CN113179761A - High-altitude nondestructive fruit picking equipment - Google Patents
High-altitude nondestructive fruit picking equipment Download PDFInfo
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- CN113179761A CN113179761A CN202110568525.5A CN202110568525A CN113179761A CN 113179761 A CN113179761 A CN 113179761A CN 202110568525 A CN202110568525 A CN 202110568525A CN 113179761 A CN113179761 A CN 113179761A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 84
- 230000007246 mechanism Effects 0.000 claims abstract description 131
- 230000006378 damage Effects 0.000 claims abstract description 6
- 230000002457 bidirectional effect Effects 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 12
- 238000000429 assembly Methods 0.000 claims description 12
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 11
- 210000000078 claw Anatomy 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000013162 Cocos nucifera Nutrition 0.000 description 1
- 244000060011 Cocos nucifera Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
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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
- A01D46/243—Accessories specially adapted for manual picking, e.g. ladders, carts
Abstract
The invention discloses high-altitude fruit picking equipment without damage, which comprises a moving vehicle, a picking device arranged on the moving vehicle, a lifting rotating device and a rubber slide way, wherein the lifting rotating device is arranged on the moving vehicle; the lifting and rotating device comprises a lifting frame, a lifting driving mechanism and a rotating driving mechanism for driving the lifting frame to rotate, the lifting frame is provided with a mechanical arm connecting rod and a swing driving mechanism for driving the mechanical arm connecting rod to swing, and the picking device is arranged at the end part of the mechanical arm connecting rod; the picking device comprises a cutting mechanism for cutting off rhizomes or branches and leaves and a grabbing mechanism for grabbing fruits to be picked. The invention realizes the automatic picking of high-altitude fruits and is beneficial to improving the fruit picking efficiency and safety.
Description
Technical Field
The invention relates to agricultural fruit picking equipment, in particular to high-altitude lossless fruit picking equipment.
Background
For picking high tree fruits, manual picking is still mostly adopted at present, for example, coconut picking. However, the efficiency of picking high-tree fruits manually is low, the risk factor is high, and the fruits are not protected to be picked, so that the fruits are easy to drop and damage in the high-altitude picking process, and the fruit damage rate is high. Among the prior art, some picking devices convenient to pick high altitude fruit appear, though can convenient operation, still need manual operation, the debris such as branch that drop at the picking in-process cause workman's harm easily to work load is big, and picking efficiency is not high, is unfavorable for the harmless and automatic picking of high altitude fruit.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides high-altitude fruit picking equipment which realizes automatic picking of high-altitude fruits and is beneficial to ensuring nondestructive collection of the fruits.
The purpose of the invention is realized by the following technical scheme:
a high-altitude fruit picking device is characterized by comprising a moving vehicle, a picking device arranged on the moving vehicle, a lifting rotating device and a rubber slide way, wherein the lifting rotating device is arranged on the moving vehicle, the picking device is arranged on the lifting rotating device, the rubber slide way is arranged on one side of the picking device, and the outlet at the lower end of the rubber slide way corresponds to a storage cavity of the moving vehicle; the picking device comprises a picking device, a lifting rotating device and a picking device, wherein the lifting rotating device comprises a lifting frame, a lifting driving mechanism for driving the lifting frame to vertically extend and retract, and a rotating driving mechanism for driving the lifting frame to rotate; the picking device comprises a cutting mechanism for cutting off rhizomes or branches and leaves and a grabbing mechanism for grabbing fruits to be picked.
