CN115918369A - Camphor seed and pine cone picking manipulator - Google Patents
Camphor seed and pine cone picking manipulator Download PDFInfo
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- CN115918369A CN115918369A CN202211460956.0A CN202211460956A CN115918369A CN 115918369 A CN115918369 A CN 115918369A CN 202211460956 A CN202211460956 A CN 202211460956A CN 115918369 A CN115918369 A CN 115918369A
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- 241000723346 Cinnamomum camphora Species 0.000 title claims abstract description 18
- 235000008331 Pinus X rigitaeda Nutrition 0.000 title description 5
- 235000011613 Pinus brutia Nutrition 0.000 title description 5
- 241000018646 Pinus brutia Species 0.000 title description 5
- DSSYKIVIOFKYAU-XCBNKYQSSA-N (R)-camphor Chemical compound C1C[C@@]2(C)C(=O)C[C@@H]1C2(C)C DSSYKIVIOFKYAU-XCBNKYQSSA-N 0.000 title description 2
- 229960000846 camphor Drugs 0.000 title description 2
- 229930008380 camphor Natural products 0.000 title description 2
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 55
- 210000000078 claw Anatomy 0.000 claims abstract description 23
- 238000003466 welding Methods 0.000 claims description 9
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 2
- 210000000080 chela (arthropods) Anatomy 0.000 description 5
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 4
- 235000017491 Bambusa tulda Nutrition 0.000 description 4
- 241001330002 Bambuseae Species 0.000 description 4
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 4
- 239000011425 bamboo Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 240000005020 Acaciella glauca Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 235000008582 Pinus sylvestris Nutrition 0.000 description 1
- 235000006545 Ziziphus mauritiana Nutrition 0.000 description 1
- 244000126002 Ziziphus vulgaris Species 0.000 description 1
- 235000008529 Ziziphus vulgaris Nutrition 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000001839 pinus sylvestris Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000001113 umbilicus Anatomy 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/40—Afforestation or reforestation
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Abstract
The invention discloses a picking manipulator for pinecone of camphor trees, which comprises a loop bar, wherein a fixed clamping assembly is arranged, a hydraulic rod is driven to move telescopically by a hydraulic cylinder, the tail end of a connecting rod IV is rotatably connected with the middle part of a mechanical claw, the root part of the mechanical claw is rotatably connected with a fixed block, so that the hydraulic rod can cooperate with the fixed plate to drive the connecting rod which is rotatably connected with the hydraulic rod to contract in four directions, the mechanical claw can be tightened inwards under the tension action of the connecting rod IV, so that fruits between the mechanical claws are tightened, and meanwhile, a blade I and a blade II which are connected with an angle adjusting assembly through the fixed rod can also cut inwards along with the connecting rod, so that the fruits are separated from secondary branches, and the picking work of the fruits is realized.
Description
Technical Field
The invention relates to the technical field of picking of forest fruits, in particular to a picking manipulator for pinecones of camphor trees.
Background
The pinus sylvestris is evergreen arbor, is 15-25 m high, can reach 30 m, and has elliptical or conical crown. The trunk is straight, the bark below 3-4 m is dark brown, the scaly is deep-cracked, the leaves are 2 needles are one bundle, the trunk is rigid, the bark is usually twisted slightly, and the tip is sharp. The male and female plants are of the same strain, the male ball flower is oval and yellow, and the male ball flower is gathered at the lower part of the current-year branch; the female spheroids are spherical or oval, and purple brown. The cones are oval in shape. The scaly shield is in an oblique square shape and has longitudinal ridges and transverse ridges, and the scaly umbilicus is in a tumor-shaped protrusion. Small seeds with different colors of yellow, brown and dark brown, and are used for planting the pterygoid. Produced in mountain area of great Xingan mountain of Heilongjiang province with elevation of 400-900 m and in Heilaerxi area with sand dune in south of Heilangjiang province. Can be used as ornamental and greening tree species in the garden. The forest has fast growth, good material quality and strong adaptability, and can be used as a tree species for afforestation in mountainous areas of Xingan mountains in the northeast and sand dunes in the west. Due to the complexity of picking operation, the picking automation degree is still very low, and the fruit picking operation in China is basically carried out manually at present.
