CN207321941U - A kind of tower crane type automatic fruit picker - Google Patents

Abstract

A kind of tower crane type automatic fruit picker,It is related to a kind of automatic fruit picker,Including transport vehicle,Horizontally moving device,Pick pedestal,Rotating supporting device,Rotary extension arm assembly,The flexible picker of rotation,Transfer device,Fruit collecting box,Device for visual identification,The horizontally moving device is installed on transport vehicle,The picking pedestal is installed on horizontally moving device,The rotating supporting device is installed on picking pedestal,One end of the rotary extension arm assembly is connected with rotating supporting device,The other end is connected with the flexible picker of rotation,The device for visual identification is installed on the flexible picker of rotation,The fruit collecting box is arranged on the transport vehicle of horizontally moving device side,One end of the transfer device is connected with rotary extension arm assembly,The other end is connected with fruit collecting box,The utility model is small with labor intensity,That picks is efficient,Ensure fruit quality,It is low to pick cost,It is big to pick area,The features such as being conducive to scale and specialized plantation,Use easy to spread.

Description

A kind of tower crane type automatic fruit picker

Technical field

It the utility model is related to efficient automatic fruit picker, particularly a kind of tower crane in a kind of orchard picking work Formula automatic fruit picker.

Background technology

With advances in technology with the development of society, many traditional working methods are also there occurs subversive change, especially It is the popularization and popularization in every field with automatic technology, allows the live and work of people to obtain great convenience, Be in industrial development field in this way, also obtained great application in agricultural production, especially Chinese population bonus by The certainty for having become a kind of society and development in science and technology is made and is lifted in evanescent today, agricultural automation, this is one Block science and technology white space, and one piece of blue sea region for having tremendous expansion potentiality, the application region in present China, is being adopted When picking fruit, most orchard workers are also in the method using the most ancient picking of manually climbing tree, using the side of manually upper tree Method comes that fruit-picking labor intensity is very big, and the efficiency picked is low, and the fruit after picking is difficult to ensure that completely, while Substantially increase the picking cost of orchard worker, therefore the also limit value possibility of large-scale planting and output to a certain extent.

Authorization Notice No. is that the utility model patent of CN202889971U discloses a kind of solar energy and oil hybrid intelligence Energy fruit picking car, including car body, the solar energy operation power mechanism being arranged on car body, hydraulic pressure elevation mechanism, intelligence picking Mechanism, movable electronic display control mechanism and driving walking mechanism, intelligent picking mechanism include picking intelligent robot, picking Intelligent robot includes Picker arm, and picking mechanical arm is connected in Picker arm, and picking mechanical arm lower part is correspondingly arranged fruit assembly Mouthful, above-mentioned utility model is that fruit is picked using manipulator, and this rigidity Softening is easily damaged the skin and flesh of fruit, Fruit after picking directly falls into fruit and assembles mouth, due to the effect of gravity, easily to water after fruit falls into fruit assembly mouth Fruit causes secondary damage, it is difficult to ensure the fruit integrality after picking, the device included by the utility model is more, and device Price is not costly, also low for maintenance expense in the future, virtually considerably increases the picking cost of orchard worker, makes Picking efficiency is although improved with above device, but cannot be guaranteed the integrality of fruit-picking, picking cost can not be reduced, For most of orchard workers and do not apply to.

The content of the invention

The technical problems to be solved in the utility model is：A kind of tower crane type automatic fruit picker is provided, it is existing to solve Have that the labor intensity of fruit picking is big, the efficiency of picking is low, the fruit after picking is difficult to ensure that complete, picking is of high cost and asks Topic.

Solving the technical solution of above-mentioned technical problem is：A kind of tower crane type automatic fruit picker, including transport vehicle, water Flat mobile device, picking pedestal, rotating supporting device, rotary extension arm assembly, the flexible picker of rotation, fruit transmission dress Put, fruit collecting box, device for visual identification, the horizontally moving device is installed on transport vehicle, and the picking pedestal is installed on On horizontally moving device, the rotating supporting device is installed on picking pedestal, one end of the rotary extension arm assembly and rotation Turn support device connection, the other end is connected with the flexible picker of rotation, and the device for visual identification is installed on rotation flexibility and adopts In device and picking, the fruit collecting box is arranged on the side of horizontally moving device, one end of the fruit transfer device and rotation Telescopic boom device connects, and the other end is connected with fruit collecting box.