The working principle of the high-altitude lossless fruit picking equipment is as follows:
firstly, the moving vehicle moves to a designated picking position, then the lifting frame is driven to the height of the fruit to be picked under the driving of the rotary driving mechanism and the lifting driving mechanism, and the picking device on the mechanical arm connecting rod is aligned to the fruit to be picked; then, the swing driving mechanism drives the mechanical arm connecting rod to swing, so that the grabbing mechanism on the mechanical arm connecting rod is aligned to the fruit to be picked, and the cutting mechanism is aligned to the root and stem above the fruit to be picked; then, the grabbing mechanism grabs the fruits to be picked, and the cutting mechanism acts to cut off the roots and stems above the fruits to finish picking the fruits; and finally, the swing driving mechanism drives the mechanical arm connecting rod to swing to the upper port of the rubber slide way, the fruit is loosened by the grabbing mechanism, and the fruit naturally slides down along the rubber slide way under the action of gravity and finally falls into a storage cavity of the mobile vehicle, so that the picking and the collection of the whole fruit are completed.
In a preferred embodiment of the present invention, the diameter of the middle part of the rubber chute is smaller than the diameter of the fruit along the vertical direction.
According to a preferable scheme of the invention, the lifting frame comprises two groups of telescopic group rods which are oppositely arranged and a telescopic linkage mechanism which drives the telescopic group rods to lift and stretch; the two groups of telescopic combined rods respectively comprise a plurality of telescopic columns, and the telescopic columns are sequentially overlapped from outside to inside; the telescopic linkage mechanism comprises a plurality of groups of linkage assemblies which are arranged in an X-shaped cross manner, the linkage assemblies are arranged along the vertical direction, two adjacent groups of linkage assemblies are connected together in a rotating manner, the linkage assembly positioned at the uppermost end is connected with the upper end of the telescopic column at the innermost layer, and the linkage assembly positioned at the lowermost end is connected with the lower end of the telescopic column at the outermost layer; the lifting driving mechanism drives the outermost telescopic columns of the two groups of telescopic group rods to be close to or far away from each other; the mechanical arm connecting rod is arranged at the upper end of the innermost telescopic column.
Preferably, in the same group of telescopic assembly rods, vertical guide mechanisms are arranged between two adjacent layers of telescopic columns and comprise vertical sliding grooves and vertical sliding blocks, the vertical sliding grooves are formed in the inner sides of the outer layers of telescopic columns, the vertical sliding blocks are arranged on the outer sides of the inner layers of telescopic columns, and the upper ends of the vertical sliding grooves are sealed.
Preferably, the telescopic columns of the two groups of telescopic combined rods are provided with guide chutes, and the guide chutes on the telescopic columns of the same group of telescopic combined rods are arranged in one-to-one correspondence; the two sides of the linkage assemblies are respectively arranged in the guide sliding grooves of the two groups of telescopic rods in a sliding mode.
Preferably, the lifting driving mechanism comprises a power source and a screw rod transmission mechanism, the screw rod transmission mechanism comprises a bidirectional screw rod and two transmission nuts, the two transmission nuts are respectively arranged on two groups of threads of the bidirectional screw rod, a power output shaft of the power source is connected with the bidirectional screw rod, and the two transmission nuts are respectively connected with the outermost telescopic columns of the two groups of telescopic rods.
According to a preferable scheme of the invention, the grabbing mechanism comprises a driving paw, a driven paw and a grabbing driving mechanism for driving the driving paw to rotate, the driving paw and the driven paw are both rotationally connected to a mechanical arm connecting rod, and the end parts of the driving paw and the driven paw are both provided with mutually meshed linkage gears.
According to a preferable scheme of the invention, the cutting mechanism comprises a moving frame, a blade, a rotary driving mechanism for driving the blade to rotate, a deflection driving mechanism for driving the moving frame to swing and a linear driving mechanism for driving the moving frame to stretch and retract, the moving frame comprises a deflection frame and a connecting frame, the deflection driving mechanism is arranged on the connecting frame, the blade and the rotary driving mechanism are arranged on the deflection frame, the linear driving mechanism is fixedly connected to a mechanical arm connecting rod, and a power output part of the linear driving mechanism is connected with the connecting frame.
Preferably, the picker mechanism further comprises a camera device, the camera device being disposed on the swing frame.