Chinese patent with application number CN106664970A mainly can press from both sides the branch tight through the cooperation of branch pincers and branch carriage, the pincers handle of branch pincers passes through the branch pincers support to be fixed in the outer push-pull rod upper end, the inner push-pull rod upper end is articulated with the engaging lug of branch carriage lower extreme, the steerable branch carriage of control transmission control rod accurately supports the branch, the branch pincers clamp tightly and release, and better transmission vibration, the vibration exciter assembly is installed to transmission control rod lower extreme that shakes, assemble different quantity, the eccentric mass block of quality on adjustable vibration exciter, can obtain different vibrational force, can make the vibration exciter assembly obtain different vibration frequencies through rotational speed controller adjustment speed governing motor rotational speed.
However, when the fruit is dropped by the device through vibration, the root of the fruit tree is easy to shake loose due to the large power of the vibration, and the secondary branch directly connected with the fruit is easy to shake off in the vibration process, which causes damage to the fruit tree, and part of the outdated secondary branch connected with the fruit is firmly connected with the secondary branch, otherwise the outdated secondary branch is easy to shake off, which causes the part of the fruit to be easily missed during collection, so that a picking manipulator for the pinecone of camphor tree is needed.
Disclosure of Invention
The invention aims to provide a picking manipulator for pinecones of camphor trees, which aims to solve the problems.
In order to achieve the purpose, the invention provides the following technical scheme: the picking manipulator for the pinecone of camphor trees comprises a loop bar, wherein a sliding rod for adjusting the height is sleeved and connected inside the loop bar, and a fixing bolt for fastening the sliding rod is arranged on one side of the sliding rod and penetrates through the side wall of the loop bar; the top of the sliding rod is provided with an angle adjusting component for adjusting a picking angle, and the angle adjusting component comprises a middle connecting rod; the tail end of the middle connecting rod is connected with a fixed clamping assembly used for clamping fruits, and the fixed clamping assembly comprises a fixed block and a hydraulic rod; the upper surface of the fixed block is provided with a fruit branch separating component for cutting off branches; the fruit picking device is characterized in that an intermediate connecting frame is arranged on the hydraulic rod, the lower end of the intermediate connecting frame is connected with a collecting funnel used for collecting fruits, a conveying hose used for conveying the fruits is arranged at the bottom end of the collecting funnel, and the lower end of the conveying hose is connected with a collecting box used for storing the fruits.
Preferably, the angle adjustment subassembly includes electronic slide rail, electronic slide rail and slide block sliding connection, the side surface of slide block rotates and is connected with connecting rod one, connecting rod one cover is established and is connected the outermost end at connecting axle one, one side of connecting rod one is established and is connected with connecting rod two on connecting axle one, one side of connecting rod two is established and is connected with connecting rod three on connecting axle one, connecting rod three is kept away from the one end of connecting axle one and is rotated with the intermediate junction pole and is connected, the angle adjustment subassembly sets up another set of same subassembly with the terminal surface symmetry of intermediate junction pole, and two sets of the same operating frequency that keeps.
Preferably, the electric slide rail is connected to two sides of the slide rod through welding and fixing, one end, far away from the first connecting shaft, of the second connecting rod is connected with the top of the slide rod in a rotating mode, the middle connecting rod is of a V shape, the middle of the middle connecting rod is sleeved and connected with the second connecting shaft, and the second connecting shaft is fixedly connected to the top end of the slide rod in an opening.
Preferably, the fixed clamping component comprises a hydraulic cylinder, a fixed block is fixedly connected to the front end of the hydraulic cylinder, a hydraulic rod in the hydraulic cylinder is connected with the fixed block in a sliding mode, mechanical claws are symmetrically and rotatably connected to the side surfaces of the fixed block, rubber pads are bonded to the tail ends of the mechanical claws, a fixed plate is fixedly connected to the tail ends of the hydraulic rod, four connecting rods are rotatably connected to the two ends of the fixed plate, and one ends, far away from the fixed plate, of the four connecting rods are rotatably connected to the middle of the mechanical claws.