The further technical solution of the utility model is：The rotating supporting device includes electric machine support, motor A, small tooth Wheel, rotation support column, the rotation support column include support base, gear wheel and support column, and the support base is installed on picking base On seat, the gear wheel is rotatablely connected with support base, and the support column is installed on gear wheel, and the electric machine support is installed on and adopts Pluck on pedestal, the motor A is installed on electric machine support, and the pinion gear is on the output shaft of motor A, the gear wheel It is intermeshed with pinion gear.

The further technical solution of the utility model is：The rotary extension arm assembly includes motor B, telescopic arm, stretches Contracting hydraulic cylinder, on the support columns, the telescopic arm includes telescopic arm A and telescopic arm B, the telescopic arm A peaces for the motor B installations On the output shaft of motor B, the telescopic arm B is socketed in telescopic arm A, and one end of the telescopic hydraulic cylinder, which is installed on, stretches The downside of arm A, the other end are installed on the downside of telescopic arm B, and fruit is further opened with the upside of the telescopic arm A and telescopic arm B and is returned Groove is received, one end of the fruit accumulator tank is connected with the flexible picker of rotation, and the other end is connected with fruit transfer device.

The further technical solution of the utility model is：The fruit transfer device transmits flexible plastic cylinder, institute for fruit The one end for stating fruit transmission flexible plastic cylinder is connected with fruit accumulator tank, and the other end is connected with fruit collecting box.

The further technical solution of the utility model is：The flexible picker of rotation include motor C, rotating arm, Flexible picker, the motor C are installed on telescopic arm B, and the rotating arm is described soft on the output shaft of motor C Property picker be installed on rotating arm on.

The further technical solution of the utility model is：The flexibility picker includes clamping device, picking hands, cuts Obstruct knife, flexible sponge, the clamping device is installed on rotating arm, and one end of the picking hands is connected with clamping device, another Stalk knife connection is held and cuts, the flexibility sponge is arranged on the inner surface of picking hands.

The further technical solution of the utility model is：The device for visual identification is arranged close to flexible picker On the rotating arm of side.

The further technical solution of the utility model is：The transport vehicle is tricycle or carriage.

The further technical solution of the utility model is：The horizontally moving device includes moving horizontally guide rail and guide rail Sliding block, for the guide rail that moves horizontally on the transport vehicle, the guide rail slide block is installed on the bottom of picking pedestal, and with level Moving guide rail is slidably matched.

The further technical solution of the utility model is：The fruit collecting box is arranged on horizontally moving device side On transport vehicle.

Due to using the above structure, a kind of tower crane type automatic fruit picker and prior art phase of the utility model Than having the advantages that：

1. labor intensity is small, picking efficiency is high

Since the utility model includes transport vehicle, horizontally moving device, picking pedestal, rotating supporting device, rotary extension Arm assembly, the flexible picker of rotation, fruit transfer device, fruit collecting box, device for visual identification, the horizontally moving device On transport vehicle, the picking pedestal is installed on horizontally moving device, and the rotating supporting device is installed on picking base On seat, one end of the rotary extension arm assembly is connected with rotating supporting device, and the other end is connected with the flexible picker of rotation, The device for visual identification is installed on the flexible picker of rotation, and the fruit collecting box is arranged on the one of horizontally moving device Side, one end of the fruit transfer device are connected with rotary extension arm assembly, and the other end is connected with fruit collecting box；Fruit-picking When, transport vehicle need to only be reached the appropriate location under fruit tree, start the utility model, to fruit under the guiding of device for visual identification Ripened fruit realizes the automatic picking process of mechanization on tree, and the fruit picked passes through fruit accumulator tank and fruit Transfer device is transmitted back to fruit collecting box, and realizes and the unified of fruit is collected and transported, since the utility model is using machinery The method fruit-picking changed and automated, has greatly liberated the both hands of orchard worker, has reduced to artificial dependence so that fruit is adopted Pluck labor intensity smaller, picking efficiency higher.

