece 102, and the bottom welding of bracing piece 102 has backing plate 103, supports this equipment through using backing plate 103, reduces the pressure of this equipment to ground, makes the use on the soil that this equipment can be soft.
A plurality of otic placode 101 equidistant welding is in the both sides of end rail 1, and otic placode 101 is located the bottom of end rail 1, and bracing piece 102 is connected with otic placode 101 screw-thread fit, through twisting bracing piece 102, can adjust the height of bracing piece 102 bottom backing plate 103, through the adjustment bracing piece, makes this a quick equipment of plucking for the persimmon tree can carry out work on uneven ground to improve the practicality of this equipment of plucking.
The slide 2 is the level setting, and the width of slide 2 cross section is greater than the width of bottom rail 1 cross section, makes slide 2 can carry out steady operation on bottom rail 1.
The equal interval welding in both sides has a plurality of slider 201 in the bottom of slide 2, and the quantity of slide 2 bottom both sides slider 201 equals, slides on slide rail 104 through a plurality of sliders 201, makes slide 2 more firm of operation on slide rail 104.
Revolving stage 4 is "U" type structure, and third motor 5 and third axis of rotation 501 all are the level setting, and third axis of rotation 501 normal running fit is on revolving stage 4, and third axis of rotation 501 welds with big power arm 6, makes third axis of rotation 501 can directly drive big power arm 6 and rotate.
The installation piece 601 is "U" type structure, and fourth motor 7 and fourth axis of rotation 701 all are the level setting, and fourth axis of rotation 701 normal running fit is on installation piece 601, and fourth axis of rotation 701 and the welding of the little arm of force 8 make third axis of rotation 701 can directly drive the rotation of the little arm of force 8.
The using method specifically comprises the following steps:
the method comprises the following steps: the first motor 203 drives the first rotating shaft 204, the first rotating shaft 204 drives the gear 205 to rotate, the gear 205 rolls on one side of the gear 106 to drive the sliding plate 2, the sliding plate 2 moves on the sliding rail 104 through the sliding block 201, and the sliding plate 2 moves left and right to move the position of the rapid persimmon tree picking equipment;
step two: the second rotating shaft 301 is driven by the second motor 3, the second rotating shaft 301 is driven to rotate, the second rotating shaft 301 drives the rotating platform 4, the rotating platform 4 can rotate in the horizontal direction, the working direction of the equipment for quickly picking the persimmon trees is adjusted, the third rotating shaft 501 is driven by the third motor 5, the third rotating shaft 501 rotates, the third rotating shaft 501 drives the large force arm 6, the large force arm 6 can rotate up and down around the rotating platform 4 for adjustment, the fourth rotating shaft 701 is driven by the fourth motor 7, the fourth rotating shaft 701 rotates, the fourth rotating shaft 701 drives the small force arm 8, the small force arm 8 can rotate up and down around the mounting block 601 for adjustment, and the picking height of the equipment for quickly picking the persimmon trees is adjusted by rotating and adjusting the large force arm 6 and the small force arm 8;
step three: through the drive of pneumatic cylinder 905, make hydraulic stem 906 remove to drive finger 903 and rotate around connector 901, through the synchronous normal running fit of a plurality of fingers 903, produce the operation of grabbing to the persimmon on the persimmon tree, take off the persimmon on the persimmon tree
When in use, firstly, the supporting block 105 is welded at the top end of the bottom rail 1, the toothed plate 106 is welded at the top of the supporting block 105, gear teeth are arranged on one side of the toothed plate 106, the sliding blocks 201 are welded on two sides of the bottom end of the sliding plate 2, the sliding grooves 202 are arranged at the bottom ends of the sliding blocks 201, the sliding plate 2 is in sliding fit on the sliding rails 104 through the sliding blocks 201, the first motor 203 is arranged at the top of the sliding plate 2, the first rotating shaft 204 is arranged at the bottom end of the first motor 203, the gear 205 is arranged at the bottom end of the first rotating shaft 204 and is meshed with the toothed plate 106, the second motor 3 is arranged at the center of the top of the sliding plate 2 through bolts, the second rotating shaft 301 is arranged at the top of the second motor 3, the turntable 4 is arranged at the top of the second rotating shaft 301, the first rotating shaft 204 is driven by the first motor 203, the first rotating shaft 204 drives, thereby driving the sliding plate 2, making the sliding plate 2 move on the sliding rail 104 through the sliding block 201, making the sliding plate 2 move left and right, making the fast picking device for persimmon trees move conveniently, thereby enlarging the application range of the picking device, bringing convenience for picking persimmons on different persimmon trees, improving the speed of picking persimmons, making the fast picking device for persimmon trees be applicable to more complicated landforms by using the bottom rail 1, the sliding rail 104 and the sliding block 201, improving the moving stability of the picking device, then, installing a third motor 5 on one side of the rotating platform 4, arranging a third rotating shaft 501 on one end of the third motor 5 close to the rotating platform 4, penetrating the third rotating shaft 501 through the rotating platform 4, connecting a large arm of force 6 on the third rotating shaft 501, welding an installation block 601 on one end of the large arm of force 6 far away from the third rotating shaft 501, a fourth motor 7 is installed on one side of the installation block 601, a fourth rotating shaft 701 is installed on one end of the fourth motor 7 far away from the installation block 601, the fourth rotating shaft 701 penetrates through