In a preferable scheme of the invention, a rotary baffle is arranged on one side of the moving vehicle, and the lower end of the rotary baffle is rotatably connected with the moving body; the corresponding position of the movable trolley on the rotating baffle is provided with a locking structure for locking or loosening the rotating baffle.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the automatic picking of high-altitude fruits and is beneficial to improving the fruit picking efficiency and safety.
2. According to the invention, through the arrangement of the rubber slide way, picked fruits can slide into the storage cavity through the rubber slide way, so that damage is avoided, and the rubber slide way has elasticity, so that the fruits can be protected, and the nondestructive picking of the fruits is favorably realized.
Drawings
Fig. 1-2 are schematic structural views of one embodiment of the high-altitude fruit picking device, wherein fig. 1 is a front view, and fig. 2 is a side view (the lifting frame is in a spreading state, and the rotating baffle is in an opening state).
Fig. 3 is a perspective view of the robot arm linkage and picking device.
Fig. 4 is a perspective view of the picking device.
Fig. 5 is a partial perspective view of a rotating bezel of the mobile cart.
Fig. 6 is a perspective view of one of the telescopic columns.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1-6, the high-altitude nondestructive fruit picking device of the embodiment includes a moving vehicle 1, a picking device arranged on the moving vehicle 1, a lifting and rotating device arranged on the lifting and rotating device, and a rubber slide 2, wherein the rubber slide 2 is arranged on one side of the picking device, and a lower end outlet of the rubber slide 2 corresponds to a storage cavity of the moving vehicle 1; the lifting and rotating device comprises a lifting frame 7, a lifting driving mechanism for driving the lifting frame 7 to vertically extend and retract and a rotating driving mechanism 34 for driving the lifting frame 7 to rotate, a mechanical arm connecting rod and a swing driving mechanism for driving the mechanical arm connecting rod to swing are arranged on the lifting frame 7, and the picking device is arranged at the end part of the mechanical arm connecting rod; the picking device comprises a cutting mechanism 6 for cutting off the roots or the branches and leaves and a gripping mechanism 5 for gripping the fruit to be picked.
Referring to fig. 2, the diameter of the middle part of the rubber chute 2 is smaller than the diameter of the fruit in the vertical direction. In the embodiment, the diameter of the upper end of the rubber slideway 2 is larger than that of the fruit, so that the fruit can be conveniently picked and placed in the rubber slideway 2, and the diameter of the middle part of the rubber slideway 2 is slightly smaller than that of the fruit, so that when the fruit slides down along the rubber slideway 2, the position with smaller diameter can buffer the fruit, the fruit is prevented from sliding down too fast, the lossless conveying of the fruit is facilitated, and simultaneously, under the action of the gravity of the fruit, the rubber slideway 2 is propped open when the fruit slides down, and the fruit slowly slides down to the storage cavity after passing through the middle part of the rubber slideway 2; the diameter of the lower end of the rubber chute 2 in this embodiment is larger than the diameter of the fruit.
Referring to fig. 1-2, the lifting frame 7 includes two sets of telescopic rods oppositely disposed and a telescopic linkage mechanism 8 for driving the telescopic rods to lift and stretch; the two groups of telescopic combined rods respectively comprise a plurality of telescopic columns 10, and the telescopic columns 10 are sequentially overlapped from outside to inside; the telescopic linkage mechanism 8 comprises a plurality of groups of linkage assemblies which are arranged in an X-shaped cross manner, the plurality of groups of linkage assemblies are arranged in a vertical direction, two adjacent groups of linkage assemblies are connected together in a rotating manner, the linkage assembly positioned at the uppermost end is connected with the upper end of the telescopic column 10 at the innermost layer, and the linkage assembly positioned at the lowermost end is connected with the lower end of the telescopic column 10 at the outermost layer; the lifting driving mechanism drives the outermost telescopic columns 10 of the two groups of telescopic rods to approach or move away from each other; the mechanical arm connecting rod is arranged at the upper end of the innermost telescopic column 10. During operation, the lifting driving mechanism drives the two groups of telescopic group rods to be close to or far away from each other, so that the cross angle of the linkage assembly of the telescopic linkage mechanism 8 is driven to change, the telescopic column 10 at the innermost layer is driven to ascend or descend, and the lifting of the mechanical arm connecting rod and the picking mechanism is realized, so that fruits are picked. According to the preferred scheme, through the arrangement of the two groups of telescopic group rods, the mechanical arm connecting rod and the picking mechanism are driven to lift through lifting and stretching, so that the stability is good, the picking mechanism is light and effective, the picking mechanism can be hidden in a telescopic manner, the size is reduced, and particularly compared with a mechanical arm structure in the prior art, the lifting frame 7 has a telescopic function and occupies a small space; simultaneously, through the setting of flexible link gear 8, realize the extension and the withdrawal of a plurality of flexible posts 10, the synchronism is good to can improve the stability and the reliability that two sets of flexible group's pole go up and down, so that picking mechanism picks work.