Preferably, the hydraulic cylinder is sleeved with the hydraulic rod and is in sliding connection with the hydraulic rod, the middle of the fixing block is provided with a hole which is sleeved with the hydraulic rod and is in sliding connection with the hydraulic rod, and the rubber pad is semi-arc-shaped and is convenient to fit with fruits better.
Preferably, the fruit branch separating assembly comprises a first blade and a second blade, the roots of the first blade and the second blade are rotatably connected to the upper surface of the fixing block through connecting shafts, fixing rods are fixedly connected to the lower surfaces of the tail ends of the first blade and the first blade, and the lower ends of the two groups of fixing rods are fixedly connected to the upper surface of the mechanical claw.
Preferably, the angle adjusting component is connected with the fixed clamping component through an intermediate connecting rod, the tail end of the first blade is of a convex semi-arc shape, and the second blade is of a concave semi-arc shape, so that the second-level branches of the connected fruits can be cut off.
Preferably, the loop bar is connected with the lower end of the sliding rod in a sleeved mode, at least three threaded holes are formed in the lower end of the sliding rod, and the fixing bolt penetrates through the side wall of the loop bar and is in threaded connection with the threaded holes in the sliding rod.
Preferably, the upper surface of the collecting box is provided with a hole and is in through connection with a lower port of the conveying hose, the upper port of the conveying hose is in through connection with the bottom end of the collecting hopper, the side surface of the collecting hopper is fixedly connected with the lower end face of the middle connecting frame through welding, and the upper end face of the middle connecting frame is in welding connection with the lower surface of the hydraulic rod.
Preferably, loop bar, slide bar, fixed centre gripping subassembly and fruit branch separable set all adopt stainless steel to process and make, have high rigidity and high corrosion resistance and be favorable to the woodland operation.
Compared with the prior art, the invention has the following beneficial effects:
1. the fruit picking machine is provided with the fixed clamping assembly, the hydraulic cylinder is used for driving the hydraulic rod to do telescopic motion, the tail end of the connecting rod IV is rotatably connected with the middle part of the mechanical claw, the root part of the mechanical claw is rotatably connected with the fixed block, so that the hydraulic rod can cooperate with the fixed plate to drive the connecting rod which is rotatably connected with the hydraulic rod to contract in four directions, the mechanical claw can be tightened inwards under the action of the pulling force of the connecting rod IV, fruits between the mechanical claws are tightened, and meanwhile, the first blade and the second blade which are connected with the angle adjusting assembly through the fixed rod can be cut inwards along with the first blade and the second blade, so that the fruits are separated from the second-level branches, and the fruit picking work is realized.
2. According to the angle adjusting device, the angle adjusting assembly is arranged, the electric sliding rail is used for driving the sliding block to move upwards, the sliding block is cooperated with the first connecting rod to drive the first connecting shaft to move outwards, the first connecting shaft drives the third connecting rod to move outwards, and the middle part of the middle connecting rod is rotatably connected with the sliding rod through the second connecting shaft, so that the third connecting rod drives the middle connecting rod to rotate upwards while moving outwards, and the angle adjustment of the picking device is realized; utilize the intermediate junction frame to collect funnel fixed connection under fixed centre gripping subassembly for can drop in collecting the funnel with the separation of second grade branch and trunk obtains the fruit, getting into through the delivery hose and collecting the case, thereby avoided the fruit to be broken by a crashing object when falling from the eminence, collected the fruit of picking simultaneously, practiced thrift the time, improved picking efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the apparatus of the present invention;
FIG. 3 is a cross-sectional view of the apparatus of the present invention;
FIG. 4 is a schematic view of an angle adjustment assembly of the present invention;
FIG. 5 is an internal schematic view of the angle adjustment assembly of the present invention;
FIG. 6 is a schematic view of a fixing clamp assembly according to the present invention;
FIG. 7 is a bottom view of the stationary clamp assembly of the present invention;
