CN208874857U - A kind of remote control type apple picking - Google Patents
A kind of remote control type apple picking Download PDFInfo
- Publication number
- CN208874857U CN208874857U CN201821527974.5U CN201821527974U CN208874857U CN 208874857 U CN208874857 U CN 208874857U CN 201821527974 U CN201821527974 U CN 201821527974U CN 208874857 U CN208874857 U CN 208874857U
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- China
- Prior art keywords
- picking
- remote control
- steering engine
- forearm
- apple
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Abstract
The utility model discloses a kind of remote control type apple pickings, including support platform, the lower end surface of support platform is equipped with the telescoping mechanism of control support platform lifting, the lower end of telescoping mechanism, which is equipped with, to be used to control mobile mobile mechanism, the collecting mechanism for collecting apple is additionally provided between support platform and mobile mechanism, the upper end of support platform is rotatably equipped with the picking mechanism for picking apple, the apple picked can be put into collecting mechanism and collect by picking mechanism, and telescoping mechanism, mobile mechanism and picking mechanism pass through hand-held remote control unit control.The utility model can control the picking for carrying out remote control to apple by hand-held remote control unit, and high degree of automation alleviates labor intensity, improves work efficiency.
Description
Technical field
The utility model relates to agricultural equipment technical fields, and in particular to a kind of remote control type apple picking.
Background technique
The vitamin being rich in the continuous development of China's economy and the increasingly variation of people's life requirement, in apple
Nutritive value is increasingly approved by people.Therefore the fast development of apple industry has also been driven, but when ripe apples,
Apple-picking in orchard also always consumes a large amount of human and material resources, financial resources, and picks great work intensity, high labor cost.Mesh
Before, most of orchard still uses traditional apple-picking mode, and general picking personnel are by climbing tree or hand-held human assistance is plucked
The mode of bar is won, and during climbing tree, picking personnel have certain risk, and different degrees of damage is generated to fruit tree
Wound, is unfavorable for the sustainable development in orchard；Hand-held human assistance picking lever is higher than picking personnel's picking efficiency of climbing tree, but picks people
Member can not keep facing upward a posture for a long time, hold picking lever high, and labor intensity is big, and the operating time is longer, and efficiency reduces；Together
When, different height fruit tree is directed at fruit and the bad control of carpopodium, although can also take apple, during winning very
It is difficult to control to win angle and dynamics, and usually damage apple, win process and not convenient.
Summary of the invention
Problem to be solved in the utility model is: a kind of remote control type apple picking is provided, it can be distant by hand-held
It controls device control and carries out picking of the remote control to apple, high degree of automation alleviates labor intensity, improves work efficiency.
The utility model in order to solve the above problem provided by technical solution are as follows: a kind of remote control type apple picking, including
Support platform, the lower end surface of the support platform, which is equipped with, controls the telescoping mechanism that support platform is gone up and down, under the telescoping mechanism
End, which is equipped with, to be used to control mobile mobile mechanism, and the receipts for collecting apple are additionally provided between the support platform and mobile mechanism
Collecting mechanism, the upper end of the support platform are rotatably equipped with the picking mechanism for picking apple, and the picking mechanism can incite somebody to action
The apple picked, which is put into collecting mechanism, to be collected, and the telescoping mechanism, mobile mechanism and picking mechanism pass through
Hand-held remote control unit control.
Preferably, the telescoping mechanism includes support frame and the electric putter that is vertically arranged, described electric putter one end and described
Mobile mechanism's connection, the other end are connected with support frame, and the upper surface of support frame is arranged in the support platform.Pass through electric putter energy
Enough liftings realized to support platform, and then realize the lifting of picking mechanism.
Preferably, the collecting mechanism includes that fruit collects basket, delivery hose, buffering pocket, described to buffer the one of pocket
End is mounted in support platform, and the other end is connected to the delivery hose, and the lower end of the delivery hose is connected with basket is collected.
Apple falls off by the picking of picking mechanism from carpopodium, successively slides into buffering pocket and delivery hose, falls into the water of collecting mechanism
Fruit collects basket.
Preferably, the lower end inside the delivery hose is equipped with the photoelectric counter for counting.Pass through photoelectric counting
Device can count the apple entered in fruit collection basket, enable staff timely to understand fruit and collect basket
Interior apple number.