Referring to fig. 1-2, in the present embodiment, the linkage assembly includes two linkage rods 11, the two linkage rods 11 are arranged in a crossing manner, and the two linkage rods 11 are rotatably connected to each other. The linkage assembly at the uppermost end can be connected with the upper end of the telescopic column 10 at the innermost layer through a bolt, and the linkage rods 11 can be ensured to smoothly rotate by adjusting the tightness of the bolt, so that the angle change of the two linkage rods 11 is realized to carry out lifting linkage; similarly, the lowermost linkage assembly and the outermost telescoping post 10 may be bolted together.
Referring to fig. 6, in the same group of telescopic combined rods, a vertical guide mechanism is arranged between two adjacent layers of telescopic columns 10, the vertical guide mechanism comprises a vertical sliding groove 35 and a vertical sliding block 34, the vertical sliding groove 35 is arranged on the inner side of the outer layer of telescopic column 10, the vertical sliding block 34 is arranged on the outer side of the inner layer of telescopic column 10, and the upper end of the vertical sliding groove 35 is sealed. Through the arrangement of the vertical guide mechanism, the lifting guide of the telescopic column 10 is realized, the rotation of the telescopic column 10 during lifting is avoided, and the lifting precision is improved; meanwhile, the upper end of the vertical sliding groove 35 is sealed, so that after the inner-layer telescopic column 10 rises to a specified height, the outer-layer telescopic column 10 can be pulled up through the vertical sliding block 34, the telescopic columns 10 can be lifted up and down layer by layer, two functions are achieved at one time, and the design is ingenious. In this embodiment, three vertical guide mechanisms are arranged between two adjacent layers of telescopic columns 10, and are respectively arranged on three side surfaces of the telescopic columns 10.
Referring to fig. 2 and 6, the telescopic columns 10 of two groups of telescopic rods are provided with guide chutes 12, and the guide chutes 12 of the telescopic columns 10 of the same group of telescopic rods are arranged in one-to-one correspondence; the two sides of the plurality of linkage assemblies are respectively arranged in the guide chutes 12 of the two groups of telescopic rods in a sliding manner. Through the setting of direction spout 12, let the both sides of linkage subassembly correspond sliding connection wherein, be favorable to improving the stability and the synchronism of flexible link gear 8 when carrying out the deformation for when two-way lead screw 14 drives two sets of flexible group poles and removes, a plurality of linkage subassemblies of flexible link gear 8 in time link, thereby drive flexible post 10 and go up and down, and the stability is good.
Referring to fig. 2, the lifting driving mechanism includes a power source 13 and a screw transmission mechanism, the screw transmission mechanism includes a bidirectional screw 14 and two transmission nuts, the two transmission nuts are respectively disposed on two sets of threads of the bidirectional screw 14, a power output shaft of the power source 13 is connected with the bidirectional screw 14, and the two transmission nuts are respectively connected with the outermost telescopic columns 10 of the two sets of telescopic rods. The power source 13 drives the bidirectional screw rod 14 to rotate, under the guide of the bidirectional screw rod 14, the outermost telescopic columns 10 of the two groups of telescopic group rods are driven to mutually approach or keep away from each other through the transmission nut, so that the angle of the linkage assembly of the telescopic linkage mechanism 8 is driven to change, and the picking mechanism is lifted. The bidirectional screw rod 14 is adopted, the structure is simple, the synchronism is good, and the lifting precision of the picking mechanism is improved, so that the bidirectional screw rod is suitable for the height of fruits to be picked.
