CN210746112U

CN210746112U - All-round fruit picking vehicle

Info

Publication number: CN210746112U
Application number: CN201921137584.1U
Authority: CN
Inventors: 林娅红; 姜鑫; 赵建雄
Original assignee: Yantai University
Current assignee: Yantai University
Priority date: 2019-07-18
Filing date: 2019-07-18
Publication date: 2020-06-16
Anticipated expiration: 2029-07-18

Abstract

The utility model discloses an all-round fruit picking car, include: fruit picking chassis and fruit picking hand, the fruit picking chassis includes: revolving cylinder, rotating base, chassis, damping spring, suspension, telescopic sleeve, motor support frame, motor, wheel and track, the hand is picked to fruit includes: the cylinder comprises a cylinder base, a cylinder body, an upper support, a supporting shaft, a guide rail, a horizontal cylinder, a piston rod, a connecting plate, a linear joint, a connecting flange, a paw, a rotating shaft, a lifting cylinder, a lower support, a rotating shaft fixing support, a bearing and a small vertical shaft. The utility model provides a slow problem of speed is picked to fruit in high yield harvest time, reduce peasant's the amount of labour, reduce the entry price of automatic harvesting equipment.

Description

All-round fruit picking vehicle

Technical Field

The utility model relates to a technical field is picked to fruit, especially relates to an all-round fruit picking car.

Background

With the development of social economy and agricultural science and technology, the problem of satiety of people in China is comprehensively solved. People are pursuing higher quality, healthy, balanced diets, and the demand for fruit is greatly increasing. Meanwhile, after the world trade organization is added, the trade connection between China and the markets of all countries around the world is more and more intimate. At present, China has become the largest fruit producing country in the world. By 2015, the total area of fruit planting in China is more than 1500 million hectares; by the end of 2015, the fruit yield in our country reached a surprising 2.71 million tons. In the coming years, the fruit planting area of China can be developed more greatly.

In such a large-scale market, although the fruit planting in China makes great progress in the aspects of cultivation, optimization, seedling raising and the like, the attention on the picking aspect is not high. Although highly automated picking equipment is available, fruit picking is still largely limited to manual picking due to its very high price.

In China, a novel vertical vibration fruit picking vehicle of Harbin university aims to improve the fruit picking rate and realizes the high mechanization of fruit picking by combining picking and collection; but the picking mode is heavier, the device is vibrated by utilizing the movement of the connecting rod so as to achieve the purpose of picking fruits, higher automation is not realized, and the movement of the vehicle is not provided with power by the device. The self-propelled liftable fruit picking vehicle designed by the university of western's safety engineering comprises a remote control vehicle body and a remote controller which are connected through signals, wherein the remote controller can remotely control a carrying vehicle to run, and a light hydraulic lifting platform can lift a fruit box at the middle position of a vehicle bottom plate.

A certain company in China also designs a device consisting of a two-degree-of-freedom carrier and a five-degree-of-freedom mechanical arm, and in order to adapt to different working environments, the device is also provided with a vision sensor, a position sensor, an obstacle avoidance sensor and the like, and although high degree of freedom can be realized, the price is high, and the device cannot be taken by general farmers.

Overseas, the orange picking robot studied at the university of florida, usa, sets two robots to cooperate, one to calculate a path, and one to pick. Spanish technicians invent a robot which comprises a tractor provided with a computer, an optical vision system and a mechanical arm, the working efficiency of the robot is improved by ten times compared with that of a single person, and although the robot has the equipment abroad, the robot does not enter the domestic market and the price of the robot entering the domestic market is not low.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem of slow speed of picking at the fruit of high yield harvest time, reduce peasant's the amount of labour, reduce the entry price of automatic harvesting equipment, the utility model discloses the technical scheme who adopts is:

an all-round fruit picking car, includes: a fruit picking chassis and a fruit picking hand, wherein,