Preferably, the bottom of the fruit collection frame is lined with buffering foam-rubber cushion.It is buffered on the bottom pad that fruit collects basket
Foam-rubber cushion is able to ascend the buffer function that fruit collects basket, reduces apple and falls into the impact force being subject to when fruit collection basket.
Preferably, the upper surface of the mobile mechanism is equipped with two parallel cylindrical guides, and the fruit is collected under basket
End face sets that there are two the sleeves that are slidably matched with the cylindrical guide.It can be realized by cylindrical guide and being slidably matched for sleeve
Fruit collects the movement of basket, convenient to move to fruit collection basket, is conducive to staff to the apple in fruit collection basket
It is collected.
Preferably, the mobile mechanism includes car rack, trolley base and is evenly arranged on the car rack lower end surface four
Four driving devices on a angle, the driving device include mounting rack, driving wheel, driving motor, crawler belt and several carrying rollers,
The mounting rack is mounted on the lower end surface of car rack, and the driving wheel, driving motor and several carrying rollers are arranged at installation
On frame, the output end of the driving wheel and driving motor is rotatablely connected, and transmission of intermeshing between several carrying rollers is described
One in several carrying rollers and driving wheel engaged transmission, the crawler belt are circumferentially positioned on driving wheel and several carrying rollers.It is logical
Motor of overdriving drives driving wheel rotation, to drive carrying roller and crawler belt to rotate, and then the movement of driving device entirety.
Preferably, the picking mechanism includes principal arm, forearm, preceding forearm, rear forearm, rocker arm, steering engine bracket, executes end
Bracket, camera, cutting motor, gripper, belt and circular saw blade, the steering engine bracket are rotatably provided in support platform
On, the principal arm and rocker arm are hinged with steering engine bracket, and the steering engine bracket is equipped with the principal arm rudder for being used to control principal arm rotation
Machine, the rocker arm steering engine for controlling rocker arm rotation and the revolution steering engine for the rotation of control flaps machine support, the one of the rear forearm
End and the one end of rocker arm far from steering engine bracket are hinged, and the other end of the rear forearm and the upper end of principal arm are hinged with forearm, institute
State that forearm one end and the execution end support far from the principal arm are hinged, one end of the preceding forearm and one end hinge of forearm
It connects, the other end and execution end support are hinged, and the principal arm is equipped with the balance steering engine for being used to control preceding forearm rotation, described to take the photograph
It is executed on end support as head, gripper are installed in, the gripper includes intermeshing driving claw and from pawl, described
It executes and gripper steering engine is installed on end support, output end and the driving claw transmission connection of the gripper steering engine are described to hold
Cutting motor bracket is installed, the gripper is mounted on the front end for executing end support, described on the upper end of row end support
One end of cutting motor bracket is arranged in cutting motor, and the circular saw blade is rotatably provided in the another of the cutting motor bracket
One end is equipped with the belt for being used to be driven between the output end and circular saw blade of the cutting motor.Remote control control telescoping mechanism
Certain altitude is risen to, and then picking mechanism is driven to rise overally, is attached to the camera acquisition eminence executed on end support
The image of fruit, in real-time Transmission to the screen that is connected；Position of the apple relative to gripper is observed, picking mechanical arm is manipulated
Movement, gripper reach best picking position, and hand-held remote control unit manipulation gripper carries out folding crawl, executes after grabbing securely
End support travels downwardly a trip, and making the apple carpopodium of different directions is straight down, convenient for cutting；It is installed on execution
The circular saw blade high speed rotation of end support, sawed-off carpopodium；Press the reset key on hand-held remote control unit, mechanical arm Quick-return
To buffering pocket right above initial position, wait one second after driving claw, from pawl unclamp, apple fall to immediately below collection
In mechanism.
Compared with prior art, the utility model has the advantages that: the utility model by hand-held remote control unit to telescopic machine
Structure, mobile mechanism and picking mechanism are remotely controlled, and be can be realized remote control mobile mechanism and are integrally moved to device,
Manipulation telescoping mechanism drives support platform lifting to drive picking mechanism to be gone up and down, and manipulation picking mechanism adopts apple
It plucks, the apple picked, which drops into collecting mechanism, to be collected, and the utility model can be avoided faces upward head operation for a long time, is subtracted
Light work intensity；The picking process not only reduces the damage of apple, and avoids danger caused by picking personnel's climbing fruit tree
Danger.Entire machine is easy to operate, practical and efficient, low in cost, there is relatively new intention, and promotional value is high, is widely portable to
The a large amount of mature place of other various apples such as orchard.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and constitutes one of the utility model
Point, the exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the utility model
Improper restriction.