Referring to fig. 3-4, the gripping mechanism 5 includes a driving claw 15, a driven claw 17, and a gripping driving mechanism 19 for driving the driving claw 15 to rotate, the driving claw 15 and the driven claw 17 are both rotatably connected to a mechanical arm link, and the ends of the driving claw 15 and the driven claw 17 are both provided with a mutually meshed linkage gear 18. When the fruit is grabbed, the grabbing driving mechanism 19 drives the driving paw 15 to rotate, and the linkage gear 18 drives the driven paw 17 to reversely rotate, so that the driving paw 15 and the driven paw 17 are close to and separated from each other, and the fruit is grabbed and loosened. In this embodiment, the driving gripper 15 and the driven gripper 17 are both arc-shaped. The grabbing driving mechanism 19 is a digital steering engine.
Referring to fig. 3-4, the cutting mechanism 6 includes a moving frame, a blade 21, a rotation driving mechanism 22 for driving the blade 21 to rotate, a deflection driving mechanism 27 for driving the moving frame to swing, and a linear driving mechanism 20 for driving the moving frame to extend and retract, the moving frame includes a deflection frame 25 and a connecting frame 26, the deflection driving mechanism 27 is disposed on the connecting frame 26, the blade 21 and the rotation driving mechanism 22 are disposed on the deflection frame 25, the linear driving mechanism 20 is fixedly connected to a mechanical arm link, and a power output member of the linear driving mechanism 20 is connected to the connecting frame 26. By arranging the cutting mechanism 6, the blade 21 can stretch and swing so as to adapt to cutting of rhizomes or branches and leaves, and the cutting mechanism is good in flexibility and convenient to operate. In this embodiment, the linear driving mechanism 20 is a push rod motor, the rotational driving mechanism 22 is a brushless motor, and the yaw driving mechanism 27 is a dual-shaft steering engine.
Referring to fig. 1 to 4, in the present embodiment, the mechanical arm link includes a first link 3 and a second link 4, the first link 3 is connected to an upper end of an innermost telescopic column 10, the second link 4 is connected to the first link 3, and the grasping mechanism 5 is disposed on the second link 4; the swing driving mechanism comprises a first swing driving mechanism 24 and a second swing driving mechanism 23, the first swing driving mechanism 24 is arranged at the upper end of the innermost telescopic column 10, the first swing driving mechanism 24 is used for driving the first connecting rod 3 to swing, the second swing driving mechanism 23 is arranged at the end part of the first connecting rod 3, and the second swing driving mechanism 23 is used for driving the second connecting rod 4 to swing; the first swing driving mechanism 24 and the second swing driving mechanism 23 are both digital steering engines. The gripping mechanism 5 is provided at an end of the second link 4; the second connecting rod 4 is provided with a mounting rod 16, the mounting rod 16 is perpendicular to the second connecting rod 4, and the linear driving mechanism 20 is fixedly connected to the mounting rod 16. Of course, an adjusting driving mechanism for driving the second connecting rod 4 to rotate can be further arranged on the first connecting rod 3, and the second connecting rod 4 is driven to rotate through the adjusting driving mechanism so as to adjust the positions of the cutting mechanism 6 and the grabbing mechanism 5, thereby facilitating the fruit to be grabbed and cut; a specific embodiment of the adjustment drive mechanism can be seen in the prior art for the rotary drive mechanism 22.
Referring to fig. 4, the picker mechanism further includes a camera 28, the camera 28 being disposed on the swing frame. Through the arrangement of the camera device 28, the position of the blade 21 is controlled by adopting a photographic technology, image recognition or visual detection and the like, and the position is fed back to the lifting and rotating device, so that the grabbing mechanism 5 and the cutting mechanism 6 are accurately and efficiently controlled to grab and cut the fruit.