2. using flexible Softening fruit-picking, preferably ensure that fruit is complete

The utility model is different from the prior art using rigid Softening, but uses flexible Softening to pick water Fruit, can preferably ensure the integrality of fruit, and the utility model includes flexible picker, device for visual identification, the flexibility Picker includes clamping device, picking hands, cuts stalk knife, flexible sponge, and the clamping device is installed on rotating arm, described to adopt The one end for plucking hand is connected with clamping device, and the other end is connected with cutting stalk knife, and the flexibility sponge is arranged on the inner surface of picking hands On, whether device for visual identification distinguishes the maturation of fruit, only choose a ripened fruit and picked, after selection, clamped Device promotes picking hands to realize the action for clamping fruit, and flexible sponge is set in picking hands, and protection fruit preserves from, and cuts stalk Knife cuts off the stalk of fruit, and final realize picks the flexibility of fruit, ensures that the skin and flesh of fruit stands intact；After picking, Fruit conveying uses net bag type, and the fruit after picking is transmitted flexible plastic cylinder by fruit accumulator tank and fruit is transported to fruit receipts In header, whole course of conveying greatly reduces the mutual collision between fruit, further ensures the integrality of fruit.

3. it is low to pick cost

Since the utility model uses tower crane type structure, cost is cheap with respect to the automatic fruit picker of other structures Many, rotary extension arm assembly inside is hollow, but as mechanical arm type high with cost in the free degree, is attained by phase Same effect, so that the cost of manufacture the utility model substantially reduces, orchard worker buys the utility model also can be relatively cheap, The picking cost of orchard worker is reduced indirectly；In whole picking process picked using full-automatic mechanical equipment, pick pedestal It can be moved freely on horizontal guide rail, and then realize a wide range of fruit picking, and not start transport vehicle frequently, save combustion Oil, only needs a people to control the utility model to can reach the workload of dozens or even hundreds of people, greatly reduces adopting for orchard worker Pluck cost.

4. it is big to pick area

Since the utility model includes transport vehicle, horizontally moving device, picking pedestal, rotating supporting device, rotary extension Arm assembly, the flexible picker of rotation, horizontally moving device are installed on transport vehicle, and the picking pedestal, which is installed on, to be moved horizontally On device, the rotating supporting device is installed on picking pedestal, one end and the rotation support dress of the rotary extension arm assembly Connection is put, the other end is connected with the flexible picker of rotation, since picking pedestal can move on horizontally moving device, is controlled The position of pedestal is picked, just can reach near or remote fruit picking, adjust rotating supporting device, rotary extension arm assembly, rotation Turn the position of flexible picker, can just reach or the fruit picking of left or right or up or down, it is not necessary to frequently move transport vehicle Comprehensive picking with regard to that can reach whole tree, considerably increases the area of picking.

5. beneficial to scale, specialized plantation

Since the utility model realizes that work is picked in quick, efficient, the inexpensive scale to orchard fruit, and to adopting The fruit plucked realizes the full-automatic process for collecting automatically and framing up and transporting, and allows mechanization and automation to become fruit picking and work Main force's factor, be manually intended only as a kind of supplement for aiding in property and exist, in terms of fruit picking, the utility model not only pole The big both hands for having liberated worker, reduce the labor intensity of worker, improve working environment, be conducive to scale, specialization Application.

6. greatly improve the market competitiveness of fruit

Since the utility model includes flexible picker, device for visual identification, device for visual identification it is ripe to fruit with No carry out automatic identification, only selects a ripened fruit to carry out flexible picking, and the fruit picked using the utility model is not only It is ripe and do not damage fruit pulp, ensure to improve the quality of fruit while fruit integrality, greatly improve the market of fruit Competitiveness, increases the income of orchard worker.

7. have and its far-reaching dissemination

Have become one kind with development, mechanization of agriculture and automation with advances in technology necessarily, use this practicality After new, labor intensity diminishes during orchard worker's fruit-picking, and picking efficiency becomes higher, and the integrality and quality of fruit are also improved, The cost of picking is also reduced, and adds the market competitiveness of orchard worker's fruit, greatly improves the income of orchard worker, this reality With it is new be definitely a big Gospel for orchard worker, there is great realistic meaning and promotional value.