Fig. 1 is the cross-sectional view of the whole main view of the utility model；
Fig. 2 is the right view of the utility model；
Fig. 3 is the schematic diagram of the picking mechanism of the utility model；
Fig. 4 is the structural schematic diagram of the gripper of the utility model；
Fig. 5 is the schematic diagram of the cooperation of the cutting motor and circular saw blade of the utility model；
Attached drawing mark: 1, car rack 2, buffering foam-rubber cushion 3, electric putter 4, photoelectric counter 5, support frame 6, cut
Cut motor 7, belt 8, gripper 9, buffering pocket 10, support platform 11, delivery hose 12, flexible pipe outlet 13, fruit
Collect basket 14, cylindrical guide 15, crawler belt 16, carrying roller 17, driving wheel 18, gripper steering engine 19, camera 20, circle
Shape saw blade 21, revolution steering engine 22, trolley base 23, driving motor 24, deep groove ball bearing 25, principal arm steering engine 26, rocker arm
Steering engine 27, principal arm 29, balance steering engine 30, rear forearm 31, forearm 32, preceding forearm 33, executes end support at rocker arm 28
34, steering engine bracket 35, driving claw 36, from pawl 37, cutting motor bracket.
Specific embodiment
The embodiments of the present invention is described in detail below in conjunction with accompanying drawings and embodiments, whereby to the utility model
How applied technology method solves technical problem and reaches the realization process of technical effect to fully understand and implement.
Specific embodiment of the utility model is as shown in Figures 1 to 5, a kind of remote control type apple picking, including support is flat
Platform, the lower end surface of the support platform are equipped with the telescoping mechanism that control support platform 10 is gone up and down, and the lower end of telescoping mechanism, which is equipped with, to be used
Mobile mobile mechanism is controlled, is additionally provided with the collecting mechanism for collecting apple between support platform and mobile mechanism, is supported
The upper end of platform is rotatably equipped with the picking mechanism for picking apple, and the apple picked can be put by picking mechanism
It is collected in collecting mechanism, telescoping mechanism, mobile mechanism and picking mechanism pass through hand-held remote control unit control.
Telescoping mechanism includes support frame 5 and the electric putter 3 that is vertically arranged, and electric putter one end is connected with mobile mechanism, another
End is connected with support frame, and the upper surface of support frame is arranged in support platform.
Collecting mechanism includes that fruit collects basket 13, delivery hose 11, buffering pocket 9, and the one end for buffering pocket is mounted on branch
It supports on platform, the other end is connected to delivery hose, and the lower end of delivery hose is connected with basket is collected；Lower end inside delivery hose
Photoelectric counter 4 for counting is installed；The bottom of fruit collection frame 13 is lined with buffering foam-rubber cushion 2；The upper end of mobile mechanism
Face is equipped with two parallel cylindrical guides, and the lower end surface that fruit collects basket 13 sets that there are two the sets that are slidably matched with cylindrical guide 14
Cylinder.
Mobile mechanism includes car rack 1, trolley base 22 and be evenly arranged on the angle of car rack lower end surface four four
Driving device, driving device include mounting rack, driving wheel 17, driving motor 23, crawler belt 15 and several carrying rollers 16, mounting rack peace
Mounted in the lower end surface of car rack, driving wheel, driving motor and several carrying rollers are arranged on mounting rack, driving wheel and driving
The output end of motor is rotatablely connected, transmission of intermeshing between several carrying rollers, and one in several carrying rollers is nibbled with driving wheel
Transmission is closed, crawler belt is circumferentially positioned on driving wheel and several carrying rollers.