the installation block 601, a small force arm 8 is connected to the fourth rotating shaft 701, a gripper 9 is installed on one end of the small force arm 8 far away from the fourth rotating shaft 701, the second rotating shaft 301 is driven by the second motor 3 to rotate the second rotating shaft 301, the rotary table 4 is driven by the second rotating shaft 301 to rotate the rotary table 4 in the horizontal direction, the third rotating shaft 501 is driven by the third motor 5 to rotate the third rotating shaft 501, the large force arm 6 is driven by the third rotating shaft 501 to rotate around the rotary table 4 to adjust the large force arm 6 up and down, the fourth rotating shaft 701 is driven by the fourth motor 7 to rotate the fourth rotating shaft 701, the small force arm 8 is driven by the fourth rotating shaft 701 to adjust the small force arm 8 up and down around the installation block 601, the equipment for quickly picking the persimmon trees can pick the persimmon trees in a larger range at the same horizontal height by rotating the rotary table 4, thereby expanding the working coverage range of the picking equipment, the picking height of the equipment for quickly picking the persimmon trees can be adjusted by rotating and adjusting the large force arm 6 and the small force arm 8, the use flexibility of the picking equipment is improved, meanwhile, the picking equipment can be compatible with the persimmon trees with different heights, thereby bringing convenience to the use of the persimmon trees with different ages, finally, one end of the connector 901, which is far away from the small force arm 8, is hinged with a plurality of finger rods 903, the middle part of the finger rods 903 is provided with a hydraulic cylinder 905, one end of the hydraulic cylinder 905 is provided with a second connecting hole 908, the hydraulic cylinder 905 is hinged with the finger rods 903 through the second connecting hole 908, one end of the hydraulic cylinder 905, which is far away from the second connecting hole 908, one end of the hydraulic cylinder 906, which is far away from the hydraulic cylinder 905, with hydraulic stem 906 articulated with connector 901 through first connecting hole 907, drive through pneumatic cylinder 905, make hydraulic stem 906 remove, thereby it rotates around connector 901 to drive finger 903, through the synchronous normal running fit of a plurality of finger 903, the persimmon on the persimmon tree snatchs the operation, thereby take off the persimmon on the persimmon tree, through setting up finger 903 and changing into the arc structure, and set up rubber pad 904 on finger 903, can play a guard action to the persimmon, avoid taking the in-process, crowd the persimmon broken, thereby improve the reliability that this picking equipment used.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a quick equipment of plucking for persimmon tree, includes bottom rail (1), slide (2), revolving stage (4) and tongs (9), its characterized in that: the two sides of the top of the bottom rail (1) are respectively welded with a sliding rail (104), the cross section of each sliding rail (104) is of an I-shaped structure, the top end of the bottom rail (1) is welded with a supporting block (105), the top of each supporting block (105) is welded with a toothed plate (106), and one side of each toothed plate (106) is provided with gear teeth;
the sliding plate (2) comprises a sliding block (201) and a first motor (203), the sliding block (201) is welded on two sides of the bottom end of the sliding plate (2), the bottom end of the sliding block (201) is provided with a sliding chute (202), the area of the section of the sliding chute (202) is matched with the area of the section of the sliding rail (104), the sliding plate (2) is in sliding fit on the sliding rail (104) through a sliding block (201), the first motor (203) is arranged at the top of the sliding plate (2), a first rotating shaft (204) is arranged at the bottom end of the first motor (203), the bottom end of the first rotating shaft (204) is provided with a gear (205), the gear (205) is meshed with the toothed plate (106), the center of the top of the sliding plate (2) is provided with a second motor (3) through a bolt, a second rotating shaft (301) is arranged at the top of the second motor (3), and a rotary table (4) is arranged at the top of the second rotating shaft (301);
a third motor (5) is installed on one side of the rotary table (4), a third rotating shaft (501) is arranged at one end, close to the rotary table (4), of the third motor (5), the third rotating shaft (501) penetrates through the rotary table (4), a large force arm (6) is connected to the third rotating shaft (501), an installation block (601) is welded at one end, far away from the third rotating shaft (501), of the large force arm (6), a fourth motor (7) is installed on one side of the installation block (601), a fourth rotating shaft (701) is arranged at one end, far away from the installation block (601), of the fourth motor (7), the installation block (601) penetrates through the fourth rotating shaft (701), a small force arm (8) is connected to the fourth rotating shaft (701), and a gripper (9) is installed at one end, far away from the fourth rotating shaft (701), of the small force arm (8);
the gripper (9) comprises a connector (901), a finger rod (903) and a hydraulic cylinder (905), wherein one end, far away from a small force arm (8), of the connector (901) is hinged to a plurality of finger rods (903), the middle of each finger rod (903) is provided with the hydraulic cylinder (905), one end of the hydraulic cylinder (905) is provided with a second connecting hole (908), the hydraulic cylinder (905) is hinged to the finger rods (903) through the second connecting hole (908), one end, far away from the second connecting hole (908), of the hydraulic cylinder (905) is provided with a hydraulic rod (906), one end, far away from the hydraulic cylinder (905) of the hydraulic rod (906) is provided with a first connecting hole (907), and the hydraulic rod (906) is hinged to the connector (901) through the first connecting hole (907).