8. use scope is wide

Due in the utility model fruit picking process so that labor intensity diminishes, picking efficiency becomes higher, the quality of fruit Ensured, picking cost is reduced, and greatly helps orchard worker to solve the problem in fruit picking process, and right It is all suitable in all areas to grow fruit in China, use scope is quite varied.

It is in the following, special to a kind of technology of tower crane type automatic fruit picker of the utility model in conjunction with the accompanying drawings and embodiments Sign is further described.

Brief description of the drawings

Fig. 1：A kind of structure diagram of the tower crane type automatic fruit picker of the utility model,

Fig. 2：The A direction views of Fig. 1（Omit fruit transfer device）,

Fig. 3：The structure diagram of the flexible picker of rotation,

Fig. 4：A kind of working state schematic representation during the tower crane type automatic fruit picker fruit-picking of the utility model,

In above-mentioned attached drawing, each the reference numerals are as follows：

1- transport vehicles,

2- horizontally moving devices,

21- moves horizontally guide rail, 22- guide rail slide blocks,

3- picks pedestal,

4- rotating supporting devices,

41- electric machine supports, 42- motors A, 43- pinion gear,

44- rotation support columns, 441- support bases, 442- gear wheels, 443- support columns,

5- rotary extension arm assemblies,

51- motor B,

52- telescopic arms, 521- telescopic arms A, 522- telescopic arm B,

53- telescopic hydraulic cylinders,

The flexible picker of 6- rotations,

61- motors C, 62- rotating arm,

63- flexibility pickers, 631- clamping devices, 632- picking hands, 633- cut stalk knife, 634- flexibility sponges,

7- fruit transfer devices,

71- fruit transmits flexible plastic cylinder,

8- fruit collecting box,

9- device for visual identification.

Specific embodiment

Embodiment one：

A kind of tower crane type automatic fruit picker, including transport vehicle 1, horizontally moving device 2, picking pedestal 3, rotation branch Support arrangement 4, rotary extension arm assembly 5, the flexible picker 6 of rotation, fruit transfer device 7, fruit collecting box 8, visual identity Device 9.

The transport vehicle 1 is tricycle or carriage, for carrying tower crane type automatic fruit picker, and realizes the dress The a wide range of mobile picking in orchard is put, while is also used for fruit transportation collecting box 8, to realize the mechanization transportation to fruit Process.

The horizontally moving device 2 includes moving horizontally guide rail 21 and guide rail slide block 22, and the guide rail 21 that moves horizontally is pacified On transport vehicle 1, the guide rail slide block 22 is installed on 3 bottom of picking pedestal, and is slidably matched with moving horizontally guide rail 21, adopts Plucking pedestal 3 can move back and forth on guide rail 21 is moved horizontally, and realize the horizontally moving functions of automatic fruit picker, to realize Picking work to the fruit of diverse location.

The fruit collecting box 8 is arranged on fruit collecting box 2 on the transport vehicle 1 of 2 side of horizontally moving device, for collecting The fruit that automatic fruit picker picks, and realize unified vanning.

The rotating supporting device 4 includes electric machine support 41, motor A42, pinion gear 43, rotation support column 44, the rotation Turning support column 44 includes support base 441, gear wheel 442 and support column 443, and the support base 441 is installed on picking pedestal 3, The gear wheel 442 is rotatablely connected with support base 441, and the support column 443 is fixedly mounted on gear wheel 442, the motor Stent 41 is installed on picking pedestal 3, and the motor A42 is installed on electric machine support 41, and the pinion gear 43 is installed on motor On the output shaft of A42, the gear wheel 442 is intermeshed with pinion gear 43.

The rotary extension arm assembly 5, including motor B51, telescopic arm 52, telescopic hydraulic cylinder 53, the motor B51 installations On support column 443, the telescopic arm 52 includes telescopic arm A521 and telescopic arm B522, the telescopic arm A521 are installed on motor On the output shaft of B51, the telescopic arm B522 is installed on telescopic arm A521, and one end of the telescopic hydraulic cylinder 53, which is installed on, stretches The downside of contracting arm A521, the other end are installed on the downside of telescopic arm B522, and the upside of the telescopic arm 52 is further opened with fruit and returns Groove 523 is received, one end of the fruit accumulator tank 523 is connected with the flexible picker 6 of rotation, the other end and fruit transfer device 7 Connection.

