CN211607426U

CN211607426U - Vehicle-mounted fruit picking device

Info

Publication number: CN211607426U
Application number: CN202020146988.3U
Authority: CN
Inventors: 陈新; 李云峰; 刘祖健; 于德龙; 史志慧; 张武; 黄�俊; 江群; 李月寒
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-01-23
Filing date: 2020-01-23
Publication date: 2020-10-02
Anticipated expiration: 2030-01-23

Abstract

The invention relates to the field of fruit picking, in particular to a vehicle-mounted fruit picking device which comprises a grabbing mechanism, an auxiliary collecting mechanism, a displacement mechanism, a loading vehicle, a base rotating mechanism and a fine adjustment mechanism, wherein the base rotating mechanism is arranged at the top of the loading vehicle, a transverse displacement mechanism is arranged on the base rotating mechanism, a longitudinal displacement mechanism is arranged on the transverse displacement mechanism, the longitudinal displacement mechanism is hinged with a cross beam through a hinge, the fine adjustment mechanism is arranged between the longitudinal displacement mechanism and the cross beam, the auxiliary collecting mechanism is arranged on the cross beam, and the grabbing mechanism is arranged on the auxiliary collecting mechanism. The all-round picking of the fruits around can be completed within one-time parking working rhythm, the multi-mechanism cooperative work can realize quick and accurate positioning picking, the fruit collecting efficiency is further improved, the picking and the picking can be realized, and the all-round picking machine has practical significance and good application prospect for large-scale and high-efficiency picking in an orchard.

Description

Vehicle-mounted fruit picking device

Technical Field

The invention relates to the field of fruit picking, in particular to a vehicle-mounted fruit picking device.

Background

Traditionally, fruits are picked mainly by means of manual picking of fruit growers, some high fruits often need to be climbed or picked by means of an escalator, the picking efficiency is low, and the life safety of the fruit growers cannot be guaranteed. Subsequently, some devices assisting manual picking have appeared, which solve the problem of tree climbing of fruit growers and the problem of fruit collection, but this is only suitable for individual households to pick fruits in small batches, and still cannot solve the problem of large-batch and high-efficiency picking and collection in orchards.

In order to solve the existing problems, for example, chinese patent with publication number CN109819771A discloses a vehicle-mounted self-adaptive fruit picking device, which comprises a vehicle body, a lifting mechanism, a mechanical arm and a mechanical claw, wherein the rear part of the vehicle body is provided with a collecting frame, the middle part of the vehicle body is provided with the lifting mechanism, the lifting mechanism is provided with a turntable, the turntable is provided with the mechanical arm, and the mechanical claw is arranged on the mechanical arm. During operation, elevating system sends the arm to a take the altitude, then the gripper picks the fruit, and the revolving stage rotates the gripper to collection frame direction, and elevating system descends and accomplishes the collection to the fruit, but the device is very inconvenient on the fruit is collected, and efficiency is very low, accomplishes once to pick and collects and need carry out the multiplex beat of doing. Also, for example, chinese patent publication No. CN110199684A discloses an agricultural picking robot, which comprises a tracked vehicle, a workbench, a turntable, a mechanical arm, a mechanical claw, a scissor-type lifting platform and a collecting box, wherein the top of the tracked vehicle is provided with the workbench, one end of the workbench is provided with the turntable, the mechanical arm is arranged on the turntable, the mechanical claw is arranged at the tail end of the mechanical arm, the scissor-type lifting platform is arranged at the other end of the mechanical arm, and the collecting box is arranged on the lifting platform. During operation, the mechanical claw is delivered to a certain height by the mechanical arm, the mechanical claw finishes picking fruits, the collecting box is delivered to the height of the mechanical claw by the lifting platform to finish the collection of the fruits, the device greatly improves the efficiency in the collection of the fruits, and serious blind areas exist in the height and the direction of the picked fruits due to the limitation of the mechanical arm.

At present, no one at home and abroad can improve the efficiency of picking and collecting fruits and can realize the all-round picking of fruit trees at a working beat, and therefore, a vehicle-mounted fruit picking device is designed, the multi-mechanism cooperative work realizes the accurate positioning picking of the fruits, the picking efficiency is improved, the blind area of equipment picking is reduced, and the orchard picking device has practical significance and good application prospect in batch.