in the figure: 1. a loop bar; 2. a slide bar; 3. fixing the bolt; 4. an intermediate connecting frame; 5. a collection funnel; 6. a delivery hose; 7. a collection box; 8. an angle adjustment assembly; 9. a slider; 10. an electric slide rail; 11. a first connecting rod; 12. connecting a shaft I; 13. a second connecting rod; 14. a third connecting rod; 15. a second connecting shaft; 16. a middle connecting rod; 17. fixing the clamping assembly; 18. a hydraulic cylinder; 19. a fixed block; 20. a fixing plate; 21. a hydraulic lever; 22. a fourth connecting rod; 23. a gripper; 24. a rubber pad; 25. fixing the rod; 26. a fruit branch separating assembly; 27. a first blade; 28. and a second blade.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 7, the present invention provides a technical solution: a picking manipulator for pinecones of camphor trees comprises a loop bar 1, a sliding rod 2 used for adjusting the height is sleeved and connected inside the loop bar 1, and a fixing bolt 3 used for fastening the sliding rod 2 is arranged on one side of the sliding rod 2 and penetrates through the side wall of the loop bar 1; the top of the sliding rod 2 is provided with an angle adjusting component 8 for adjusting the picking angle, and the angle adjusting component 8 comprises a middle connecting rod 16; the tail end of the middle connecting rod 16 is connected with a fixed clamping component 17 for clamping fruits, and the fixed clamping component 17 comprises a fixed block 19 and a hydraulic rod 21; the upper surface of the fixed block 19 is provided with a fruit branch separating component 26 for cutting off the branches; be provided with middle link 4 on the hydraulic stem 21, the lower extreme of middle link 4 is connected with the collection funnel 5 that is used for collecting the fruit, and the bottom of collecting funnel 5 is provided with the conveying hose 6 that is used for carrying the fruit, and the lower extreme of conveying hose 6 is connected with collecting box 7 that is used for saving the fruit.
As shown in fig. 4, the angle adjusting assembly 8 includes an electric slide rail 10, the electric slide rail 10 is slidably connected to the slide block 9, a side surface of the slide block 9 is rotatably connected to a first connecting rod 11, the first connecting rod 11 is sleeved on an outermost end of a first connecting shaft 12, one side of the first connecting rod 11 is sleeved on a second connecting shaft 12 and is connected to a second connecting rod 13, one side of the second connecting rod 13 is sleeved on the first connecting shaft 12 and is connected to a third connecting rod 14, one end of the third connecting rod 14, which is far away from the first connecting shaft 12, is rotatably connected to an intermediate connecting rod 16, the angle adjusting assembly 8 is provided with another set of identical assemblies symmetrically with an end surface of the intermediate connecting rod 16, the two sets of identical operating frequencies are maintained, the electric slide rails 10 are fixedly connected to two sides of the slide rod 2 by welding, one end of the second connecting rod 13, which is far away from the first connecting shaft 12, is rotatably connected to a top of the slide rod 2, the intermediate connecting rod 16 is V-shaped, the intermediate connecting shaft 16 is sleeved on a second connecting shaft 15, and is fixedly connected to an opening at a top end of the slide rod 2.
As shown in fig. 6, fixed centre gripping subassembly 17 includes a hydraulic pressure section of thick bamboo 18, the front end fixedly connected with fixed block 19 of a hydraulic pressure section of thick bamboo 18, hydraulic stem 21 and the 19 sliding connection of fixed block in a hydraulic pressure section of thick bamboo 18, the side surface symmetry of fixed block 19 is rotated and is connected with gripper 23, gripper 23's end all bonds there is rubber pad 24, the terminal fixedly connected with fixed plate 20 of hydraulic stem 21, fixed plate 20's both ends are all rotated and are connected with connecting rod four 22, the one end that fixed plate 20 was kept away from to connecting rod four 22 rotates with gripper 23 middle part and is connected, sliding connection is established with hydraulic stem 21 cover to a hydraulic pressure section of thick bamboo 18, fixed block 19 middle part has been seted up the hole and has been established sliding connection with hydraulic stem 21 cover, rubber pad 24 is the half arc shape be convenient for agreeing with better with the fruit.
In order to realize the separation of strobilus Pini from the secondary branches, the fruit branch separating assembly 26 comprises a first blade 27 and a second blade 28, the roots of the first blade 27 and the second blade 28 are rotatably connected to the upper surface of the fixing block 19 through connecting shafts, fixing rods 25 are fixedly connected to the lower surfaces of the tail ends of the first blade 26 and the first blade 27, the lower ends of the two groups of fixing rods 25 are fixedly connected to the upper surface of the mechanical claw 23, the angle adjusting assembly 8 is connected with the fixed clamping assembly 17 through an intermediate connecting rod 16, the tail end of the first blade 27 is in a convex semi-arc shape, and the second blade 28 is in a concave semi-arc shape, so that the secondary branches for connecting fruits are cut off.