2. The fast persimmon tree picking apparatus as claimed in claim 1, wherein: the cross-section of end rail (1) is "U" type structure, and the both sides of end rail (1) are equipped with a plurality of otic placode (101), and the bracing piece (102) has been run through to otic placode (101) bottom, and the welding of the bottom of bracing piece (102) has backing plate (103).
3. The fast persimmon tree picking apparatus as claimed in claim 2, wherein: a plurality of ear plates (101) are welded on two sides of the bottom rail (1) at equal intervals, the ear plates (101) are located at the bottom of the bottom rail (1), and the supporting rod (102) is in threaded fit connection with the ear plates (101).
4. The fast persimmon tree picking apparatus as claimed in claim 1, wherein: first motor (203) and first axis of rotation (204) all are vertical setting, and slide (2) are run through in first axis of rotation (204), and first motor (203) passes through the bolt and installs the top at slide (2).
5. The fast persimmon tree picking apparatus as claimed in claim 1, wherein: the sliding plate (2) is horizontally arranged, and the width of the cross section of the sliding plate (2) is larger than that of the cross section of the bottom rail (1).
6. The fast persimmon tree picking apparatus as claimed in claim 1, wherein: the equal interval welding in both sides has a plurality of slider (201) in the bottom welding of slide (2), and the quantity of slide (2) bottom both sides slider (201) equals.
7. The fast persimmon tree picking apparatus as claimed in claim 1, wherein: revolving stage (4) are "U" type structure, and third motor (5) and third axis of rotation (501) all are the level setting, and third axis of rotation (501) normal running fit is on revolving stage (4), third axis of rotation (501) and big power arm (6) welding.
8. The fast persimmon tree picking apparatus as claimed in claim 1, wherein: the installation block (601) is of a U-shaped structure, the fourth motor (7) and the fourth rotating shaft (701) are both horizontally arranged, the fourth rotating shaft (701) is rotatably matched on the installation block (601), and the fourth rotating shaft (701) is welded with the small force arm (8).
9. The fast persimmon tree picking apparatus as claimed in claim 1, wherein: the gripper (9) is connected with the small force arm (8) through a bolt, the finger rods (903) are arranged in an arc shape, a rubber pad (904) is arranged on one side of each finger rod (903), a baffle (902) is arranged at one end, far away from the small force arm (8), of the connector (901), and the finger rods (903) are hinged to one end of the connector (901) in equal radians.
10. The use method of the rapid persimmon tree picking equipment as claimed in claim 1, is characterized in that: the using method specifically comprises the following steps:
the method comprises the following steps: the first motor (203) drives the first rotating shaft (204), the first rotating shaft (204) drives the gear (205) to rotate, the gear (205) rolls on one side of the gear (106) to drive the sliding plate (2), the sliding plate (2) moves on the sliding rail (104) through the sliding block (201), and the sliding plate (2) moves left and right to move the position of the rapid picking equipment for the persimmon tree;
step two: the second rotating shaft (301) is driven by the second motor (3) to rotate the second rotating shaft (301), the second rotating shaft (301) drives the rotary table (4) to rotate the rotary table (4) in the horizontal direction, the working direction of the equipment for quickly picking the persimmon trees is adjusted, the third rotating shaft (501) is driven by the third motor (5) to rotate the third rotating shaft (501), the third rotating shaft (501) drives the large force arm (6) to rotate the large force arm (6) up and down around the rotary table (4) for adjustment, the fourth rotating shaft (701) is driven by the fourth motor (7) to rotate the fourth rotating shaft (701), the small force arm (8) is driven by the fourth rotating shaft (701) to rotate up and down around the mounting block (601) for adjustment, the picking height of the equipment for quickly picking the persimmon trees is adjusted by rotating and adjusting the large force arm (6) and the small force arm (8);
step three: through pneumatic cylinder (905) drive, make hydraulic stem (906) remove to drive finger (903) and rotate around connector (901), through the synchronous normal running fit of a plurality of fingers (903), produce the operation of snatching to the persimmon on the persimmon tree, take off the persimmon on the persimmon tree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011242230.0A CN112273050A (en) | 2020-11-09 | 2020-11-09 | Rapid picking equipment for persimmon trees and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011242230.0A CN112273050A (en) | 2020-11-09 | 2020-11-09 | Rapid picking equipment for persimmon trees and using method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN112273050A true CN112273050A (en) | 2021-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011242230.0A Pending CN112273050A (en) | 2020-11-09 | 2020-11-09 | Rapid picking equipment for persimmon trees and using method thereof |
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| CN (1) | CN112273050A (en) |
Cited By (1)
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Application publication date: 20210129 |