the fruit picking chassis comprises: the damping device comprises a rotary cylinder, a rotary base, a chassis, a damping spring, a suspension, a telescopic sleeve, a motor supporting frame, a motor, wheels and a track, wherein the rotary cylinder is arranged on the rotary base and used for driving the rotary base to rotate; the rotating base is arranged on the chassis, the upper end of the damping spring is connected to the chassis, the lower end of the damping spring is connected to the upper end of the suspension, the lower end of the suspension is connected to the telescopic sleeve, and the telescopic sleeve is fixed on the motor supporting frame; the motor is arranged on the motor support frame, the wheel is electrically connected with the motor, and the track is arranged on the wheel;

the fruit picking hand comprises: a cylinder base, a cylinder body, an upper bracket, a supporting shaft, a guide rail, a horizontal cylinder, a piston rod, a connecting plate, a linear joint, a connecting flange, a paw, a rotating shaft, a lifting cylinder, a lower bracket, a rotating shaft fixing bracket, a bearing and a small vertical shaft, wherein,

the upper end of the rotating shaft is connected with the lower support, the lower end of the rotating shaft is arranged on the rotating base, the bearing is arranged in the rotating shaft, the upper end of the small vertical shaft is connected with the rotating shaft fixing support, and the lower end of the small vertical shaft is arranged on the rotating base;

the connecting plate is connected with the lower end of the lifting cylinder and the lower end of the guide rail, and the upper end of the guide rail is fixed on the upper bracket; the upper end of the lifting cylinder is connected to the lower end of the supporting shaft;

the cylinder base is connected to the upper end of the lifting cylinder, the cylinder body is fixed on the cylinder base, and the horizontal cylinder is arranged in the cylinder body; one end of the piston rod is connected to an output shaft of the horizontal cylinder, and the other end of the piston rod is connected to the connecting flange through the straight joint; the connecting flange is connected with the paw.

On the basis of the technical scheme, the utility model discloses can also do following improvement.

Preferably, the hand-held electric tool is further provided with an end connector and a switching block, the end connector is connected with the switching block through a pin shaft, the end connector is connected to the connecting flange, the switching block is connected to the hand claw, and the horizontal cylinder stretches and retracts to drive the hand claw to open and close towards two sides.

Preferably, the cylinder base is further provided with an auxiliary support, the upper end of the supporting shaft is connected with the upper end of the auxiliary support, and the lower end of the auxiliary support is fixed on the cylinder base.

Preferably, a Y-axis support is further provided to carry the cylinder block, the cylinder base, and the guide rail.

Preferably, the clamping size of the paw is 30mm-90 mm.

Preferably, the motor is a direct current motor, and the power source adopts a 220V household power supply.

Preferably, the motor is a direct current motor, and the power source adopts a new energy battery.

Preferably, the new energy battery is a lithium iron phosphate battery.

Compared with the prior art, the utility model discloses following technological effect has:

1. the crawler belt is adopted for advancing, so that the advancing process is stable; the working environment of the picking vehicle is an orchard, the terrain is possibly complex, the crawler has strong obstacle crossing capability, and the ground is well protected; the motor is adopted for driving, and because the motor is environment-friendly and has small weight, no additional burden is added to the picking work;

2. the fruit picking hand is adopted to pick fruits by adopting the mechanical arm in the form of cylindrical rectangular coordinates, so that the fruit picking efficiency can be greatly improved, the labor and the time are saved, and the cost is reduced;

3. the direct current motor is adopted for driving, so that the performance is stable; a small-sized wire collecting box and an inverter are installed on the trolley, alternating current is converted into direct current and transmitted to the motor, the motor transmits force to four wheels of the trolley respectively, and the torque is large.

