CN208446070U - A kind of semi-automatic pineapple picker of omnidirectional type - Google Patents

Abstract

A kind of semi-automatic pineapple picker category crops picking mechanical technical field of omnidirectional type, the utility model is by twisting cutting mechanism in pineapple stem end posture pair, realization fold clamping and it is interior to rotation so that fruit indentation twist in cutting mechanism, under rubber strip differential action, rotation is realized and twists and transmit rearward, and cuts off stem end by cutting blade, and fruit rolls into guide plate, lifting frame is risen through under the effect of free platform lifting mechanism to overturn fruit into bearing plate, realizes pineapple picking.The utility model can solve the problems such as time-consuming and laborious artificial picking pineapple, low efficiency, the easy injury of orchard worker, and pineapple picking mechanical arm structure is simple, easy to operate, can advantageously promote the development of pineapple industry.

Description

A kind of semi-automatic pineapple picker of omnidirectional type

Technical field

A kind of the utility model category crops picking mechanical technical field, and in particular to semi-automatic pineapple picking dress of omnidirectional type It sets.

Background technique

Pineapple is perennial tropical fruit (tree), has special structure, and maturation time is uneven, the general 1-3kg of pineapple sarcocarp weight, greatly Person is up to 4-5kg, and orchard worker needs to harvest in batches by its maturity, manually harvests large labor intensity, and production efficiency is low.I State falls behind relatively in the machinery field that pineapple is picked, most of by manually being picked, simultaneously because plant is arbitrarily, to machinery Change harvesting and bring extreme difficulties, largely reduces the picking efficiency of pineapple.

It to reduce artificial picking labor intensity, while realizing and precisely being picked by maturity, mainly use machine at present both at home and abroad Device people's the relevant technologies develop fruits and vegetables and automate seed harvester.The pineapple harvesting machine patent of U.S. K.J.JACKSON, takes hand Work wins mode, drives conveyer belt to realize assistant conveyance by tractor.Chinese patent CN101585333 discloses a kind of pineapple Harvesting and conveying device, it includes tractor and conveying device, but still needs to manually pick.Chinese patent CN101897259B is disclosed A kind of Pipeapple picking machine, the Pipeapple picking machine include picking mechanism, cutter hoisting mechanism, lead -18 mechanism of fruit slot, horizontal conveyer Structure, elevating conveyor structure realize that mango is picked automatically using tractor fuel power.Chinese patent CN103688657 is disclosed It is a kind of for picking the device and method of pineapple automatically, the device include horizontal orientation device, promote correction Zhi Tai mechanism, twist into two parts Harvesting mechanism, but do not relate to the pineapple after picking and collect problem.Chinese patent CN205694358U discloses a kind of pineapple and adopts Pluck manipulator, including clamping mechanical hand, shearing machine hand, gear and rack teeth mechanism, structure is simple, can alleviate manually pick it is time-consuming Arduously, the problem of low efficiency.Chinese patent CN106416621A discloses a kind of adopting automatically for the picking of tropical pineapple green Collect vehicle, realizes automation and green picking pineapple.

In summary patent is found, although realizing the automation picking to pineapple to a certain extent and collecting, Problems faced is easy device, cannot achieve automation picking and still needs largely manually, and the degree of automation is higher Device, it is with high costs, it is difficult to universal.Above-mentioned patent is not directed to realize in field and freely turns to simultaneously, to it is existing transplant with The field of meaning lacks certain practicability.

Summary of the invention

The purpose of this utility model is to provide a kind of semi-automatic pineapple picker of omnidirectional type, which has structure tight Gather, picking efficiency is high, field omnidirectional walks and can store the advantages of picking completion fruit on a small quantity, it is accurate to can be realized field pineapple Picking reduces artificial picking labor intensity.

The utility model by bearing plate A, frame B, collect lifting platform C, left picking platform D, guide plate E, left omni-directional wheel group F, Right omni-directional wheel group G, right picking platform H, computer T, battery S, lead screw assembly I 1, polished rod component I 2, lead screw assembly II 3, silk Thick stick component III 4, polished rod component II 5, lead screw assembly IV 6 form, wherein lead screw assembly I 1, lead screw assembly II 3, lead screw assembly III 4 It is identical with the structure of lead screw assembly IV 6, it is made of upper frame I 103, lead screw 104, motor 105 and chassis I 106, on lead screw 104 End is flexibly connected with upper frame I 103, and motor 105 is fixed in chassis I 106, and 104 lower end of lead screw and the output shaft of motor 105 are affixed； Polished rod component I 2 is identical with the structure of polished rod component II 5, is made of upper frame II 107, polished rod 108 and chassis II 109, polished rod 108 upper ends and upper frame II 107 are affixed, and 108 lower end of polished rod and chassis II 109 are affixed；The lead screw of lead screw assembly I 1 and collection are gone up and down Feed screw nut II 35 in platform C is threadedly coupled, and the vertical pole III 25 that the chassis of lead screw assembly I 1 is fixed in left frame J in frame B is close Plane is affixed on rear end；The nearly rear end lower plane of vertical pole II 16 that the upper frame of lead screw assembly I 1 is fixed in left frame J in frame B is solid It connects；The lead screw of lead screw assembly IV 6 is threadedly coupled with the feed screw nut I 32 collected in lifting platform C, and the chassis of lead screw assembly IV 6 is solid It is affixed to be connected to plane on the nearly rear end of IV vertical pole of vertical pole IV 26 of right frame I in frame B；The upper frame of lead screw assembly IV 6 is fixed in frame The 15 of right frame I nearly rear end lower planes are affixed in frame B；Mesa base is picked in the polished rod of polished rod component I 2 and left picking platform D The flange-type linear bearing 75 of frame f is slidably connected, and the chassis of polished rod component I 2 is fixed in the vertical pole III of left frame J in frame B Upper plane is affixed rearward at 25 middle parts；Under the upper frame of polished rod component I 2 is fixed in the middle part of the vertical pole II 16 of left frame J in frame B rearward Plane is affixed；The lead screw of lead screw assembly II 3 and the left nut 78 for picking picking mesa base frame f in platform D are threadedly coupled, silk The III 25 forward upper plane in middle part of vertical pole that the chassis of thick stick component II 3 is fixed in left frame J in frame B is affixed；Lead screw assembly II 3 The II 16 forward upper plane in middle part of vertical pole that upper frame is fixed in left frame J in frame B is affixed；The right picking of the lead screw of lead screw assembly III 4 The nut thread connection of mesa base frame is picked in platform H, the chassis of lead screw assembly III 4 is fixed in right frame I in frame B IV vertical pole of vertical pole, the IV 26 forward upper plane in middle part is affixed；The upper frame of lead screw assembly III 4 is fixed in 15 of right frame I in frame B The forward lower plane in portion is affixed；The polished rod of polished rod component II 5 and the right flange-type straight line for picking picking mesa base frame in platform H Bearing is slidably connected, and the chassis of polished rod component II 5 is fixed in the middle part of IV vertical pole of vertical pole IV 26 of right frame I in frame B on rearward Plane is affixed；The upper frame of polished rod component II 5 be fixed in right frame I in frame B 15 middle part rearward lower plane it is affixed；Bearing plate A Bottom plate I 9 be fixed in above " mesh " font top frame of frame B；Noseplate 82 and picking 37 following table of platform floor in guide plate E Face is bolted；The driving motor I 87 of I m of omni-directional wheel group is fixed in frame B before IV 26 lower part of vertical bar in left omni-directional wheel group F； I 89 both ends of Mecanum wheel are flexibly connected with the two bearing bracket of IV j of axle stand in frame B respectively；Omni-directional wheel in left omni-directional wheel group F The driving motor II 92 of II n of group is fixed in frame B before III 25 lower part of vertical bar；II 90 both ends of Mecanum wheel respectively with frame The two bearing bracket of III i of axle stand is flexibly connected in B；The driving motor III 93 of III o of omni-directional wheel group is fixed in frame in right omni-directional wheel group G In frame B before II 16 lower part of vertical bar；The two bearing bracket activity with II h of axle stand in frame B respectively of III 95 both ends of Mecanum wheel Connection；The driving motor IV 98 of IV p of omni-directional wheel group is fixed in frame B before I 15 lower part of vertical bar in right omni-directional wheel group G；Mike Na Mu takes turns IV 96 both ends and is flexibly connected respectively with the two bearing bracket of I g of axle stand in frame B；Computer T is fixed in bearing plate A The left side upper surface of bottom plate I 9；Battery S is fixed in the right side upper surface of bearing plate A insole board I 9；Left picking platform D and the right side are adopted Pluck the driving motor I 87 and driving motor II 92 in motor the group a, left omni-directional wheel group F in platform H, the drive in right omni-directional wheel group G Dynamic motor III 93 and driving motor IV 98, in lead screw assembly I 1, lead screw assembly II 3, lead screw assembly III 4 and lead screw assembly IV 6 Motor is controlled by computer T.