Disclosure of Invention

Aiming at the defects, the invention provides a vehicle-mounted fruit picking device.

The invention is realized by the following technical scheme: the utility model provides a device is picked to vehicular fruit, is by snatching mechanism, supplementary collection mechanism, displacement mechanism, load wagon, base rotary mechanism and fine-tuning and constitute, load wagon top be equipped with base rotary mechanism, base rotary mechanism on be equipped with horizontal displacement mechanism, horizontal displacement mechanism on be equipped with vertical displacement mechanism, vertical displacement mechanism articulated through first hinge and crossbeam, vertical displacement mechanism and crossbeam between be equipped with fine-tuning, the crossbeam on be equipped with supplementary collection mechanism, supplementary collection mechanism on be equipped with and snatch the mechanism.

The grabbing mechanism is provided with a gripper, gripper fixing plates are arranged on the upper surface and the lower surface of the gripper, gripper fixing rods are arranged on the two side surfaces, a second hinge is arranged at the tail end of the gripper fixing plate, an air cylinder is arranged in the middle of the second hinge, a first air cylinder push rod is arranged at one end of the air cylinder, a gear box is arranged at the other end of the air cylinder, the first air cylinder push rod is arranged in the middle of the gripper fixing rods, and a motor is arranged on; the auxiliary collecting mechanism is provided with a grabbing mechanism connecting block, one end of the grabbing mechanism connecting block is provided with a motor, the side face of the other end of the grabbing mechanism connecting block is provided with a first worm wheel, the first worm wheel is arranged on a first worm wheel shaft, the first worm wheel shaft is arranged on a first worm wheel shaft supporting block, the first worm wheel shaft supporting block is arranged on the end face of the cross beam, the end face of the middle part of the cross beam is provided with a U-shaped fixing frame and a T-shaped fixing frame, the side face of the cross beam is provided with a first worm supporting block, the first worm is meshed with the first worm wheel, the lower end of the first worm is arranged on the first worm supporting block, the upper end of the first worm penetrates through holes of the U-shaped fixing frame to be matched; the tail end of the cross beam is provided with a first hinge, the first hinge is provided with an upright post, the top of the upright post is provided with a weight box, the bottom of the upright post is provided with upright post longitudinal supporting blocks, upright post transverse supporting blocks are arranged between the upright posts, the end surface of the upright post is provided with a rack, and the rack is meshed with a gear box; one end of a first connecting block of the fine adjustment mechanism is connected with the cross beam, the other end of the first connecting block is connected with a second air cylinder push rod, the second air cylinder push rod is matched with the air cylinder, a third hinge is arranged on the air cylinder, a second connecting block is arranged on the third hinge, and the second connecting block is arranged on the motor; the stand level of transverse displacement mechanism establish in rotatory boss draw-in groove both sides, stand one end is equipped with the weight box, the other end is equipped with the fruit collecting pipe, the fruit collecting pipe meet mutually with rotatory boss, rotatory boss establish on the second worm wheel, the second worm wheel establish on the revolving stage base, the revolving stage base establish on the load wagon, the load wagon on be equipped with the fruit and collect storehouse and fruit and collect the hole, the fruit collect the hole and the centre bore of centre bore, the second worm wheel of revolving stage base and the same axle center of the centre bore of rotatory boss.