Drawings

Fig. 1 is a front view of the all-directional fruit picking vehicle of the present invention;

fig. 2 is a bottom view of the all-directional fruit picking vehicle of the present invention;

fig. 3 is a left side view of the all-directional fruit picking cart of the present invention;

fig. 4 is a perspective view of the fruit picking chassis of the present invention;

fig. 5 is a front view of the fruit picking chassis of the present invention;

fig. 6 is a top view of the fruit picking chassis of the present invention;

fig. 7 is a left side view of the fruit picking chassis of the present invention;

fig. 8 is a perspective view of the fruit picking hand of the present invention;

fig. 9 is a front view of the fruit picking hand of the present invention;

fig. 10 is a top view of the fruit picking hand of the present invention;

fig. 11 is a left side view of the fruit picking hand of the present invention;

fig. 12 is a perspective view of the paw of the fruit picking hand of the present invention;

in the drawings, the parts names represented by the respective reference numerals are listed as follows:

1-cylinder base, 2-cylinder body, 3-upper support, 4-auxiliary support, 5-supporting shaft, 6-guide rail, 7-horizontal cylinder, 8-piston rod, 9-connecting plate, 10-rotary cylinder, 11-linear joint, 12-connecting flange, 13-paw, 14-Y shaft support frame, 15-motor support frame and 16-motor, 17-wheel, 18-end connector, 19-transfer block, 20-rotating shaft, 21-round head screw, 22-bearing, 23-small vertical shaft, 24-rotating base, 25-spring, 26-suspension, 27-telescopic sleeve, 28-bolt, 29-chassis, 30-lifting cylinder, 31-lower support and 32-rotating shaft fixing support.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

Please refer to fig. 1-3 in combination, wherein fig. 1 is a front view of the all-directional fruit picking vehicle of the present invention, fig. 2 is a bottom view of the all-directional fruit picking vehicle of the present invention, and fig. 3 is a left view of the all-directional fruit picking vehicle of the present invention; all-round fruit picking car includes: a fruit picking chassis and a fruit picking hand, wherein,

referring to fig. 2 to 7, fig. 4 to 7 are a perspective view, a front view, a top view and a left view of the fruit picking chassis of the present invention, respectively; the fruit picking chassis comprises: a rotary cylinder 10 shown in fig. 1, a Y-axis support bracket 14, a motor support bracket 15, a motor 16, a wheel 17 shown in fig. 2, and a rotary base 24, a spring 25, a suspension 26, a telescopic sleeve 27, a bolt 28, and a chassis 29 shown in fig. 3, wherein the rotary cylinder 10 is arranged on the rotary base 24 and is used for driving the rotary base to rotate; the rotating base 24 is arranged on the chassis 29, the number of the springs 25 is four, and the springs are used for damping, the upper ends of the four springs are connected to the chassis 29, the lower ends of the four springs are connected to the upper end of the suspension 26, the lower end of the suspension 26 is connected to the telescopic sleeve 27, and the telescopic sleeve 27 is fixed on the motor support frame 15 through the bolts 28; the motor 16 is installed on the motor support frame 15, the wheel 17 is electrically connected with the motor 16, and a crawler belt is arranged on the wheel 17, so that the motor drives the wheel to rotate and walk on the crawler belt; the Y-axis support frame 14 is used for bearing the cylinder body 1, the cylinder base 2 and the guide rail;

referring to fig. 1-3 and 8-11, fig. 8-11 are a perspective view, a front view, a top view and a left view of a fruit picking hand according to the present invention; the fruit picking hand comprises: the device comprises a cylinder base 1, a cylinder body 2, an upper bracket 3, an auxiliary bracket 4, a supporting shaft 5, a guide rail 6, a horizontal cylinder 7, a piston rod 8, a connecting plate 9, a linear joint 11, a connecting flange 12 and a paw 13 which are shown in figure 1, an end connector 18 and a switching block 19 which are shown in figure 2, a rotating shaft 20, a round head screw 21, a lifting cylinder 30, a lower bracket 31, a rotating shaft fixing bracket 32, a bearing 22 and a small vertical shaft 23 which are shown in figure 3;

as shown in fig. 3, the upper end of the rotating shaft 20 is connected with the lower bracket 31 through a screw, the lower end of the rotating shaft 20 is arranged on the rotating base 24 through the round-head screw 21, the bearing 22 is arranged in the rotating shaft 20, the upper end of the small vertical shaft 23 is connected with the rotating shaft fixing bracket 32 through a screw, and the lower end of the small vertical shaft 23 is arranged on the rotating base 24, and can be multiple and play a role in reinforcement;