It is worth noting that loop bar 1 establishes with the lower pot head of slide bar 2 and is connected, and at least three screw hole has been seted up to the lower extreme of slide bar 2, and fixing bolt 3 runs through the lateral wall of loop bar 1 and the screw hole threaded connection on the slide bar 2, and loop bar 1, slide bar 2, fixed centre gripping subassembly 17 and fruit branch separator assembly 26 all adopt stainless steel processing to make, have the high rigidity and the high corrosion resistance is favorable to the woodland operation.
In addition, the upper surface of the collecting box 7 is provided with a hole and is in through connection with the lower port of the conveying hose 6, the upper port of the conveying hose 6 is in through connection with the bottom end of the collecting funnel 5, the side surface of the collecting funnel 5 is fixedly connected with the lower end surface of the middle connecting frame 4 through welding, and the upper end surface of the middle connecting frame 4 is in welding connection with the lower surface of the hydraulic rod 21.
The working principle is as follows: when the picking device is used, a picking person firstly screws a fixing bolt 3 out of a loop bar 1, the picking person can slide a sliding bar 2 up and down, so that the heights of an angle adjusting component 8 and a fixed clamping component 17 can be adjusted through the sliding bar 2, after the angle adjusting component 8 and the fixed clamping component 17 are adjusted to proper positions, the picking person can screw the fixing bolt 3 into the loop bar 1, so that the sliding bar 2 can be fixed, the angle adjusting component 8 is used for angle adjustment, after the fixed clamping component 17 is adjusted to proper positions, the picking person can place a collecting box 7 below a conveying hose 6, an intermediate connecting frame 4 is fixed under the fixed clamping component 17, then fruits are fastened through the fixed clamping component 17, a second-level branch is cut through a fruit branch separating component 26, then pine cones can fall into a collecting hopper 5, are picked, the pine cones are discharged into the collecting box 7 through the conveying hose 6, and after picking of the Chinese date collecting box 7 is finished, pine cones in the collecting box can be taken out.
When the angle needs to be adjusted, the electric sliding rail 10 is controlled to drive the sliding block 9 to move upwards, the lower end of the first connecting rod 11 is rotatably connected to two sides of the sliding block 9, the first connecting rod 11 rotates anticlockwise relative to the sliding block 9, the first connecting rod 12 rotatably connected with the first connecting rod is driven to move backwards by cooperating with the second connecting rod 13, the middle of the first connecting rod 12 is rotatably connected with two groups of third connecting rods 14, the third connecting rods 14 move backwards along with the first connecting rod 12 and drive the middle connecting rod 16 rotatably connected with the third connecting rod to rotate relatively, the middle of the middle connecting rod 16 is rotatably connected with the second connecting rod 15, two ends of the second connecting rod 15 are respectively and fixedly connected to two sides of an opening at the top end of the sliding rod 2, the middle connecting rod 16 rotates anticlockwise around the second connecting rod 15 under the action of the third connecting rod 14, and the middle connecting rod 16 drives the fixed clamping assembly 17 fixedly connected with the tail end of the middle connecting rod to adjust the angle until the angle is adjusted to a proper position.
When fruits and branches are separated, the hydraulic cylinder 18 is controlled to drive the hydraulic rod 21 to contract inwards, the tail end of the hydraulic rod 21 is fixedly connected with the fixing plate 20, the two sides of the fixing plate 20 are rotatably connected with the four connecting rods 22, the hydraulic rod 21 can drive the four connecting rods 22 to rotate relatively in cooperation with the fixing plate 20 when contracting, the root end of each mechanical claw 23 is rotatably connected with the fixing block 19, the middle end of each mechanical claw 23 is rotatably connected with the tail end of the four connecting rods 22, the four connecting rods 22 can drive the two groups of mechanical claws 23 to tighten inwards by taking the root end as an original point when rotating, rubber pads 24 at the tail ends of the mechanical claws 23 fix strobilus pini fruits, the root ends of the first blades 27 and the second blades 28 are rotatably connected with the upper surface of the fixing block 19 through the connecting shafts, and the tail ends of the first blades and the second blades are fixedly connected with the tail ends of the two groups of the mechanical claws 23 through the fixing rods 25 respectively, so that the mechanical claws 23 cut off the second branches at the upper ends of the fruits while fixing the strobilus pini fruits, the fruits are separated from the second branches, and picking work is achieved.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and alterations can be made to these embodiments without departing from the spirit and scope of the invention, which is defined by the claims and their equivalents.