The bearing plate A is made of left plate I 7, foreboard 8, bottom plate I 9 and right panel I 10, wherein 8 left end of foreboard and left plate I 7 Front end is at right angles affixed, and 8 right end of foreboard and I 10 front end of right panel are at right angles affixed, the lower end of left plate I 7, foreboard 8 and right panel I 10 with The left, preceding of bottom plate I 9, right end are affixed.

The frame B is by cross bar I 11, cross bar II 12, cross bar III 13, cross bar IV 14, vertical pole I 15, vertical pole II 16, vertical bar I 17, vertical bar II 18, vertical pole III 25, vertical pole IV 26, vertical bar III 27, vertical bar IV 28, I g of axle stand, II h of axle stand, axle stand III I, IV j of axle stand is formed, wherein and cross bar I 11, cross bar II 12, cross bar III 13, cross bar IV 14 arrange from front to back, cross bar I 11, Cross bar II 12, cross bar III 13, cross bar IV 14 right end be fixed in I 15 left side of vertical pole, cross bar I 11, cross bar II 12, cross bar III 13, the left end of cross bar IV 14 is fixed in II 16 right side of vertical pole, forms top frame；III 27 upper end of vertical bar is fixed in vertical pole I 15 Front end in the following, III 27 lower end of vertical bar is fixed in above the front end of vertical pole IV 26, IV 28 upper end of vertical bar be fixed in vertical pole I 15 it is close after End is in the following, IV 28 lower end of vertical bar is fixed in above the nearly rear end of vertical pole IV 26, vertical pole I 15, vertical bar III 27, vertical pole IV 26 and vertical bar IV 28 form right frame I；I 17 upper end of vertical bar is fixed in the nearly rear end of vertical pole II 16 in the following, I 17 lower end of vertical bar is fixed in vertical pole III Above 25 nearly rear end, II 18 upper end of vertical bar is fixed in the front end of vertical pole II 16 in the following, II 18 lower end of vertical bar is fixed in vertical pole III Above 25 front end, vertical pole II 16, vertical bar I 17, vertical bar II 18 and vertical pole III 25 form left frame J；I g of axle stand, axle stand II H, III i of axle stand, the structure of IV j of axle stand are identical, by inclined plate 19, cross bar V 20, vertical pole V 21, cross bar VI 23, bearing block I 22, bearing block II 24 forms, wherein successively right angle is affixed for cross bar V 20, vertical pole V 21 and cross bar VI 23, forms U-shaped frame, inclined plate 19 lower ends and the upper surface of one in cross bar V 20 or cross bar VI 23 it is affixed；Bearing block I 22 is fixed in vertical pole V 21 in the following, bearing block II 24 are oppositely arranged with bearing block I 22, and the two central coaxial；I g of axle stand is fixed on the right side of the front lower place of right frame I, wheel shaft II h of frame is fixed on the right side of the back lower place of right frame I, and III i of axle stand is fixed on the left of the back lower place of left frame J, and IV j of axle stand is solid It is connected on the left of the front lower place of left frame J.

The collection lifting platform C by back plate 29, left plate II 30, platform I 31, feed screw nut I 32, bottom plate II 33, Platform II 34, feed screw nut II 35, right panel II 36 form, wherein 29 left end of back plate and II 30 rear end of left plate are at right angles solid It connects, 29 right end of back plate and II 36 rear end of right panel are at right angles affixed, back plate 29, the lower end of left plate II 30 and right panel II 36 and bottom plate II 33 rear, left and right end is affixed, constitutes hoistable platform；The right end of platform I 31 and the lower section of left plate II 30 are affixed, lead screw spiral shell Mother I 32 connect with the nut bore interference on I 31 surface of platform；The left end of platform II 34 and the lower section of right panel II 36 are solid It connects, feed screw nut II 35 is connect with the nut bore interference on II 34 surface of platform.

The left picking platform D is identical with right picking platform H structure, for the symmetrical structure about longitudinal axis X-X；Zuo Cai It is flat by motor group a, upper backup pad b, roller group c, lower supporting plate d, L-type axle clamp group e, picking to pluck platform D and right picking platform H Platform under(-)chassis f, picking platform floor 37, lower turntable 38, upper turntable 39 and blade 43 form, wherein motor group a, on Support plate b, roller group c, lower supporting plate d, L-type axle clamp group e, blade 43, picking platform floor 37, picking mesa base frame f Sequence arranges from top to bottom；The motor group a is made of motor I 40, motor II 41, motor III 42, wherein in motor group a The output end of motor I 40, motor II 41 and motor III 42, sequence respectively with roller I c1, drum assembly c2 and rolling in roller group c The shaft coupling for taking turns IV c5 is affixed；The upper backup pad b is identical with lower supporting plate d structure, is returned by upper backup pad part b1, idler wheel Position I b2 of device and II b3 of idler wheel returning device composition, wherein upper backup pad b is equipped with hole I 44, hole II 45, hole III 46, hole IV 47；Idler wheel returning device b2 and the lower surface of idler wheel and upper backup pad part b1 are bolted；I b2 of idler wheel returning device and II b3 structure of idler wheel returning device is identical, by support I 48, axis I 49, support type linear bearing 50, spring I 51 and support II 52 Composition, wherein support I 48 is fixed in the left end of axis I 49, and support II 52 is fixed in the right end of axis I 49；Support type linear bearing 50 It is located at the nearly right end of axis I 49 with spring I 51, support type linear bearing 50 is flexibly connected with axis I 49, and I 51 both ends of spring are by support Type linear bearing 50 and support II 52 limit；The roller group c is by roller I c1, drum assembly c2, roller II c3, idler wheel III C4 and IV c5 of idler wheel composition, and be successively vertically arranged from front to back, wherein roller I c1, roller II c3, III c4 of idler wheel and idler wheel IV c5 structure is identical；Roller I c1, drum assembly c2, the upper end of IV c5 of roller II c3, III c4 of idler wheel and idler wheel are suitable in roller group c Sequence is flexibly connected with the preceding hole I 100 of upper turntable 39, the hole I 44 of upper backup pad b, hole II 45, hole III 46, hole IV 47 respectively；Rolling Take turns the lower end sequence preceding hole with lower turntable 38 respectively of I c1, drum assembly c2, IV c5 of roller II c3, III c4 of idler wheel and idler wheel II 102, the hole V 53, hole VI 54, hole VII 55, hole VIII 56 of lower supporting plate d is flexibly connected；The roller c2 by shaft coupling 57, Top chock 58, axis II 59, roller 60 and step 61 form, wherein axis II 59 is flexibly connected with roller 60, under axis II 59 End is flexibly connected with step 61；The nearly upper end of axis II 59 is flexibly connected with top chock 58, II 59 upper end of axis and shaft coupling 57 It is affixed；The idler wheel c1, idler wheel c3, idler wheel c4 are identical with idler wheel c5 structure, by shaft coupling 62, axis III 63, top chock 64, dumbbell shape wheel 65 and step 66 form, wherein axis III 63 is flexibly connected with dumbbell shape wheel 65, the nearly lower end of axis III 63 and Step 66 is flexibly connected；The nearly upper end of axis III 63 is flexibly connected with top chock 64, and III 63 upper end of axis and shaft coupling 62 are affixed； The L-type axle clamp group e is made of I e1 of axle clamp group and axle clamp group e2, and I e1 of axle clamp group is identical with II e2 structure of axle clamp group, by Axle clamp I 67, axis IV 68, through-type linear bearing 69, spring II 70, support 71 and axle clamp II 72 form, wherein IV 68 right end of axis Affixed axle clamp I 67, through-type linear bearing 69, spring II 70 and support 71 are placed in IV 68 middle part of axis, 71 He of support from right-to-left Through-type linear bearing 69 is flexibly connected with axis IV 68, the affixed axle clamp II 72 in IV 68 left end of axis；I e1 of axle clamp group in L-type axle clamp group e Be transversely mounted on the lower section of lower supporting plate d with II e2 of axle clamp group, upper and lower surface respectively with the lower surface of lower supporting plate d and picking The upper surface bolt fixed of platform floor 37 connects；The picking mesa base frame f is by cross bar VII 73, fixed plate I 74, bearing 75, vertical pole VI 76, fixed plate II 77, nut 78, cross bar VIII 79, fixed plate III 80 and fixed plate IV 81 form, wherein vertical pole VI The 76 front ends nearly left end of affixed cross bar VII 73, VI 76 rear end of the vertical pole nearly left end of affixed cross bar VIII 79；Fixed plate I 74 and fixed plate IV 81 The junction symmetrical above and below for being fixed in cross bar VII 73 and vertical pole VI 76；Fixed plate II 77 and fixed plate III 80 is symmetrical above and below is fixed in The junction of cross bar VII 73 and cross bar VIII 79；Bearing 75 is fixed in the bearing hole of fixed plate I 74, and nut 78 is located at fixed plate II In 77 nut bore；The blade 43 is fixed in above picking platform floor 37；Pick platform floor 37 lower surface with adopt Mesa base frame f is plucked to be bolted.