Compared with the prior art, the invention has the beneficial effects that: the defects that the picking efficiency of the existing fruit picking device is low, the picking of fruits is not thorough, the time consumption for collecting the fruits is long and the like are overcome. The fruit collecting pipe and the mechanical claw rotate synchronously and are always positioned in the same direction, the mechanical claw can collect the fruits only by descending one step after the fruits are picked, next picking can be carried out quickly, and the working beat of the traditional picking device that the mechanism is reset firstly and then is collected is reduced; the opening and closing of the mechanical claw are controlled by an air cylinder to replace the traditional gear-driven mechanical claw, so that the picking speed of the fruit is greatly improved; the base rotating mechanism, the transverse displacement mechanism, the longitudinal displacement mechanism and the fine adjustment mechanism work cooperatively to realize the accurate positioning picking of fruits, so that the situation that the fruits cannot be picked after being positioned by the traditional picking device is reduced, the picking of the fruits around can be finished within the working rhythm of one-time parking, and a transport vehicle does not need to be started and stopped for many times, so that the damage to the land is avoided; the weight box has the effects of keeping the gravity center of the whole mechanism balanced, enhancing the stability of the mechanism and preventing the mechanism from inclining due to overlarge picking force.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic side view of the present invention.

Fig. 3 is a schematic structural diagram of the gripping mechanism of the present invention.

Fig. 4 is a partial structural schematic diagram of the auxiliary collecting mechanism of the present invention.

Fig. 5 is a schematic view of a partial structure of the fine adjustment mechanism of the present invention.

Fig. 6 is a schematic structural diagram of the displacement mechanism of the present invention.

Fig. 7 is a schematic structural diagram of a base rotating mechanism according to the present invention.

Fig. 8 is a schematic structural view of the loading vehicle of the present invention.

In the figure, 1, a grabbing mechanism, 2, an auxiliary collecting mechanism, 3, a weight box, 4, a displacement mechanism, 5, a loading vehicle, 6, a base rotating mechanism, 7, a fruit collecting pipe, 8, a fine adjustment mechanism, 9, a motor, 10, a gear box, 11, a cylinder, 12, a first hinge, 13, a first cylinder push rod, 101, a clamper, 102, a clamper fixing plate, 103, a clamper fixing rod, 201, a T-shaped fixing frame, 202, a beam, 203, a U-shaped fixing frame, 204, a first worm, 205, a first worm wheel shaft, 206, a first worm wheel shaft supporting block, 207, a first worm wheel, 208, a grabbing mechanism connecting block, 209, a first worm, a supporting block, a column transverse supporting block, 402, a column worm, 403, a rack, 404, a column longitudinal supporting block, 501, a fruit collecting hole, 502, a fruit collecting bin, 601, a rotating boss, 602, a second worm wheel, 603, a second supporting block, 604. the second worm 605, the base driving motor 606, the turntable base 801, the first connecting block 802, the second connecting block 1201, the second hinge 1202, the third hinge 1301 and the second cylinder push rod.

Detailed Description

The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings. The following examples or figures are illustrative of the present invention and are not intended to limit the scope of the present invention.

Referring to fig. 1 and 2, the embodiment provides a vehicle-mounted fruit picking device, which is composed of a grabbing mechanism 1, an auxiliary collecting mechanism 2, a displacement mechanism 4, a loading vehicle 5, a base rotation mechanism 6 and a fine adjustment mechanism 8, wherein the top of the loading vehicle 5 is provided with the base rotation mechanism 6, the base rotation mechanism 6 is provided with a transverse displacement mechanism 4, the transverse displacement mechanism 4 is provided with a longitudinal displacement mechanism 4, the longitudinal displacement mechanism 4 is hinged to a cross beam 202 through a first hinge 12, the fine adjustment mechanism 8 is arranged between the longitudinal displacement mechanism 4 and the cross beam 202, the cross beam 202 is provided with the auxiliary collecting mechanism 2, and the auxiliary collecting mechanism 2 is provided with the grabbing mechanism 1.