Referring to fig. 1, 2 and 5, a rotary baffle 9 is arranged on one side of the moving vehicle 1, and the lower end of the rotary baffle 9 is rotatably connected with the moving body; the corresponding position of the rotating baffle 9 of the moving vehicle 1 is provided with a locking structure for locking or loosening the rotating baffle 9. In this embodiment, the inner chamber of locomotive 1 is direct as the storage chamber, and the fruit of picking down is direct to be stored in locomotive 1 inner chamber, and when the fruit was lifted off to needs real-time, loosen locking structure, open rotating barrier 9, can lift the fruit off easy operation convenience. In this embodiment, the locking structure includes a conduit 30 disposed on the rotary baffle 9 and a lock rod 31, the lock rod 31 is slidably disposed in the conduit 30, the lock rod 31 is provided with a handle 33, and the conduit 30 is provided with a chute for the handle 33 to slide; the two ends of the moving vehicle 1 are provided with fixing clamp holes 32, the fixing clamp holes 32 are arranged corresponding to the guide pipe 30, and the two lock rods 31 are correspondingly inserted into the two fixing clamp holes 32 during locking.
Referring to fig. 1-6, the working principle of the high-altitude fruit picking device of the embodiment is as follows:
firstly, the moving vehicle 1 moves to a designated picking position, then the lifting frame 7 is driven to the height of the fruit to be picked under the driving of the rotary driving mechanism 34 and the lifting driving mechanism, and the picking device on the mechanical arm connecting rod is aligned to the fruit to be picked; then, the swing driving mechanism drives the mechanical arm connecting rod to swing, so that the grabbing mechanism 5 on the mechanical arm connecting rod is aligned to the fruit to be picked, and the cutting mechanism 6 is aligned to the root and stem above the fruit to be picked; subsequently, the grabbing mechanism 5 grabs the fruits to be picked, and the cutting mechanism 6 acts to cut off the rootstocks above the fruits to finish the picking of the fruits; and finally, the swing driving mechanism drives the mechanical arm connecting rod to swing to the upper port of the rubber slide way 2, the grabbing mechanism 5 loosens the fruits, the fruits naturally slide along the rubber slide way 2 under the action of gravity and finally fall into the storage cavity of the moving vehicle 1, and the picking and the collection of the whole fruits are completed.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A high-altitude fruit picking device is characterized by comprising a moving vehicle, a picking device arranged on the moving vehicle, a lifting rotating device and a rubber slide way, wherein the lifting rotating device is arranged on the moving vehicle, the picking device is arranged on the lifting rotating device, the rubber slide way is arranged on one side of the picking device, and the outlet at the lower end of the rubber slide way corresponds to a storage cavity of the moving vehicle; the picking device comprises a picking device, a lifting rotating device and a picking device, wherein the lifting rotating device comprises a lifting frame, a lifting driving mechanism for driving the lifting frame to vertically extend and retract and a rotating driving mechanism for driving the lifting frame to rotate; the picking device comprises a cutting mechanism for cutting off rhizomes or branches and leaves and a grabbing mechanism for grabbing fruits to be picked.
2. The high altitude fruit picking apparatus according to claim 1, wherein the rubber chute has a middle diameter smaller than the fruit diameter in the vertical direction.
3. The high-altitude lossless fruit picking device as claimed in claim 1, wherein the lifting frame comprises two sets of telescopic group rods which are oppositely arranged and a telescopic linkage mechanism which drives the telescopic group rods to lift and stretch; the two groups of telescopic combined rods respectively comprise a plurality of telescopic columns, and the telescopic columns are sequentially overlapped from outside to inside; the telescopic linkage mechanism comprises a plurality of groups of linkage assemblies which are arranged in an X-shaped cross manner, the plurality of groups of linkage assemblies are arranged along the vertical direction, two adjacent groups of linkage assemblies are connected together in a rotating manner, the linkage assembly positioned at the uppermost end is connected with the upper end of the telescopic column at the innermost layer, and the linkage assembly positioned at the lowermost end is connected with the lower end of the telescopic column at the outermost layer; the lifting driving mechanism drives the outermost telescopic columns of the two groups of telescopic rods to mutually approach or separate; the mechanical arm connecting rod is arranged at the upper end of the innermost telescopic column.