The guide plate E is made of noseplate 82, bottom plate III 83, right panel III 84, rear bottom plate 85 and left plate III 86, wherein Noseplate 82, bottom plate III 83, rear bottom plate 85 are affixed from sequence front to back, and the angle α of noseplate 82 and bottom plate III 83 is 120 Degree, rear bottom plate 85 and III angle β is 120 degree；Right panel III 84 is vertically fixed in 85 right end of bottom plate III 83 and rear bottom plate, left plate III 86 are vertically fixed in 85 left end of bottom plate III 83 and rear bottom plate.

The left omni-directional wheel group F is made of I m of omni-directional wheel group and II n of omni-directional wheel group, and I m of omni-directional wheel group is by driving motor I 87, V band I 88 and Mecanum wheel I 89 form, and the output end of driving motor I 87 is living through V band I 88 and I 89 left end of Mecanum wheel Dynamic connection；II n of omni-directional wheel group is made of Mecanum wheel II 90, V band II 91, driving motor II 92, driving motor II 92 it is defeated Outlet is flexibly connected through V band II 91 with II 90 left end of Mecanum wheel；Right omni-directional wheel group G is by III o of omni-directional wheel group and omni-directional wheel group IV p composition, wherein III o of omni-directional wheel group is made of driving motor III 93, III 94 Mecanum wheel III 95 of V band, driving motor III 93 Output end be flexibly connected through V band III 94 with III 95 left end of Mecanum wheel；IV p of omni-directional wheel group is by Mecanum wheel IV 96, V band IV 97, driving motor IV 98 forms, and the output end of driving motor IV 98 connects through V band IV 97 and IV 96 left end activity of Mecanum wheel It connects.

The course of work of the semi-automatic pineapple picker of omnidirectional type:

In the semi-automatic pineapple picker motion process of omnidirectional type, omni-directional wheel group is consolidated by bearing block corresponding thereto It is scheduled in the rectangle profile wheel hub stretched out on platform frame and is subject to 45 degree type materials and carry out reinforcement, while using 4 Stepper motor transmits power and control respectively, using omnidirectional's cranking wheel control system, by range estimation plant position via control remote controler It is manipulated.

It includes triangle stem end centering body symmetrically arranged on the left and the right that cutting Dao Guo mechanism is twisted in stem end posture pair, rotation Rubber strip folds stem end posture correction mechanism, and what is be arranged symmetrically twists cutting mechanism from tensioning, connects the guide plate E at rear portion.Triangle Shape stem end centering body includes the preceding guide plate being arranged symmetrically, and leading to plate is triangle flat plate, and plate is by bolt and adopting Platform mechanism front plan is plucked to link together.Rotation rubber band folds the rotation that stem end posture correction mechanism includes left and right arrangement Main shaft is folded, idler wheel is piped, rotation folds upper plate in a zigzag, and rotation folds lower plate in a zigzag, flute profile friction pulley, general rotation Motor, compact trimming flange bearing seat, shaft coupling, rubber strip (cover on flute profile friction pulley)；Wherein, rotation folds on main shaft End is fixed on by deep groove ball bearing twists cutting upper plate, and lower end is fixed on by compact trimming flange bearing seat and twists cutting Lower plate, general rotating electric machine fold main shaft with rotation by shaft coupling and are connected, and rotation folds upper plate and rotation folds lower plate and rotation Turn to fold main shaft interference fit with passing movement, is piped idler wheel and is assemblied on main shaft as rubber strip rotates, on flute profile friction pulley Lower end rotary shaft, is fixed on that rotation folds upper plate and rotation folds between lower plate by compact trimming flange bearing seat, general Rotating electric machine is connected by shaft coupling with flute profile friction pulley, and rubber strip covers the realization on flute profile friction pulley and piping idler wheel and folds fortune Dynamic, differential is realized in movement, that is, realizes and fruit is transported to rear while twisting fruit.

Twisting cutting mechanism from tensioning includes Y-direction cutting rotating device tension structure, rubber strip strainer, flute profile friction The rubber strip that wheel rotation drives twists mechanism, connects firmly in the V-shape cutting for twisting the mounted on top of cutting lower plate being arranged symmetrically Blade assembly, picks platform support panel and picking platform frame, pineapple make carpopodium be centered in rotation via centering body Rubber strip folds between stem end posture correction mechanism, and retracting mechanism folds pineapple indentation and twists cutting mechanism, twists cutting mechanism It realizes pineapple between symmetrical rubber strip to twist, while carpopodium is cut off by V-knife piece.

Picking platform lifting mechanism includes the picking platform frame and acrylic board clamping device being arranged symmetrically, lead screw Pair of nut, shaft coupling pick platform lifting motor, and movable motor is fixed, and are oriented to polished rod, linear bearing, compact trimming flange Bearing block.Screw pair and shaft coupling, electric machine built-in are fixed by bolts opposed up and down in picking platform lower portion Rectangle acrylic board be fixed on the picking platform frame that picking platform stretches out, using being arranged vertically form；Walking electricity The fixed shape of machine is L shape, and bolt is fixed in the inside groove of profile.By estimating pineapple height, starts lifting platform motor and make Screw pair drives picking platform frame and acrylic board clamping device and platform to realize the raising and lowering of Y-direction.

It includes guide plate that holding structure is collected in guide plate and lifting, goes up and down fruit slot, support rod, torsion shaft, reset spring, engaging lug Part, the screw pair being arranged symmetrically, lifting motor, shaft coupling, motor fixing device and receipts fruit collecting groove, lead fruit slot and picking is flat To be bolted, support rod is connected by connection ear piece with the screw pair being arranged symmetrically with torsion shaft at platform rear portion, is overturn Axis passes through the axis hole of lifting fruit slot, and receiving fruit collecting groove pushing lifting platform overturns it around torsion shaft, and fruit is poured into receipts fruit collecting groove, multiple Position spring resets after realizing overturning.