Referring to fig. 1, 2, 3, 4, 5, 6, 7 and 8, a gripper 101 is arranged on the gripping mechanism 1, gripper fixing pieces 102 are arranged on the upper and lower surfaces of the gripper 101, gripper fixing rods 103 are arranged on the two side surfaces, a second hinge 1201 is arranged at the tail end of the gripper, an air cylinder 11 is arranged in the middle of the second hinge 1201, a first air cylinder push rod 13 is arranged at one end of the air cylinder 11, a gear box 10 is arranged at the other end of the air cylinder 11, the first air cylinder push rod 13 is arranged in the middle of the gripper fixing rods 103, and a motor 9 is arranged on the gear box 10; the auxiliary collecting mechanism 2 is provided with a grabbing mechanism connecting block 208, one end of the grabbing mechanism connecting block 208 is provided with a motor 9, the side face of the other end of the grabbing mechanism connecting block 208 is provided with a first worm wheel 207, the first worm wheel 207 is arranged on a first worm wheel shaft 205, the first worm wheel shaft 205 is arranged on a first worm wheel shaft supporting block 206, the first worm wheel shaft supporting block 206 is arranged on the end face of the cross beam 202, the end face of the middle part of the cross beam 202 is provided with a U-shaped fixing frame 203 and a T-shaped fixing frame 201, the side face of the cross beam is provided with a first worm supporting block 209, the first worm 204 is meshed with the first worm wheel 207, the lower end of the first worm 204 is arranged on the first worm 209, the upper end of the first worm passes through holes of the U-shaped fixing frame 203 to be matched with the gear box 10; the tail end of the cross beam 202 is provided with a first hinge 12, the first hinge 12 is provided with an upright post 402, the top of the upright post 402 is provided with a weight box 3, the bottom of the upright post is provided with upright post longitudinal supporting blocks 404, upright post transverse supporting blocks 401 are arranged between the upright posts 402, the end surfaces of the upright posts are provided with racks 403, and the racks 403 are meshed with the gear box 10; one end of a first connecting block 801 of the fine adjustment mechanism 8 is connected with the cross beam 202, the other end of the first connecting block is connected with a second cylinder push rod 1301, the second cylinder push rod 1301 is matched with the cylinder 11, a third hinge 1202 is arranged on the cylinder 11, a second connecting block 802 is arranged on the third hinge 1202, and the second connecting block 802 is arranged on the motor 9; horizontal displacement mechanism 4's stand 402 level establish in rotatory boss 601 draw-in groove both sides, stand 402 one end is equipped with weight box 3, and the other end is equipped with fruit collecting pipe 7, meeting of fruit collecting pipe 7 and rotatory boss 601, rotatory boss 601 establish on second worm wheel 602, second worm wheel 602 establish on revolving stage base 606, revolving stage base 606 establish on load wagon 5, load wagon 5 on be equipped with the fruit and collect storehouse 502 and fruit collection hole 501, fruit collection hole 501 and revolving stage base 606's centre bore, the centre bore of second worm wheel 602 and the centre bore coaxial center of rotatory boss 601.

The use method of the invention is as follows with the attached drawings: after the transport vehicle 5 stops, the base driving motor 605 drives the second worm wheel 602 to rotate to send the gripping mechanism 1 to the target position, meanwhile, the gear box 10 on the horizontal displacement mechanism 4 and the whole actuating mechanism carried above the gear box are driven by the motor 9 to approach the target along the rack 403, the longitudinal displacement mechanism 4 drives the gripping mechanism 1 to adjust to the target height under the drive of the motor 9, the fine adjustment mechanism 8 extends the second cylinder push rod 1301 under the action of the cylinder 11, so as to change the included angle between the cross beam 202 and the upright post 402, further accurately position the target, after the positioning is completed, the cylinder 11 on the gripping mechanism 1 is deflated, the first cylinder push rod 13 is retracted to complete the clamping action of the fruit, the motor 9 at the tail end of the gripping mechanism 1 drives the gear box 10 to work, the gear box 10 drives the gripping mechanism 1 to rotate, the picking action of the fruit is completed, the longitudinal displacement mechanism 4 descends to the height of the fruit collecting pipe 7, meanwhile, the auxiliary collecting mechanism 2 starts to work, the first worm 204 drives the first worm wheel 207 to rotate under the driving of the motor 9, the grabbing mechanism 1 starts to rotate anticlockwise to reach the position right above the pipe orifice of the fruit collecting pipe 7, the air cylinder 11 enters air, the push rod 1301 of the second air cylinder extends, fruits reach the fruit collecting bin 502 along the fruit collecting pipe 7, the central hole of the rotating boss 601, the central hole of the second worm wheel 602, the central hole of the rotary table base 606 and the fruit collecting hole 501, the fruit collecting action is completed, the grabbing mechanism 1 resets to the horizontal position, and picking is carried out next time.