as shown in fig. 1, the connecting plate 9 is connected to the lower end of the lifting cylinder 30 and the lower end of the guide rail 6, and the upper end of the guide rail 6 is fixed to the upper bracket 3; the upper end of the lifting cylinder 30 is connected to the lower end of the supporting shaft 5, the upper end of the supporting shaft 5 is connected with the upper end of the auxiliary support 4, and the lower end of the auxiliary support 4 is fixed on the cylinder base 1;

the cylinder base 1 is connected to the upper end of the lifting cylinder 30, the cylinder body 2 is fixed on the cylinder base 1, and the horizontal cylinder 7 is arranged in the cylinder body 2; one end of the piston rod 8 is connected to an output shaft of the horizontal cylinder 7, and the other end of the piston rod is connected to the connecting flange 12 through the straight joint 11; the connecting flange 12 is connected with the paw 13;

please refer to fig. 12, which is a perspective view of the paw of the fruit picking hand of the present invention; the gripper device of the gripper 13 adopts a pneumatic gripper, and as shown in fig. 2, the end connector 18 is connected with the transfer block 19 through a pin shaft, the end connector 18 is connected to the connecting flange 12, the transfer block 19 is connected to the gripper 13, and the gripper is driven to open and close towards two sides through the expansion of the cylinder, so that the picking of fruits is realized, and the clamping size can be 30mm-90 mm; if larger fruit, or smaller fruit, is to be gripped, the selected gripper/air gripper size needs to be changed to accommodate different sizes.

From this, under revolving cylinder, lift cylinder and horizontal cylinder's effect, the utility model discloses a hand is picked to fruit can rotate, go up and down and stretch out and draw back, for example, the motion process of picking the hand can be: levogyration → horizontal extension → descent → grasp → ascent → horizontal retraction → dextrorotation → horizontal extension → descent → release → ascent → horizontal retraction → dextrorotation → orthotopic; the utility model discloses a fruit is picked hand and is adopted picking structure of rectangular coordinate type, this structure is simpler, the space orbit solution is convenient, fixes a position more directly perceived in the space, has advantages such as working range is big, the machine is small.

The utility model discloses an all-round fruit picking car, its power supply can adopt 220V domestic power, turns into the direct current through the dc-to-ac converter, supplies the dolly to use, can increase the moment of torsion of dolly. It is also possible to use new energy batteries, for example lithium iron phosphate batteries, and to mount a small concentrator and inverter on the trolley, delivering power to the four wheels of the trolley respectively. The power source has had multiple mature solutions in the prior art, does not the technical problem to be solved by the utility model, and is not repeated here.

Claims

1. The utility model provides a car is picked to all-round fruit, its characterized in that includes: a fruit picking chassis and a fruit picking hand, wherein,

2. The all-round fruit picking car of claim 1, characterized in that, still be equipped with end connector and switching piece, for the round pin hub connection between end connector and the switching piece, end connector connects to flange, the switching piece is connected to the hand claw, the flexible drive of horizontal cylinder the hand claw is to both sides open and shut.

3. The all-directional fruit picking vehicle according to claim 1 or 2, further comprising an auxiliary support, wherein the upper end of the support shaft is connected with the upper end of the auxiliary support, and the lower end of the auxiliary support is fixed on the cylinder base.

4. The all-directional fruit picking cart according to claim 1 or 2, further provided with a Y-axis support for carrying the cylinder body, the cylinder base and the guide rail.

5. The all-directional fruit picking vehicle according to claim 1 or 2, wherein the gripping size of the paws is 30mm-90 mm.

6. The all-directional fruit picking vehicle according to claim 1 or 2, wherein the motor is a direct current motor, and the power source adopts a 220V household power supply.

7. The all-directional fruit picking vehicle according to claim 1 or 2, wherein the motor is a direct current motor, and a new energy battery is adopted as a power source.

8. The all-round fruit picking vehicle of claim 7, characterized in that the new energy battery is a lithium iron phosphate battery.