The utility model can solve the problems such as time-consuming and laborious artificial picking pineapple, low efficiency, the easy injury of orchard worker, and spinach Trailing plants picking mechanical arm structure is simple, easy to operate, can advantageously promote the development of pineapple industry.

Detailed description of the invention

Fig. 1 is the axonometric drawing of the semi-automatic pineapple picker of omnidirectional type

Fig. 2 is the left view of the semi-automatic pineapple picker of omnidirectional type

Fig. 3 is the right view of the semi-automatic pineapple picker of omnidirectional type

Fig. 4 is the enlarged drawing of A meaning in Fig. 1

Fig. 5 is the enlarged drawing of B meaning in Fig. 1

Fig. 6 is the enlarged drawing of C meaning in Fig. 1

Fig. 7 is the axonometric drawing of D meaning in Fig. 1

Fig. 8 is the top view of D meaning in Fig. 1

Fig. 9 is the left view of D meaning in Fig. 1

Figure 10 is 38 signified enlarged drawing in Fig. 9

Figure 11 is 39 signified enlarged drawing in Fig. 9

Figure 12 is 43 signified enlarged drawing in Figure 13

Figure 13 is the enlarged drawing of D meaning in Fig. 8

Figure 14 is the enlarged drawing of b meaning in Fig. 9

Figure 15 is the bottom view of b meaning in Fig. 9

Figure 16 is the enlarged drawing of b2 meaning in Figure 15

Figure 17 is the top view of d meaning in Fig. 9

Figure 18 is the enlarged drawing of d meaning in Fig. 9

Figure 19 is the enlarged drawing of c meaning in Fig. 9

Figure 20 is the enlarged drawing of c2 meaning in Figure 19

Figure 21 is the enlarged drawing of c1 meaning in Figure 19

Figure 22 is the enlarged drawing one of e meaning in Fig. 9

Figure 23 is the enlarged drawing two of e meaning in Fig. 9

Figure 24 is the left view of f meaning in Fig. 9

Figure 25 is the top view of f meaning in Fig. 9

Figure 26 is the enlarged drawing of E meaning in Fig. 1

Figure 27 is the left view of E meaning in Fig. 1

Figure 28 is the enlarged drawing of rear-wheel in F in Fig. 2

Figure 29 is the enlarged drawing of front-wheel in F in Fig. 2

Figure 30 is the enlarged drawing of rear-wheel in G in Fig. 2

Figure 31 is the enlarged drawing of front-wheel in G in Fig. 2

Figure 32 is enlarged drawing shown in 1 in Fig. 1

Figure 33 is enlarged drawing shown in 2 in Fig. 1

Wherein: A. bearing plate B. frame C. collects the left omni-directional wheel group G. of the right picking platform E. guide plate F. of lifting platform D. The right right picking platform a. motor group b. upper backup pad c. roller group d. lower supporting plate e.L profile shaft folder group of omni-directional wheel group H. F. III j. axle stand of mesa base frame g. axle stand I h. axle stand, II i. axle stand, IV 1. lead screw assembly I 2. is picked IV 7. left plate of polished rod component I 3. lead screw assembly, II 4. lead screw assembly, III 5. polished rod component, II 6. lead screw assembly, I 8. foreboard 9. IV 15. vertical pole of bottom plate I 10. right panel, 11. cross bar, I 12. cross bar, II 13. cross bar, III 14. cross bar, I 16. vertical pole II 17. I 23. cross bar of vertical bar I 18. vertical bar, II 19. inclined plate, 20. cross bar, V 21. vertical pole, V 22. bearing block, VI 24. bearing block II 25. vertical pole III 26. vertical pole, IV 27. vertical bar III 28. vertical bar, IV 29. back plate, 30. left plate II 31. platform I 32. II 35. feed screw nut of thick stick nut I 33. bottom plate, II 34. platform, II 36. right panel II 37. is picked under platform floor 38. 40. motor of turntable, I 41. motor, II 42. motor, III 43. blade, 44. hole, I 45. hole, II 46. hole on turntable 39. III 47. hole, IV 48. support, I 49. axis, I 50. support type linear bearing, 51. spring, I 52. support, II 53. hole, V 54. hole VI 55. hole, VII 56. hole, VIII 57. shaft coupling, 58. top chock, 59. axis, II 60. roller, 61. step, 62. shaft coupling The through-type straight line of I 68. axis of device 63. axis, III 64. top chock, 65. dumbbell shape wheel, 66. step, 67. axle clamp IV 69. I 75. bearing of bearing 70. spring, II 71. support, 72. axle clamp, II 73. cross bar, VII 74. fixed plate, 76. vertical pole VI 77. is solid 83. bottom plate of fixed board II 78. nut, 79. cross bar, VIII 80. fixed plate, III 81. fixed plate, IV 82. noseplate, III 84. right panel III 86. left plate of bottom plate, III 87. driving motor, I 88.V band, I 89. Mecanum wheel, I 90. Mecanum wheel, II 91.V after 85. III 95. Mecanum wheel of band II 92. driving motor, II 93. driving motor, III 94.V band, III 96. Mecanum wheel IV IV 98. driving motor of 97.V band, IV 99. metapore, I 100. preceding II 103. upper frame I of hole of preceding I 101. metapore of hole II 102. 104. II 108. polished rod of lead screw 105. motor, IV 106. chassis, I 107. upper frame, 109. chassis II

Specific embodiment

As shown in Fig. 1-Fig. 3, Figure 32 and Figure 33, the utility model is by bearing plate A, frame B, collection lifting platform C, left picking Platform D, guide plate E, left omni-directional wheel group F, right omni-directional wheel group G, right picking platform H, computer T, battery S, lead screw assembly I 1, light Bar assembly I 2, lead screw assembly II 3, lead screw assembly III 4, polished rod component II 5, lead screw assembly IV 6 form, wherein lead screw assembly I 1, Lead screw assembly II 3, lead screw assembly III 4 are identical with the structure of lead screw assembly IV 6, by upper frame I 103, lead screw 104,105 and of motor Chassis I 106 forms, and 104 upper end of lead screw is flexibly connected with upper frame I 103, and motor 105 is fixed in chassis I 106,104 lower end of lead screw It is affixed with the output shaft of motor 105.

Polished rod component I 2 is identical with the structure of polished rod component II 5, by upper frame II 107, polished rod 108 and II 109 groups of chassis At 108 upper end of polished rod and upper frame II 107 are affixed, and 108 lower end of polished rod and chassis II 109 are affixed.

The lead screw of lead screw assembly I 1 is threadedly coupled with the feed screw nut II 35 collected in lifting platform C, the bottom of lead screw assembly I 1 It is affixed that frame is fixed in plane on the nearly rear end of vertical pole III 25 of left frame J in frame B；The upper frame of lead screw assembly I 1 is fixed in frame B The nearly rear end lower plane of vertical pole II 16 of middle left frame J is affixed.

The lead screw of lead screw assembly IV 6 is threadedly coupled with the feed screw nut I 32 collected in lifting platform C, the bottom of lead screw assembly IV 6 It is affixed that frame is fixed in plane on the nearly rear end of IV vertical pole of vertical pole IV 26 of right frame I in frame B；The upper frame of lead screw assembly IV 6 is affixed The 15 of right frame I nearly rear end lower planes are affixed in frame B.

The polished rod of polished rod component I 2 and the left flange-type linear bearing 75 for picking picking mesa base frame f in platform D are sliding Dynamic connection, it is affixed that the chassis of polished rod component I 2 is fixed in the middle part of the vertical pole III 25 of left frame J in frame B upper plane rearward；Polished rod The upper frame of component I 2 is fixed in the middle part of vertical pole II 16 of left frame J in frame B, and lower plane is affixed rearward.