4. The high-altitude lossless fruit picking equipment as claimed in claim 3, wherein in the same group of telescopic rods, a vertical guide mechanism is arranged between two adjacent layers of telescopic columns, the vertical guide mechanism comprises a vertical sliding groove and a vertical sliding block, the vertical sliding groove is arranged on the inner side of the outer layer of telescopic columns, the vertical sliding block is arranged on the outer side of the inner layer of telescopic columns, and the upper end of the vertical sliding groove is sealed.
5. The high-altitude lossless fruit picking device as claimed in claim 4, wherein the telescopic columns of two groups of telescopic group rods are provided with guide chutes, and the guide chutes on the telescopic columns of the same group of telescopic group rods are arranged in one-to-one correspondence; the two sides of the linkage assemblies are respectively arranged in the guide sliding grooves of the two groups of telescopic rods in a sliding mode.
6. The high-altitude lossless fruit picking device according to any one of claims 3 to 5, wherein the lifting driving mechanism comprises a power source and a screw rod driving mechanism, the screw rod driving mechanism comprises a bidirectional screw rod and two driving nuts, the two driving nuts are respectively arranged on two groups of threads of the bidirectional screw rod, a power output shaft of the power source is connected with the bidirectional screw rod, and the two driving nuts are respectively connected with the outermost telescopic columns of the two groups of telescopic rods.
7. The high-altitude lossless fruit picking device as claimed in claim 1, wherein the grabbing mechanism comprises a driving paw, a driven paw and a grabbing driving mechanism for driving the driving paw to rotate, the driving paw and the driven paw are both rotatably connected to a mechanical arm connecting rod, and the ends of the driving paw and the driven paw are both provided with mutually meshed linkage gears.
8. The high-altitude nondestructive fruit picking device according to claim 1, wherein the cutting mechanism comprises a moving frame, a blade, a rotary driving mechanism for driving the blade to rotate, a deflection driving mechanism for driving the moving frame to swing, and a linear driving mechanism for driving the moving frame to stretch and retract, the moving frame comprises a deflection frame and a connecting frame, the deflection driving mechanism is arranged on the connecting frame, the blade and the rotary driving mechanism are arranged on the deflection frame, the linear driving mechanism is fixedly connected to a mechanical arm connecting rod, and a power output part of the linear driving mechanism is connected with the connecting frame.
9. The high altitude fruit picking apparatus according to claim 8, wherein the picking mechanism further comprises a camera device disposed on the swing frame.
10. The high-altitude fruit picking device without damage as claimed in claim 1, wherein a rotary baffle is arranged on one side of the moving vehicle, and the lower end of the rotary baffle is rotatably connected with the moving body; the corresponding position of the movable trolley on the rotating baffle is provided with a locking structure for locking or loosening the rotating baffle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110568525.5A CN113179761A (en) | 2021-05-24 | 2021-05-24 | High-altitude nondestructive fruit picking equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110568525.5A CN113179761A (en) | 2021-05-24 | 2021-05-24 | High-altitude nondestructive fruit picking equipment |
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| CN113179761A true CN113179761A (en) | 2021-07-30 |
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| CN202110568525.5A Pending CN113179761A (en) | 2021-05-24 | 2021-05-24 | High-altitude nondestructive fruit picking equipment |
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| CN212785471U (en) * | 2020-09-10 | 2021-03-23 | 南京达一飞软件科技有限公司 | Novel mobile phone support |
| CN112154778A (en) * | 2020-10-28 | 2021-01-01 | 唐山学院 | Intelligent fruit picking operation vehicle |
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