Picking mechanism includes principal arm 28, forearm 31, preceding forearm 32, rear forearm 30, rocker arm 27, steering engine bracket 34, executes end
End bracket 33, camera 19, cutting motor 6, gripper 8, belt 7 and circular saw blade 20, steering engine bracket 34 are rotatably provided in
In support platform, principal arm and rocker arm are hinged with steering engine bracket, and the steering engine bracket is equipped with the master for being used to control principal arm rotation
Arm steering engine 25, the rocker arm steering engine 26 for controlling rocker arm rotation and the revolution steering engine 21 for the rotation of control flaps machine support are rear small
The one end of one end and rocker arm far from steering engine bracket of arm is hinged, and the other end of rear forearm and the upper end of principal arm are hinged with forearm,
It the one end of forearm far from principal arm and executes that end support is hinged, and one end of preceding forearm and one end of forearm are hinged, the other end and holds
Row end support is hinged, and principal arm is equipped with the balance steering engine 29 for being used to control preceding forearm rotation, and camera, gripper are installed in
It executes on end support, gripper includes intermeshing driving claw 35 and installs from pawl 36, execution end support organic
Machinery claw steering engine 18, output end and the driving claw transmission connection of gripper steering engine, executes and is equipped with cutting on the upper end of end support
Electric machine support 37, gripper are mounted on the front end for executing end support, and one end of cutting motor bracket is arranged in cutting motor, circle
Shape saw blade is rotatably provided in the other end of cutting motor bracket, is equipped with and is used between the output end and circular saw blade of cutting motor
The belt of transmission.
The specific work process of the utility model: when operation, picking personnel start mobile mechanism by hand-held remote control unit
Driving motor 23, motor drive trolley work, march to fruit tree nearby suitable position；The electricity of remote control control telescoping mechanism pushes away
The support platform 10 of bar 3, telescopic section rises to certain altitude；It is attached to the camera 19 executed on end racks 33 and acquires height
Locate the image of fruit, in real-time Transmission to the screen that is connected；Position of the apple relative to gripper 8 is observed, picking machine is manipulated
The movement of tool arm, gripper reach best picking position, and hand-held remote control unit manipulation gripper 8 carries out folding crawl, and crawl is secured
End support 33 is executed afterwards and travels downwardly a trip, and making the apple carpopodium of different directions is straight down, convenient for cutting；Peace
Loaded on 20 high speed rotation of circular saw blade for executing end support 33, sawed-off carpopodium；Press the reset key on hand-held remote control unit, machine
Initial position right above tool arm Quick-return to buffering pocket 9, driving claw 35 after waiting one second unclamp, apple from pawl 36
Buffering pocket 9 and delivery hose 11 immediately below falling to, the fruit for being snapped down to collecting mechanism along delivery hose collect basket 13
Buffering foam-rubber cushion 2 on, while photoelectric counter 4 at flexible pipe outlet counts, and realizes apple-picking and the collection of whole process.
The beneficial effects of the utility model are: the utility model is by hand-held remote control unit to telescoping mechanism, mobile mechanism
It is remotely controlled with picking mechanism, can be realized remote control mobile mechanism and device is integrally moved, manipulate telescopic machine
Structure drives support platform lifting to drive picking mechanism to be gone up and down, and manipulation picking mechanism picks apple, under picking
The apple come, which drops into collecting mechanism, to be collected, and the utility model can be avoided faces upward head operation for a long time, and it is strong to mitigate labour
Degree；The picking process not only reduces the damage of apple, and avoids danger caused by picking personnel's climbing fruit tree.Entire machine
Device is easy to operate, practical and efficient, low in cost, there is a relatively new intention, and promotional value is high, be widely portable to orchard etc. other
The a large amount of mature place of various apples.
Only the most preferred embodiment of the utility model is described above, but is not to be construed as the limit to claim
System.The utility model is not only limited to above embodiments, and specific structure is allowed to vary.It is all in the utility model independent right
It is required that protection scope in made various change in scope of protection of the utility model.
Claims (8)
1. a kind of remote control type apple picking, it is characterised in that: including support platform, the lower end surface of the support platform is equipped with control
The telescoping mechanism of support platform lifting processed, the lower end of the telescoping mechanism, which is equipped with, to be used to control mobile mobile mechanism, the branch
The collecting mechanism for collecting apple is additionally provided between support platform and mobile mechanism, the upper end of the support platform is rotatably equipped with
For picking the picking mechanism of apple, the apple picked can be put into collecting mechanism and gather up by the picking mechanism
Come, the telescoping mechanism, mobile mechanism and picking mechanism pass through hand-held remote control unit control.
2. a kind of remote control type apple picking according to claim 1, it is characterised in that: the telescoping mechanism includes support
Frame and the electric putter being vertically arranged, described electric putter one end are connected with the mobile mechanism, and the other end is connected with support frame, described
The upper surface of support frame is arranged in support platform.
3. a kind of remote control type apple picking according to claim 1, it is characterised in that: the collecting mechanism includes fruit
Basket, delivery hose, buffering pocket are collected, one end of the buffering pocket is mounted in support platform, the other end and the conveying
Hose connection, the lower end of the delivery hose are connected with basket is collected.