The lead screw of lead screw assembly II 3 and the left nut 78 for picking picking mesa base frame f in platform D are threadedly coupled, silk The III 25 forward upper plane in middle part of vertical pole that the chassis of thick stick component II 3 is fixed in left frame J in frame B is affixed；Lead screw assembly II 3 The II 16 forward upper plane in middle part of vertical pole that upper frame is fixed in left frame J in frame B is affixed.

The nut thread connection of mesa base frame, lead screw assembly are picked in the right picking platform H of the lead screw of lead screw assembly III 4 IV vertical pole of vertical pole, the IV 26 forward upper plane in middle part that III 4 chassis is fixed in right frame I in frame B is affixed；Lead screw assembly III 4 The 15 forward lower planes in middle part that upper frame is fixed in right frame I in frame B are affixed.

The polished rod of polished rod component II 5 and the right flange-type linear bearing for picking picking mesa base frame in platform H slide Connection, it is affixed that the chassis of polished rod component II 5 is fixed in the middle part of IV vertical pole of vertical pole IV 26 of right frame I in frame B upper plane rearward； The upper frame of polished rod component II 5 be fixed in right frame I in frame B 15 middle part rearward lower plane it is affixed.

The bottom plate I 9 of bearing plate A is fixed in above " mesh " font top frame of frame B；Noseplate 82 in guide plate E with adopt 37 lower surface of platform floor is plucked to be bolted.

The driving motor I 87 of I m of omni-directional wheel group is fixed in frame B before IV 26 lower part of vertical bar in left omni-directional wheel group F；Wheat Ke Namu takes turns I 89 both ends and is flexibly connected respectively with the two bearing bracket of IV j of axle stand in frame B.

The driving motor II 92 of II n of omni-directional wheel group is fixed in frame B before III 25 lower part of vertical bar in left omni-directional wheel group F； II 90 both ends of Mecanum wheel are flexibly connected with the two bearing bracket of III i of axle stand in frame B respectively.

The driving motor III 93 of III o of omni-directional wheel group is fixed in frame B before II 16 lower part of vertical bar in right omni-directional wheel group G； III 95 both ends of Mecanum wheel are flexibly connected with the two bearing bracket of II h of axle stand in frame B respectively.

The driving motor IV 98 of IV p of omni-directional wheel group is fixed in frame B before I 15 lower part of vertical bar in right omni-directional wheel group G；Wheat Ke Namu takes turns IV 96 both ends and is flexibly connected respectively with the two bearing bracket of I g of axle stand in frame B.

Computer T is fixed in the left side upper surface of bearing plate A insole board I 9；Battery S is fixed in bearing plate A insole board I 9 Right side upper surface；I 87 He of driving motor in motor group a, left omni-directional wheel group F in left picking platform D and right picking platform H Driving motor II 92, driving motor III 93 and driving motor IV 98 in right omni-directional wheel group G, lead screw assembly I 1, lead screw assembly II 3, the motor in lead screw assembly III 4 and lead screw assembly IV 6 is controlled by computer T.

As shown in figure 4, the bearing plate A is made of left plate I 7, foreboard 8, bottom plate I 9 and right panel I 10, wherein foreboard 8 is left End is at right angles affixed with I 7 front end of left plate, and 8 right end of foreboard and I 10 front end of right panel are at right angles affixed, left plate I 7, foreboard 8 and right panel I 10 lower end and the left, preceding of bottom plate I 9, right end are affixed.

As shown in figure 5, the frame B is by cross bar I 11, cross bar II 12, cross bar III 13, cross bar IV 14, vertical pole I 15, vertical Bar II 16, vertical bar I 17, vertical bar II 18, vertical pole III 25, vertical pole IV 26, vertical bar III 27, vertical bar IV 28, I g of axle stand, axle stand II H, III i of axle stand, IV j of axle stand are formed, wherein cross bar I 11, cross bar II 12, cross bar III 13, cross bar IV 14 are arranged from front to back Column, cross bar I 11, cross bar II 12, cross bar III 13, cross bar IV 14 right end be fixed in I 15 left side of vertical pole, cross bar I 11, cross bar II 12, cross bar III 13, cross bar IV 14 left end be fixed in II 16 right side of vertical pole, form top frame.

III 27 upper end of vertical bar is fixed in the front end of vertical pole I 15 in the following, III 27 lower end of vertical bar is fixed in the front end of vertical pole IV 26 Above, IV 28 upper end of vertical bar is fixed in the nearly rear end of vertical pole I 15 in the following, IV 28 lower end of vertical bar is fixed in the nearly rear end of vertical pole IV 26 Above, vertical pole I 15, vertical bar III 27, vertical pole IV 26 and vertical bar IV 28 form right frame I.

I 17 upper end of vertical bar be fixed in the nearly rear end of vertical pole II 16 in the following, I 17 lower end of vertical bar be fixed in vertical pole III 25 it is close after Above, II 18 upper end of vertical bar is fixed in the front end of vertical pole II 16 in the following, II 18 lower end of vertical bar is fixed in the front end of vertical pole III 25 at end Above, vertical pole II 16, vertical bar I 17, vertical bar II 18 and vertical pole III 25 form left frame J.

I g of axle stand, II h of axle stand, III i of axle stand, the structure of IV j of axle stand are identical, by inclined plate 19, cross bar V 20, Vertical pole V 21, cross bar VI 23, bearing block I 22, bearing block II 24 form, wherein cross bar V 20, vertical pole V 21 and cross bar VI 23 according to Secondary right angle is affixed, formed U-shaped frame, 19 lower end of inclined plate and the upper surface of one in cross bar V 20 or cross bar VI 23 it is affixed.

Bearing block I 22 is fixed in vertical pole V 21 in the following, bearing block II 24 is oppositely arranged with bearing block I 22, and the two center Coaxially.

I g of axle stand is fixed on the right side of the front lower place of right frame I, and II h of axle stand is fixed on the right side of the back lower place of right frame I, III i of axle stand is fixed on the left of the back lower place of left frame J, and IV j of axle stand is fixed on the left of the front lower place of left frame J.

As shown in fig. 6, the collection lifting platform C by back plate 29, left plate II 30, platform I 31, feed screw nut I 32, Bottom plate II 33, platform II 34, feed screw nut II 35, right panel II 36 form, wherein 29 left end of back plate and II 30 rear end of left plate At right angles affixed, 29 right end of back plate and II 36 rear end of right panel are at right angles affixed, the lower end of back plate 29, left plate II 30 and right panel II 36 It is affixed with rear, the left and right end of bottom plate II 33, constitute hoistable platform.

The right end of platform I 31 and the lower section of left plate II 30 are affixed, feed screw nut I 32 and I 31 surface of platform Nut bore interference connection.

The left end of platform II 34 and the lower section of right panel II 36 are affixed, feed screw nut II 35 and II 34 surface of platform Nut bore interference connection.

As shown in Fig. 7-Figure 25, the left picking platform D is identical with right picking platform H structure, for about longitudinal axis X-X Symmetrical structure.

Left picking platform D and right picking platform H are by motor group a, upper backup pad b, roller group c, lower supporting plate d, L-type axis Folder group e, picking mesa base frame f, picking platform floor 37, lower turntable 38, upper turntable 39 and blade 43 form, In, motor group a, upper backup pad b, roller group c, lower supporting plate d, L-type axle clamp group e, blade 43, picking platform floor 37, picking Mesa base frame f is sequentially arranged from top to bottom.

As shown in fig. 7, the motor group a is made of motor I 40, motor II 41, motor III 42, wherein in motor group a The output end of motor I 40, motor II 41 and motor III 42, sequence respectively with roller I c1, drum assembly c2 and rolling in roller group c The shaft coupling for taking turns IV c5 is affixed.