Claims (10)
1. A picking manipulator for pinecones of camphor trees comprises a sleeve rod (1) and is characterized in that a sliding rod (2) used for adjusting the height is sleeved and connected inside the sleeve rod (1), and a fixing bolt (3) used for fastening the sliding rod (2) is arranged on one side of the sliding rod (2) and penetrates through the side wall of the sleeve rod (1);
an angle adjusting component (8) for adjusting a picking angle is arranged at the top of the sliding rod (2), and the angle adjusting component (8) comprises a middle connecting rod (16);
the tail end of the middle connecting rod (16) is connected with a fixed clamping assembly (17) for clamping fruits, and the fixed clamping assembly (17) comprises a fixed block (19) and a hydraulic rod (21);
the upper surface of the fixed block (19) is provided with a fruit branch separating component (26) for cutting off branches;
the fruit picking device is characterized in that an intermediate connecting frame (4) is arranged on the hydraulic rod (21), the lower end of the intermediate connecting frame (4) is connected with a collecting funnel (5) used for collecting fruits, a conveying hose (6) used for conveying the fruits is arranged at the bottom end of the collecting funnel (5), and the lower end of the conveying hose (6) is connected with a collecting box (7) used for storing the fruits.
2. The picking manipulator for the pinecones of the camphor trees as claimed in claim 1, wherein the angle adjusting assembly (8) comprises an electric sliding rail (10), the electric sliding rail (10) is slidably connected with a sliding block (9), a first connecting rod (11) is rotatably connected to a side surface of the sliding block (9), and the first connecting rod (11) is sleeved and connected to an outermost end of a first connecting shaft (12).
3. The picking manipulator for the pinecones of the camphor trees according to claim 2, wherein one side of the first connecting rod (11) is sleeved with a second connecting rod (13) on the first connecting shaft (12), one side of the second connecting rod (13) is sleeved with a third connecting rod (14) on the first connecting shaft (12), and one end, far away from the first connecting shaft (12), of the third connecting rod (14) is rotatably connected with the middle connecting rod (16).
4. The picking manipulator for the pinecone of camphor tree according to claim 3, characterized in that the angle adjusting component (8) is provided with another set of the same components symmetrically with the end face of the middle connecting rod (16), and the two sets maintain the same working frequency.
5. The picking manipulator for the pinecones of the camphor trees according to claim 4, wherein the electric slide rails (10) are fixedly connected to two sides of the slide rod (2) by welding, one end of the connecting rod II (13) far away from the connecting shaft I (12) is rotatably connected to the top of the slide rod (2), the middle connecting rod (16) is in a V shape, the middle part of the middle connecting rod (16) is sleeved on the connecting shaft II (15), and the connecting shaft II (15) is fixedly connected to an opening at the top end of the slide rod (2);
the fixed clamping assembly (17) comprises a hydraulic cylinder (18), a fixed block (19) is fixedly connected to the front end of the hydraulic cylinder (18), a hydraulic rod (21) in the hydraulic cylinder (18) is connected with the fixed block (19) in a sliding mode, mechanical claws (23) are symmetrically and rotatably connected to the side surfaces of the fixed block (19), rubber pads (24) are bonded to the tail ends of the mechanical claws (23), a fixed plate (20) is fixedly connected to the tail end of the hydraulic rod (21), two ends of the fixed plate (20) are rotatably connected with four connecting rods (22), and one ends, far away from the fixed plate (20), of the four connecting rods (22) are rotatably connected with the middle of the mechanical claws (23);
the hydraulic cylinder (18) is sleeved with the hydraulic rod (21) and is in sliding connection, the middle of the fixed block (19) is provided with a hole which is sleeved with the hydraulic rod (21) and is in sliding connection, and the rubber pad (24) is semi-arc-shaped and is convenient to fit with fruits;
the fruit branch separating component (26) comprises a first blade (27) and a second blade (28), the roots of the first blade (27) and the second blade (28) are rotatably connected to the upper surface of the fixing block (19) through connecting shafts, fixing rods (25) are fixedly connected to the lower surfaces of the tail ends of the first blade (27) and the first fruit branch separating component (26), and the lower ends of the fixing rods (25) are fixedly connected to the upper surface of the mechanical claw (23).