4. a kind of remote control type apple picking according to claim 3, it is characterised in that: under inside the delivery hose
End is equipped with the photoelectric counter for counting.
5. a kind of remote control type apple picking according to claim 3, it is characterised in that: the bottom of the fruit collection frame
It is lined with buffering foam-rubber cushion.
6. a kind of remote control type apple picking according to claim 3, it is characterised in that: the upper surface of the mobile mechanism
Equipped with two parallel cylindrical guides, lower end surface that the fruit collects basket sets that there are two be slidably matched with the cylindrical guide
Sleeve.
7. a kind of remote control type apple picking according to claim 1, it is characterised in that: the mobile mechanism includes trolley
Rack, trolley base and four driving devices being evenly arranged on the angle of the car rack lower end surface four, the driving device packet
Mounting rack, driving wheel, driving motor, crawler belt and several carrying rollers are included, the mounting rack is mounted on the lower end surface of car rack, institute
It states driving wheel, driving motor and several carrying rollers to be arranged on mounting rack, the output end of the driving wheel and driving motor turns
Dynamic connection, transmission of intermeshing between several carrying rollers, one in several carrying rollers and driving wheel engaged transmission,
The crawler belt is circumferentially positioned on driving wheel and several carrying rollers.
8. a kind of remote control type apple picking according to claim 1, it is characterised in that: the picking mechanism includes master
Arm, preceding forearm, rear forearm, rocker arm, steering engine bracket, executes end support, camera, cutting motor, gripper, belt at forearm
And circular saw blade, the steering engine bracket are rotatably provided in support platform, the principal arm and rocker arm are hinged with steering engine bracket,
The steering engine bracket is equipped with the principal arm steering engine for being used to control principal arm rotation, the rocker arm steering engine for controlling rocker arm rotation and is used to
The one end of one end and rocker arm far from steering engine bracket of the revolution steering engine of control flaps machine support rotation, the rear forearm is hinged, described
The other end of forearm and the upper end of principal arm are hinged with forearm afterwards, one end far from the principal arm of the forearm and described execute end
Hold bracket hinged, one end of the preceding forearm and one end of forearm are hinged, and the other end and execution end support are hinged, the principal arm
It is equipped with the balance steering engine of forearm rotation before being used to control, the camera, gripper, which are installed in, to be executed on end support, institute
Gripper is stated to include intermeshing driving claw and gripper steering engine is installed from pawl, the execution end support, it is described
The output end and driving claw of gripper steering engine are sequentially connected, and are equipped with cutting motor branch on the upper end for executing end support
Frame, the gripper are mounted on the front end for executing end support, and one end of cutting motor bracket, institute is arranged in the cutting motor
State the other end that circular saw blade is rotatably provided in the cutting motor bracket, the output end and circular saw blade of the cutting motor
Between be equipped with and be used to the belt that is driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821527974.5U CN208874857U (en) | 2018-09-19 | 2018-09-19 | A kind of remote control type apple picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821527974.5U CN208874857U (en) | 2018-09-19 | 2018-09-19 | A kind of remote control type apple picking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208874857U true CN208874857U (en) | 2019-05-21 |
Family
ID=66512857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821527974.5U Expired - Fee Related CN208874857U (en) | 2018-09-19 | 2018-09-19 | A kind of remote control type apple picking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208874857U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109089547A (en) * | 2018-09-19 | 2018-12-28 | 南昌航空大学 | A kind of remote control type apple picking |
| CN111011004A (en) * | 2019-12-28 | 2020-04-17 | 河南理工大学 | Picking equipment |
| CN112753369A (en) * | 2021-01-18 | 2021-05-07 | 广西壮族自治区蚕业技术推广站 | Picking tool with accurate counting function |
-
2018
- 2018-09-19 CN CN201821527974.5U patent/CN208874857U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109089547A (en) * | 2018-09-19 | 2018-12-28 | 南昌航空大学 | A kind of remote control type apple picking |
| CN111011004A (en) * | 2019-12-28 | 2020-04-17 | 河南理工大学 | Picking equipment |
| CN112753369A (en) * | 2021-01-18 | 2021-05-07 | 广西壮族自治区蚕业技术推广站 | Picking tool with accurate counting function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190521 Termination date: 20200919 |