As shown in figure 15, the upper backup pad b is identical with lower supporting plate d structure, is returned by upper backup pad part b1, idler wheel Position I b2 of device and II b3 of idler wheel returning device composition, wherein upper backup pad b is equipped with hole I 44, hole II 45, hole III 46, hole IV 47；Idler wheel returning device b2 and the lower surface of idler wheel and upper backup pad part b1 are bolted.

As shown in figure 16, I b2 of idler wheel returning device is identical with II b3 structure of idler wheel returning device, by support I 48, axis I 49, support type linear bearing 50, spring I 51 and support II 52 form, wherein support I 48 is fixed in a left side for axis I 49 End, support II 52 are fixed in the right end of axis I 49.

Support type linear bearing 50 and spring I 51 are located at the nearly right end of axis I 49, and support type linear bearing 50 and axis I 49 are living Dynamic connection, I 51 both ends of spring are limited by support type linear bearing 50 and support II 52.

As shown in Figure 19-21, the roller group c by roller I c1, drum assembly c2, roller II c3, III c4 of idler wheel and IV c5 of idler wheel composition, and be successively vertically arranged from front to back, wherein roller I c1, IV c5 of roller II c3, III c4 of idler wheel and idler wheel Structure is identical；The upper end sequence point of roller I c1, drum assembly c2, IV c5 of roller II c3, III c4 of idler wheel and idler wheel in roller group c It is not flexibly connected with the preceding hole I 100 of upper turntable 39, the hole I 44 of upper backup pad b, hole II 45, hole III 46, hole IV 47.

Roller I c1, drum assembly c2, IV c5 of roller II c3, III c4 of idler wheel and idler wheel lower end sequence respectively with lower rotation The preceding hole II 102 of platform 38, the hole V 53 of lower supporting plate d, hole VI 54, hole VII 55, hole VIII 56 are flexibly connected.

The roller c2 is made of shaft coupling 57, top chock 58, axis II 59, roller 60 and step 61, wherein Axis II 59 is flexibly connected with roller 60, and II 59 lower end of axis is flexibly connected with step 61；The nearly upper end of axis II 59 and top chock 58 are flexibly connected, and II 59 upper end of axis and shaft coupling 57 are affixed.

The idler wheel c1, idler wheel c3, idler wheel c4 are identical with idler wheel c5 structure, by shaft coupling 62, axis III 63, upper bearing (metal) Seat 64, dumbbell shape wheel 65 and step 66 form, wherein axis III 63 is flexibly connected with dumbbell shape wheel 65, the nearly lower end of axis III 63 It is flexibly connected with step 66；The nearly upper end of axis III 63 is flexibly connected with top chock 64, and III 63 upper end of axis and shaft coupling 62 are solid It connects.

As shown in Figure 22 and Figure 23, the L-type axle clamp group e is made of I e1 of axle clamp group and axle clamp group e2, I e1 of axle clamp group It is identical with II e2 structure of axle clamp group, by axle clamp I 67, axis IV 68, through-type linear bearing 69, spring II 70, support 71 and axis Press from both sides II 72 compositions, wherein the affixed axle clamp I 67 of IV 68 right end of axis, through-type linear bearing 69, spring II 70 and support 71 are certainly right extremely A left side is placed in IV 68 middle part of axis, and support 71 and through-type linear bearing 69 are flexibly connected with axis IV 68, the affixed axle clamp in IV 68 left end of axis Ⅱ72。

I e1 of axle clamp group and II e2 of axle clamp group is transversely mounted on the lower section of lower supporting plate d, upper and lower surface in L-type axle clamp group e The upper surface bolt fixed with the lower surface of lower supporting plate d and picking platform floor 37 connects respectively.

As shown in figures 24 and 25, the picking mesa base frame f by cross bar VII 73, fixed plate I 74, bearing 75, Vertical pole VI 76, fixed plate II 77, nut 78, cross bar VIII 79, fixed plate III 80 and fixed plate IV 81 form, wherein vertical pole VI 76 The front end nearly left end of affixed cross bar VII 73, VI 76 rear end of the vertical pole nearly left end of affixed cross bar VIII 79；In fixed plate I 74 and fixed plate IV 81 It is symmetrically fixed in the junction of cross bar VII 73 and vertical pole VI 76 down；Fixed plate II 77 and fixed plate III 80 is symmetrical above and below is fixed in cross The junction of bar VII 73 and cross bar VIII 79；Bearing 75 is fixed in the bearing hole of fixed plate I 74, and nut 78 is located at fixed plate II 77 Nut bore in.

As shown in figure 13, the blade 43 is fixed in above picking platform floor 37；Pick the following table of platform floor 37 Face is bolted with picking mesa base frame f.

As shown in Figure 26 and Figure 27, the guide plate E is by noseplate 82, bottom plate III 83, right panel III 84, rear bottom plate 85 and a left side Plate III 86 forms, wherein noseplate 82, bottom plate III 83, rear bottom plate 85 are affixed from sequence front to back, and noseplate 82 and bottom plate III 83 angle α is 120 degree, and the angle β of rear bottom plate 85 and III is 120 degree；Right panel III 84 is vertically fixed in bottom plate III 83 and rear bottom 85 right end of plate, left plate III 86 are vertically fixed in 85 left end of bottom plate III 83 and rear bottom plate.

As shown in Figure 28-Figure 31, the left omni-directional wheel group F is made of I m of omni-directional wheel group and II n of omni-directional wheel group, omni-directional wheel I m of group is made of driving motor I 87, V band I 88 and Mecanum wheel I 89, and the output end of driving motor I 87 is through V band I 88 and Mike Na Mu takes turns I 89 left ends and is flexibly connected.

II n of omni-directional wheel group is made of Mecanum wheel II 90, V band II 91, driving motor II 92, driving motor II 92 it is defeated Outlet is flexibly connected through V band II 91 with II 90 left end of Mecanum wheel.

Right omni-directional wheel group G is made of III o of omni-directional wheel group and IV p of omni-directional wheel group, and wherein III o of omni-directional wheel group is by driving motor III 93, III 94 Mecanum wheel III 95 of V band forms, and the output end of driving motor III 93 is left through V band III 94 and Mecanum wheel III 95 End is flexibly connected.

IV p of omni-directional wheel group is made of Mecanum wheel IV 96, V band IV 97, driving motor IV 98, driving motor IV 98 it is defeated Outlet is flexibly connected through V band IV 97 with IV 96 left end of Mecanum wheel.

Driving motor 87 is bolted on vertical bar I 17, is met short V band 88 and is tensioned, and short V band 88 is parallel to frame B Right side support bar plane.

Claims (7)