6. The picking manipulator for the pinecone of camphor tree nut as claimed in claim 5, wherein the angle adjusting component (8) is connected with the fixed clamping component (17) through the middle connecting rod (16), the end of the first blade (27) is in a convex semi-arc shape, and the second blade (28) is in a concave semi-arc shape, so as to help to cut off the second grade branch of the connected fruit.
7. The picking manipulator for the pinecones of the camphor trees according to claim 6, wherein the sleeve rod (1) is connected with the lower end of the sliding rod (2) in a sleeved manner, the lower end of the sliding rod (2) is provided with at least three threaded holes, and the fixing bolt (3) penetrates through the side wall of the sleeve rod (1) and is in threaded connection with the threaded holes on the sliding rod (2).
8. The picking manipulator for the pinecones of camphor trees according to claim 7, wherein the upper surface of the collection box (7) is provided with holes and is connected with the lower opening of the conveying hose (6) in a penetrating way.
9. The picking manipulator for the pinecones of camphor trees according to claim 8, wherein the upper opening of the conveying hose (6) is connected with the bottom end of the collecting funnel (5) in a penetrating manner, the side surface of the collecting funnel (5) is fixedly connected with the lower end surface of the middle connecting frame (4) through welding, and the upper end surface of the middle connecting frame (4) is connected with the lower surface of the hydraulic rod (21) through welding.
10. The picking manipulator for the pinecone of camphor tree nut as claimed in claim 9, wherein the loop bar (1), the sliding bar (2), the fixed clamping assembly (17) and the branch separating assembly (26) are all made of stainless steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211460956.0A CN115918369A (en) | 2022-11-16 | 2022-11-16 | Camphor seed and pine cone picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211460956.0A CN115918369A (en) | 2022-11-16 | 2022-11-16 | Camphor seed and pine cone picking manipulator |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109496549A (en) * | 2018-11-28 | 2019-03-22 | 河海大学 | A kind of rod-type plucking shears |
| CN208675804U (en) * | 2018-08-09 | 2019-04-02 | 福州市磊叔农业综合开发有限公司 | One kind being convenient for Chinese olive tree picking fruit device |
| CN208694004U (en) * | 2018-03-01 | 2019-04-05 | 刘志刚 | A kind of medical internal medicine interventional-catheter fixing device |
| CN208874855U (en) * | 2018-05-29 | 2019-05-21 | 漳州理工职业学院 | A kind of fruit picking apparatus |
| CN112753361A (en) * | 2021-02-24 | 2021-05-07 | 安徽天达网络科技有限公司 | Orchard fruit picking assembly based on internet agriculture |
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- 2022-11-16 CN CN202211460956.0A patent/CN115918369A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208694004U (en) * | 2018-03-01 | 2019-04-05 | 刘志刚 | A kind of medical internal medicine interventional-catheter fixing device |
| CN208874855U (en) * | 2018-05-29 | 2019-05-21 | 漳州理工职业学院 | A kind of fruit picking apparatus |
| CN208675804U (en) * | 2018-08-09 | 2019-04-02 | 福州市磊叔农业综合开发有限公司 | One kind being convenient for Chinese olive tree picking fruit device |
| CN109496549A (en) * | 2018-11-28 | 2019-03-22 | 河海大学 | A kind of rod-type plucking shears |
| CN112753361A (en) * | 2021-02-24 | 2021-05-07 | 安徽天达网络科技有限公司 | Orchard fruit picking assembly based on internet agriculture |
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Application publication date: 20230407 |