The invention verifies the feasibility of fixed-point automatic picking in real objects, can realize full-automatic picking if a set of visual identification system is transplanted, and has good popularization value and application prospect.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a device is picked to vehicular fruit, is by snatching mechanism (1), supplementary mechanism (2), displacement mechanism (4), load wagon (5), base rotary mechanism (6) and fine-tuning (8) and constitutes, its characterized in that: load wagon (5) top be equipped with base rotary mechanism (6), base rotary mechanism (6) on be equipped with horizontal displacement mechanism (4), horizontal displacement mechanism (4) on be equipped with vertical displacement mechanism (4), vertical displacement mechanism (4) articulated through first hinge (12) and crossbeam (202), vertical displacement mechanism (4) and crossbeam (202) between be equipped with fine-tuning (8), crossbeam (202) on be equipped with supplementary collection mechanism (2), supplementary collection mechanism (2) on be equipped with and snatch mechanism (1).

2. The vehicle-mounted fruit picking device according to claim 1, characterized in that a gripper (101) is arranged on the gripping mechanism (1), gripper fixing plates (102) are arranged on the upper surface and the lower surface of the gripper (101), gripper fixing rods (103) are arranged on the two side surfaces, a second hinge (1201) is arranged at the tail end of the gripper fixing plates, an air cylinder (11) is arranged in the middle of the second hinge (1201), a first air cylinder push rod (13) is arranged at one end of the air cylinder (11), a gear box (10) is arranged at the other end of the air cylinder (11), the first air cylinder push rod (13) is arranged in the middle of the gripper fixing rods (103), and a motor (9) is arranged on; the auxiliary collecting mechanism (2) is provided with a grabbing mechanism connecting block (208), one end of the grabbing mechanism connecting block (208) is provided with a motor (9), the side face of the other end of the grabbing mechanism connecting block is provided with a first worm wheel (207), the first worm wheel (207) is arranged on a first worm wheel shaft (205), the first worm wheel shaft (205) is arranged on a first worm wheel shaft supporting block (206), the first worm wheel shaft supporting block (206) is arranged on the end face of the cross beam (202), the middle end face of the cross beam (202) is provided with a U-shaped fixing frame (203) and a T-shaped fixing frame (201), the side face of the cross beam is provided with a first worm supporting block (209), the first worm (204) is meshed with the first worm wheel (207), the lower end of the first worm (204) is arranged on the first worm supporting block (209), and the upper end of the first worm (204) passes through a through hole of the U, a motor (9) is arranged on the gear box (10), and the motor (9) is arranged on the T-shaped fixing frame (201); the end of the cross beam (202) is provided with a first hinge (12), the first hinge (12) is provided with an upright post (402), the top of the upright post (402) is provided with a weight box (3), the bottom of the upright post is provided with an upright post longitudinal supporting block (404), upright post transverse supporting blocks (401) are arranged among the upright posts (402), the end surfaces of the upright posts are provided with racks (403), and the racks (403) are meshed with the gear box (10); one end of a first connecting block (801) of the fine adjustment mechanism (8) is connected with the cross beam (202), the other end of the first connecting block is connected with a second air cylinder push rod (1301), the second air cylinder push rod (1301) is matched with the air cylinder (11), a third hinge (1202) is arranged on the air cylinder (11), a second connecting block (802) is arranged on the third hinge (1202), and the second connecting block (802) is arranged on the motor (9); horizontal displacement mechanism (4) stand (402) level establish in rotatory boss (601) draw-in groove both sides, stand (402) one end is equipped with weight box (3), and the other end is equipped with fruit collecting pipe (7), meeting of fruit collecting pipe (7) and rotatory boss (601), rotatory boss (601) establish on second worm wheel (602), second worm wheel (602) establish on revolving stage base (606), revolving stage base (606) establish on load wagon (5), load wagon (5) on be equipped with fruit and collect storehouse (502) and fruit and collect hole (501), fruit collect hole (501) and revolving stage base (606), second worm wheel (602) and rotatory boss (601) coaxial core.