1. a kind of semi-automatic pineapple picker of omnidirectional type, it is characterised in that: by bearing plate (A), frame (B), collect lifting platform (C), left picking platform (D), guide plate (E), left omni-directional wheel group (F), right omni-directional wheel group (G), right picking platform (H), computer (T), battery (S), lead screw assembly I (1), polished rod component I (2), lead screw assembly II (3), lead screw assembly III (4), polished rod component II (5), lead screw assembly IV (6) composition, wherein lead screw assembly I (1), lead screw assembly II (3), lead screw assembly III (4) and lead screw group The structure of part IV (6) is identical, is made of upper frame I (103), lead screw (104), motor (105) and chassis I (106), lead screw (104) upper end is flexibly connected with upper frame I (103), and motor (105) is fixed in chassis I (106), lead screw (104) lower end and motor (105) output shaft is affixed；Polished rod component I (2) is identical with the structure of polished rod component II (5), by upper frame II (107), polished rod (108) it is formed with chassis II (109), polished rod (108) upper end and upper frame II (107) are affixed, polished rod (108) lower end and chassis II (109) affixed；The lead screw of lead screw assembly I (1) is threadedly coupled with the feed screw nut II (35) collected in lifting platform (C), lead screw group It is affixed that the chassis of part I (1) is fixed in plane on the nearly rear end of vertical pole III (25) of left frame (J) in frame (B)；Lead screw assembly I (1) Upper frame be fixed in left frame (J) in frame (B) the nearly rear end lower plane of vertical pole II (16) it is affixed；The silk of lead screw assembly IV (6) Thick stick is threadedly coupled with the feed screw nut I (32) collected in lifting platform (C), and the chassis of lead screw assembly IV (6) is fixed in frame (B) Plane is affixed on the nearly rear end of the vertical pole IV (26) of right frame (I)；The upper frame of lead screw assembly IV (6) is fixed in right side in frame (B) The nearly rear end lower plane in (15) of frame (I) is affixed；Mesa base frame is picked in the polished rod of polished rod component I (2) and left picking platform (D) The flange-type linear bearing (75) of frame (f) is slidably connected, and the chassis of polished rod component I (2) is fixed in left frame (J) in frame (B) Vertical pole III (25) in the middle part of rearward upper plane it is affixed；The upper frame of polished rod component I (2) is fixed in the vertical of left frame (J) in frame (B) Lower plane is affixed rearward in the middle part of bar II (16)；Mesa base frame is picked in the lead screw of lead screw assembly II (3) and left picking platform (D) The nut (78) of frame (f) is threadedly coupled, and the chassis of lead screw assembly II (3) is fixed in the vertical pole III of left frame (J) in frame (B) (25) the forward upper plane in middle part is affixed；The upper frame of lead screw assembly II (3) is fixed in the vertical pole II of left frame (J) in frame (B) (16) the forward upper plane in middle part is affixed；The spiral shell of picking mesa base frame in right picking platform (H) of the lead screw of lead screw assembly III (4) Box thread connection, the chassis of lead screw assembly III (4) are fixed on forward in the middle part of the vertical pole IV (26) of right frame (I) in frame (B) Plane is affixed；It is affixed that the upper frame of lead screw assembly III (4) is fixed in forward lower plane in the middle part of (15) of right frame (I) in frame (B)； The polished rod of polished rod component II (5) and the flange-type linear bearing of picking mesa base frame in right picking platform (H) are slidably connected, It is affixed that the chassis of polished rod component II (5) is fixed in the middle part of the vertical pole IV (26) of right frame (I) in frame (B) upper plane rearward；Light The upper frame of bar assembly II (5) is fixed in the middle part of (15) of right frame (I) in frame (B) that lower plane is affixed rearward；Bearing plate (A) Bottom plate I (9) is fixed in above " mesh " font top frame of frame (B)；Noseplate (82) and picking platform floor in guide plate (E) (37) lower surface is bolted；The driving motor I (87) of omni-directional wheel group I (m) is fixed in frame (B) in left omni-directional wheel group (F) Before vertical bar I (17) lower part；The two bearing bracket activity with axle stand IV (j) in frame (B) respectively of Mecanum wheel I (89) both ends Connection；The driving motor II (92) of omni-directional wheel group II (n) is fixed in frame (B) under vertical bar II (18) in left omni-directional wheel group (F) Before portion；Mecanum wheel II (90) both ends are flexibly connected with the two bearing bracket of axle stand III (i) in frame (B) respectively；It is right complete The driving motor III (93) of omni-directional wheel group III (o) is fixed in frame (B) before vertical bar III (27) lower part in wheel group (G)；Wheat Ke Namu takes turns III (95) both ends and is flexibly connected respectively with the two bearing bracket of axle stand II (h) in frame (B)；Right omni-directional wheel group (G) The driving motor IV (98) of middle omni-directional wheel group IV (p) is fixed in frame (B) before vertical bar IV (28) lower part；Mecanum wheel IV (96) both ends are flexibly connected with the two bearing bracket of axle stand I (g) in frame (B) respectively；Computer (T) is fixed in bearing plate (A) The left side upper surface of insole board I (9)；Battery (S) is fixed in the right side upper surface of bearing plate (A) insole board I (9)；Left picking Motor group (a) in platform (D) and right picking platform (H), driving motor I (87) and driving motor in left omni-directional wheel group (F) II (92), driving motor III (93) and driving motor IV (98) in right omni-directional wheel group (G), lead screw assembly I (1), lead screw assembly Motor in II (3), lead screw assembly III (4) and lead screw assembly IV (6) is controlled by computer (T).

2. the semi-automatic pineapple picker of omnidirectional type according to claim 1, which is characterized in that the bearing plate (A) by Left plate I (7), foreboard (8), bottom plate I (9) and right panel I (10) composition, wherein foreboard (8) left end and left plate I (7) front end are rectangular Affixed, foreboard (8) right end and right panel I (10) front end are at right angles affixed, the lower end of left plate I (7), foreboard (8) and right panel I (10) with The left, preceding of bottom plate I (9), right end are affixed.

3. the semi-automatic pineapple picker of omnidirectional type according to claim 1, which is characterized in that the frame (B) is by cross Bar I (11), cross bar II (12), cross bar III (13), cross bar IV (14), vertical pole I (15), vertical pole II (16), vertical bar I (17), vertical bar II (18), vertical pole III (25), vertical pole IV (26), vertical bar III (27), vertical bar IV (28), axle stand I (g), axle stand II (h), wheel Pedestal III (i), axle stand IV (j) composition, wherein cross bar I (11), cross bar II (12), cross bar III (13), cross bar IV (14) are in the past Arrange backward, cross bar I (11), cross bar II (12), cross bar III (13), cross bar IV (14) right end be fixed on the left of vertical pole I (15) Face, cross bar I (11), cross bar II (12), cross bar III (13), cross bar IV (14) left end be fixed in vertical pole II (16) right side, shape At top frame；Vertical bar III (27) upper end is fixed in the front end of vertical pole I (15) in the following, vertical bar III (27) lower end is fixed in vertical pole IV (26) above front end, vertical bar IV (28) upper end is fixed in the nearly rear end of vertical pole I (15) in the following, vertical bar IV (28) lower end is fixed in Above the nearly rear end of vertical pole IV (26), vertical pole I (15), vertical bar III (27), vertical pole IV (26) and vertical bar IV (28) form right frame (I)；Vertical bar I (17) upper end is fixed in the nearly rear end of vertical pole II (16) in the following, vertical bar I (17) lower end is fixed in vertical pole III (25) Above nearly rear end, vertical bar II (18) upper end is fixed in the front end of vertical pole II (16) in the following, vertical bar II (18) lower end is fixed in vertical pole Above the front end of III (25), vertical pole II (16), vertical bar I (17), vertical bar II (18) and vertical pole III (25) form left frame (J)；Wheel Pedestal I (g), axle stand II (h), axle stand III (i), the structure of axle stand IV (j) are identical, by inclined plate (19), cross bar V (20), vertical pole V (21), cross bar VI (23), bearing block I (22), bearing block II (24) composition, wherein cross bar V (20), vertical pole Successively right angle is affixed for V (21) and cross bar VI (23), forms U-shaped frame, inclined plate (19) lower end and cross bar V (20) or cross bar VI (23) In the upper surface of one it is affixed；Bearing block I (22) is fixed in vertical pole V (21) in the following, bearing block II (24) and bearing block I (22) phase To setting, and the two central coaxial；Axle stand I (g) is fixed on the right side of the front lower place of right frame (I), and axle stand II (h) is fixed in On the right side of the back lower place of right frame (I), axle stand III (i) is fixed on the left of the back lower place of left frame (J), and axle stand IV (j) is affixed On the left of the front lower place of left frame (J).

4. the semi-automatic pineapple picker of omnidirectional type according to claim 1, which is characterized in that the collection lifting platform (C) by back plate (29), left plate II (30), platform I (31), feed screw nut I (32), bottom plate II (33), platform II (34), feed screw nut II (35), right panel II (36) composition, wherein back plate (29) left end and left plate II (30) rear end are at right angles solid It connects, back plate (29) right end and right panel II (36) rear end are at right angles affixed, under back plate (29), left plate II (30) and right panel II (36) Hold, composition hoistable platform affixed with rear, the left and right end of bottom plate II (33)；The right end of platform I (31) and left plate II (30) Lower section is affixed, and feed screw nut I (32) is connect with the nut bore interference on platform I (31) surface；A left side for platform II (34) End is affixed with the lower section of right panel II (36), and feed screw nut II (35) is connect with the nut bore interference on platform II (34) surface.