The flexible picker 6 of rotation includes motor C61, rotating arm 62, flexible picker 63, the motor C61 On telescopic arm B522, on the output shaft of motor C61, the flexibility picker 63 includes the rotating arm 62 Clamping device 631, picking hands 632, cut stalk knife 633, flexible sponge 634, and the clamping device 631 uses known structure, should Clamping device 631 is installed on rotating arm 62, and one end of the picking hands 632 is connected with clamping device 631, and the other end is with cutting stalk Knife 633 connects, and the flexibility sponge 634 is arranged on the inner surface of picking hands 632, and clamping device 631 promotes picking hands 632 real The action of fruit is now clamped, the flexible sponge 634 in picking hands 632 protects fruit to preserve from, and cuts stalk knife 633 and cuts off fruit Stalk, final realize pick the flexibility of fruit, use flexible picker fruit-picking, it is ensured that the intact nothing of skin and flesh of fruit Damage, realizes fruit complete picking.

The device for visual identification 9 is arranged close on the rotating arm 62 of flexible 63 side of picker, for identifying water Fruit it is ripe whether and accurate location, and feed back to tower crane type automatic picking apparatus, effectively pick to realize accurate and do standard It is standby.

The fruit transfer device 7 transmits flexible plastic cylinder 71 for fruit, and the fruit transmits one end of flexible plastic cylinder 71 It is connected with fruit accumulator tank 523, the other end is connected with fruit collecting box 8, real by the mutual cooperation with fruit accumulator tank 523 Automatic transmission after existing fruit picking from tree end to fruit collecting box, had both provided the efficiency of fruit picking, had decreased to people The dependence of work.

The utility model is additionally provided with over range autoalarm, when the fruit on fruit tree goes beyond the scope, automatic report Alarm device will sound the alarm, and orchard worker only needs adjustment to move horizontally the picking pedestal 3 on guide rail 21 at this time.

Pass through transport vehicle 1, horizontally moving device 2, picking pedestal 3, rotating supporting device 4, rotary extension arm assembly 5, rotation Turn the mutual cooperation of flexible picker 6, fruit transfer device 7, fruit collecting box 8, device for visual identification 9, it is possible to achieve right The fruit of diverse location carries out effective, accurate, flexible flexible picking, and the same similar to the arm of people, a kind of tower crane type is certainly The application of dynamic fruit picker will greatly overturn traditional fruit picking mode, no matter on the picking efficiency of fruit, Or it can be all greatly improved in picking cost, there is very real positive effect and society generalization to be worth.

A kind of operation principle of tower crane type automatic fruit picker of the utility model is as follows：

It is soft rotating by the mutual cooperation of rotating supporting device and rotary extension arm assembly during utility model works Property picker and device for visual identification be sent on fruit tree, under the identification of device for visual identification, distinguish fruit maturation whether, pass Passing information gives rotation flexible picker, finally by the flexible picker of rotation ripened fruit is realized mechanization from Dynamic picking, the fruit after picking realize that fruit is placed into the fruit accumulator tank on telescopic arm by back rotation by rotating arm, After placement, rotating arm rotates again can pick position, and fruit transmits flexible plastic cylinder by fruit accumulator tank and fruit and is transmitted back to In fruit collecting box, when the fruit on fruit tree is beyond picking scope, which can sound the alarm sound automatically, and orchard worker only needs to adjust The whole picking pedestal moved horizontally on guide rail, final automatic picking, collection and the transport realized to fruit.

Claims (10)

1. a kind of tower crane type automatic fruit picker, including transport vehicle（1）, picking pedestal（3）, rotating supporting device（4）, water Fruit collecting box（8）, device for visual identification（9）, it is characterised in that：Further include horizontally moving device（2）, rotary extension arm assembly （5）, the flexible picker of rotation（6）, fruit transfer device（7）, the horizontally moving device（2）Installed in transport vehicle（1）On, The picking pedestal（3）Installed in horizontally moving device（2）On, the rotating supporting device（4）Installed in picking pedestal（3） On, the rotary extension arm assembly（5）One end and rotating supporting device（4）Connection, the other end and the flexible picker of rotation （6）Connection, the device for visual identification（9）Installed in the flexible picker of rotation（6）On, the fruit collecting box（8）Set In horizontally moving device（2）Side, the fruit transfer device（7）One end and rotary extension arm assembly（5）Connection, it is another End and fruit collecting box（8）Connection.