5. the semi-automatic pineapple picker of omnidirectional type according to claim 1, which is characterized in that the left picking platform (D) identical with right picking platform (H) structure, for the symmetrical structure about longitudinal axis X-X；Left picking platform (D) and right picking are flat Platform (H) is by motor group (a), upper backup pad (b), roller group (c), lower supporting plate (d), L-type axle clamp group (e), picking platform bottom Portion's frame (f), picking platform floor (37), lower turntable (38), upper turntable (39) and blade (43) composition, wherein motor Group (a), upper backup pad (b), roller group (c), lower supporting plate (d), L-type axle clamp group (e), blade (43), picking platform floor (37), sequence arranges from top to bottom for picking mesa base frame (f)；The motor group (a) is by motor I (40), motor II (41), motor III (42) forms, wherein the output end of motor I (40), motor II (41) and motor III (42) in motor group (a), Sequence is affixed with the shaft coupling of roller I in roller group (c) (c1), drum assembly (c2) and idler wheel IV (c5) respectively；Described is upper Support plate (b) is identical with lower supporting plate (d) structure, by upper backup pad part (b1), idler wheel returning device I (b2) and idler wheel return Device II (b3) composition, wherein upper backup pad (b) is equipped with hole I (44), hole II (45), hole III (46), hole IV (47)；Idler wheel Returning device (b2) and the lower surface of idler wheel and upper backup pad part (b1) are bolted；The idler wheel returning device I (b2) and Idler wheel returning device II (b3) structure is identical, by support I (48), axis I (49), support type linear bearing (50), spring I (51) It is formed with support II (52), wherein support I (48) is fixed in the left end of axis I (49), and support II (52) is fixed in axis I (49) Right end；Support type linear bearing (50) and spring I (51) are located at the nearly right end of axis I (49), support type linear bearing (50) and axis I (49) it is flexibly connected, spring I (51) both ends are limited by support type linear bearing (50) and support II (52)；The roller group (c) it is made of roller I (c1), drum assembly (c2), roller II (c3), idler wheel III (c4) and idler wheel IV (c5), and from front to back It is successively vertically arranged, wherein roller I (c1), roller II (c3), idler wheel III (c4) are identical with (c5) structure of idler wheel IV；Roller group (c) roller I (c1) in, drum assembly (c2), roller II (c3), the upper end sequence of idler wheel III (c4) and idler wheel IV (c5) respectively with The preceding hole I (100) of upper turntable (39), the hole I (44) of upper backup pad (b), hole II (45), hole III (46), hole IV (47) activity Connection；Roller I (c1), drum assembly (c2), roller II (c3), the lower end sequence of idler wheel III (c4) and idler wheel IV (c5) respectively with The preceding hole II (102) of lower turntable (38), the hole V (53) of lower supporting plate (d), hole VI (54), hole VII (55), hole VIII (56) are living Dynamic connection；The drum assembly (c2) is by shaft coupling I (57), top chock I (58), axis II (59), roller (60) and lower axle Hold seat I (61) composition, wherein axis II (59) is flexibly connected with roller (60), axis II (59) lower end and step I (61) activity Connection；The nearly upper end of axis II (59) is flexibly connected with top chock I (58), and axis II (59) upper end and shaft coupling I (57) are affixed；It is described Idler wheel (c1), idler wheel (c3), idler wheel (c4) it is identical with idler wheel (c5) structure, by shaft coupling II (62), axis III (63), upper axis Hold seat II (64), dumbbell shape wheel (65) and step II (66) composition, wherein axis III (63) and dumbbell shape wheel (65) activity are even It connects, the nearly lower end of axis III (63) is flexibly connected with step II (66)；The nearly upper end of axis III (63) and top chock II (64) activity Connection, axis III (63) upper end and shaft coupling II (62) are affixed；The L-type axle clamp group (e) is by axle clamp group I (e1) and axle clamp group (e2) it forms, axle clamp group I (e1) is identical with (e2) structure of axle clamp group II, by axle clamp I (67), axis IV (68), through-type straight line Bearing (69), spring II (70), support (71) and axle clamp II (72) composition, wherein the affixed axle clamp I (67) of axis IV (68) right end, Through-type linear bearing (69), spring II (70) and support (71) from the right side and a left side is placed in the middle part of axis IV (68), support (71) and directly Flow-through linear bearing (69) is flexibly connected with axis IV (68), the affixed axle clamp II (72) in axis IV (68) left end；In L-type axle clamp group (e) Axle clamp group I (e1) and axle clamp group II (e2) are transversely mounted on the lower section of lower supporting plate (d), upper and lower surface respectively with lower supporting plate (d) the upper surface bolt fixed of lower surface and picking platform floor (37) connects；The picking mesa base frame (f) is by cross Bar VII (73), bearing (75), vertical pole VI (76), fixed plate II (77), nut (78), cross bar VIII (79), is consolidated fixed plate I (74) Fixed board III (80) and fixed plate IV (81) composition, wherein the nearly left end of the affixed cross bar VII (73) in vertical pole VI (76) front end, vertical pole VI (76) the nearly left end of the affixed cross bar VIII (79) in rear end；Fixed plate I (74) and fixed plate IV (81) is symmetrical above and below is fixed in cross bar VII (73) and the junction of vertical pole VI (76)；Fixed plate II (77) and fixed plate III (80) it is symmetrical above and below be fixed in cross bar VII (73) and The junction of cross bar VIII (79)；Bearing (75) is fixed in the bearing hole of fixed plate I (74), and nut (78) is located at fixed plate II (77) in nut bore；The blade (43) is fixed in picking platform floor (37) above；It picks under platform floor (37) Surface is bolted with picking mesa base frame (f).

6. the semi-automatic pineapple picker of omnidirectional type according to claim 1, which is characterized in that the guide plate (E) is by preceding Bottom plate (82), bottom plate III (83), right panel III (84), rear bottom plate (85) and left plate III (86) composition, wherein noseplate (82), bottom Plate III (83), rear bottom plate (85) are affixed from sequence front to back, and the angle α of noseplate (82) and bottom plate III (83) is 120 degree, after Bottom plate (85) with III angle β be 120 degree；Right panel III (84) is vertically fixed in bottom plate III (83) and rear bottom plate (85) right end, left Plate III (86) is vertically fixed in bottom plate III (83) and rear bottom plate (85) left end.

7. the semi-automatic pineapple picker of omnidirectional type according to claim 1, which is characterized in that the left omni-directional wheel group (F) it is made of omni-directional wheel group I (m) and omni-directional wheel group II (n), omni-directional wheel group I (m) is by driving motor I (87), V band I (88) and wheat Ke Namu takes turns I (89) composition, and the output end of driving motor I (87) connects through V band I (88) and Mecanum wheel I (89) left end activity It connects；Omni-directional wheel group II (n) is made of Mecanum wheel II (90), V band II (91), driving motor II (92), driving motor II (92) output end is flexibly connected through V band II (91) with Mecanum wheel II (90) left end；Right omni-directional wheel group (G) is by omni-directional wheel group III (o) forms with omni-directional wheel group IV (p), and wherein omni-directional wheel group III (o) is by driving motor III (93), V band III (94) Mecanum III (95) composition is taken turns, the output end of driving motor III (93) is flexibly connected through V band III (94) with Mecanum wheel III (95) left end； Omni-directional wheel group IV (p) is made of Mecanum wheel IV (96), V band IV (97), driving motor IV (98), driving motor IV (98) Output end is flexibly connected through V band IV (97) with Mecanum wheel IV (96) left end.