A kind of 2. tower crane type automatic fruit picker according to claim 1, it is characterised in that：The rotation support dress Put（4）Including electric machine support（41）, motor A（42）, pinion gear（43）, rotation support column（44）, the rotation support column（44） Including support base（441）, gear wheel（442）And support column（443）, the support base（441）Installed in picking pedestal（3）On, The gear wheel（442）With support base（441）Rotation connection, the support column（443）Installed in gear wheel（442）On, it is described Electric machine support（41）Installed in picking pedestal（3）On, the motor A（42）Installed in electric machine support（41）On, the pinion gear （43）Installed in motor A（42）Output shaft on, the gear wheel（442）With pinion gear（43）Intermeshing.

A kind of 3. tower crane type automatic fruit picker according to claim 2, it is characterised in that：The rotary extension arm Device（5）Including motor B（51）, telescopic arm（52）, telescopic hydraulic cylinder（53）, the motor B（51）Installed in support column（443） On, the telescopic arm（52）Including telescopic arm A（521）With telescopic arm B（522）, the telescopic arm A（521）Installed in motor B （51）Output shaft on, the telescopic arm B（522）It is socketed in telescopic arm A（521）It is interior, the telescopic hydraulic cylinder（53）One end Installed in telescopic arm A（521）Downside, the other end is installed on telescopic arm B（522）Downside, the telescopic arm A（521）With stretch Contracting arm B（522）Upside be further opened with fruit accumulator tank（523）, the fruit accumulator tank（523）One end with rotation flexibility adopt Device and picking（6）Connection, the other end and fruit transfer device（7）Connection.

A kind of 4. tower crane type automatic fruit picker according to claim 3, it is characterised in that：The fruit transmission dress Put（7）Flexible plastic cylinder is transmitted for fruit（71）, the fruit transmission flexible plastic cylinder（71）One end and fruit accumulator tank（523）Even Connect, the other end and fruit collecting box（8）Connection.

A kind of 5. tower crane type automatic fruit picker according to claim 3, it is characterised in that：The rotation flexibility is adopted Device and picking（6）Including motor C（61）, rotating arm（62）, flexible picker（63）, the motor C（61）Installed in telescopic arm B （522）On, the rotating arm（62）Installed in motor C（61）Output shaft on, it is described flexibility picker（63）Installed in rotation Pivoted arm（62）On.

A kind of 6. tower crane type automatic fruit picker according to claim 5, it is characterised in that：The flexible picking dress Put（63）Including clamping device（631）, picking hands（632）, cut stalk knife（633）, flexible sponge（634）, the clamping device （631）Installed in rotating arm（62）On, the picking hands（632）One end and clamping device（631）Connection, the other end is with cutting stalk Knife（633）Connection, the flexibility sponge（634）It is arranged on picking hands（632）Inner surface on.

A kind of 7. tower crane type automatic fruit picker according to claim 5, it is characterised in that：The visual identity dress Put（9）It is arranged close to flexible picker（63）The rotating arm of side（62）On.

A kind of 8. tower crane type automatic fruit picker according to claim 1, it is characterised in that：The transport vehicle（1） For tricycle or carriage.

A kind of 9. tower crane type automatic fruit picker according to claim 1, it is characterised in that：It is described to move horizontally dress Put（2）Including moving horizontally guide rail（21）And guide rail slide block（22）, it is described to move horizontally guide rail（21）Installed in transport vehicle（1） On, the guide rail slide block（22）Installed in picking pedestal（3）Bottom, and with moving horizontally guide rail（21）It is slidably matched.

10. according to a kind of tower crane type automatic fruit picker of claim 1 to 9 any one of them, it is characterised in that：It is described Fruit collecting box（8）It is arranged on horizontally moving device（2）The transport vehicle of side（1）On.