CN211831965U - Pickup device for robot for picking up fallen forest fruits - Google Patents

Abstract

The utility model belongs to the technical field of it is automatic, a forest fruit that falls to ground picks up robot and uses pickup apparatus is related to, and it comprises U type connecting piece, pickup apparatus axle, pickup cage, and U type connecting piece symmetry hinge is adorned in pickup apparatus off-axial end, picks up the cage and rotates and set up in pickup apparatus epaxially, the pickup apparatus axle divide into left semi-axis, right semi-axis, and left semi-axis, right semi-axis are relative to be set up, and the structure is the same can be general, pick up the cage, constitute by disc steel wire frame, spring steel wire, disc steel wire frame symmetry rotates and sets up in left semi-axis and right semi-axis inner, and spring steel wire interweaves and is cage form circumference equipartition and sets up on the. The utility model has the advantages of structural design scientific and reasonable, have simple structure, the preparation is easy, the reliable operation, pick up the rate height, the profile modeling function is better, application scope is wide, be convenient for clear miscellaneous etc. be a forest fruit that falls to the ground picks up robot and use pickup attachment with higher novelty.

Description

Pickup device for robot for picking up fallen forest fruits

Technical Field

The utility model belongs to the technical field of it is automatic, in particular to forest fruit that fall to ground picks up ware of picking up for robot.

Background

In recent years, the planting area of various types of forest and fruits in China is rapidly increased all the time, and the total output is stable all the time in the world. The forest and fruit industry becomes the third industry behind the ranking of grains and vegetables in the planting industry of China. The forest fruit harvesting is an important link in the whole orchard production process, has the characteristics of strong seasonality and labor intensity, and the amount of the used labor force accounts for about 35-45% of the whole production process. There are two main types of common forest fruit harvesting methods: the method comprises the steps of one-time combined harvesting of the fruits on the trees and the subsection harvesting of shaking, fruit collection and picking of the fruits on the trees. Due to the fact that the orchard planting density is high in China, the ground surface conditions of the orchard are complex and various, and the large-scale forest fruit harvester and the fruit receiving device cannot flexibly operate in the orchard, the segmented harvesting mode is more suitable for orchard harvesting operation in China. However, the mechanization degree of the fruit harvesting operation in China is low, particularly the picking link is mainly completed by manpower, the problems of high labor intensity, low operation efficiency, high labor cost and the like exist, and the healthy development of the fruit harvesting industry in China is severely restricted. Therefore, the demand for automatic harvesting machines for forest fruits is also becoming more urgent.

As early as the fifties and sixties of the twentieth century, foreign research scholars have conducted relevant research on forest and fruit harvesting machines, and at present, there are mature machines, such as an SEMEK self-propelled hazelnut harvester designed and manufactured by member companies of the australian medical administration association, which collects fruits through two large disc fruit collectors at the front end, picks up the fruits through a roller brush, sends the hazelnuts to a grid plate through a conveying device for impurity removal, and then collects the fruits. Jack Croft Wichia invented a self-propelled hickory harvester, adopt the steel sheet to comb and brush subaerial hickory into uniform thickness, adopt dislocation opposition pick-up roll to pick up again, the hickory that is picked up falls into the shale shaker under the inertial action and clears up miscellaneous and carry, finally gets into collection fruit case through conveyer belt and conveying roller. Generally, the fruit is picked up by adopting a mode of combining a disk brush or a shovel brush in most foreign countries, the overall equipment has larger appearance, large turning radius and inflexible machine operation, and is not suitable for orchard conditions and fruit harvesting modes in China.

In recent years, China also develops the research of forest and fruit harvesting machinery, but most of the forest and fruit harvesting machinery are still in the laboratory stage, and a certain gap exists between the forest and fruit harvesting machinery and popularization and application. The typical research result is that a 4ZZ-2Y type red date harvester developed by the mechanical engineering college of the university of Stone river collects the landing red dates by adopting resin sheets arranged on a rotating shaft, and then picks up the landing red dates by utilizing bent steel teeth which are buried in the soil. The equipment has poor operation effect because the resin sheet is not installed with less freedom degree, and the bent steel teeth do not have the profiling function. People such as Von ice of Wuhan Weimingde company invent a forest fruit harvester, collect fruits falling on the ground into a line through a disk brush, pick up the collected fruits in the line by adopting a shaking type fruit picker according to the vibration and inertia principles, and fall behind the shaking type fruit picker; the fruit is taken to the conveyer belt through the rotation of the elastic tooth fruit raking device, and the harvesting operation of the fruit is completed. This equipment can sweep into debris such as a lot of leaves branches in the use to easily lead to carrying the jam or block and trip, also bring great trouble for subsequent letter sorting processing moreover. The rock river university has still developed an air-suction type red date harvester, discovers that this equipment has the condition of inhaling the jam pipeline with debris easily in the in-service use equally, and the during operation still can cause ground dust to raise because of having the air current and lead to the operational environment abominable, picks up the operation in-process moreover and needs artifical support, picks up efficiency not high. In addition, a shovel-type picking device can pick fruits by shifting the fruits ahead to enter a shovel plate. The device has higher requirement on the ground flatness, the missing picking rate is high during actual use, the picking and harvesting efficiency is lower, and in addition, the device is easy to pull in sundries such as branches, so that the device is blocked and even damaged.

Aiming at the problems of the existing forest and fruit harvesting machines and the actual requirements of the forest and fruit industry in China on the harvesting machines, a robot for picking up fallen forest and fruits, which integrates the functions of picking up, removing impurities and collecting, is independently developed in China, and a picking device is an important part of the robot.

Disclosure of Invention

An object of the utility model is to overcome prior art's not enough, provide a simple structure, the preparation is easy, the reliable operation, pick up the rate high, the profile modeling function is better, application scope is wide, be convenient for clear miscellaneous forest fruit that falls to the ground picks up the robot and picks up the ware.

The utility model provides a its technical problem realize through following technical scheme:

the utility model provides a fall to ground forest fruit and pick up machine ware for robot which characterized in that: the pick-up cage is composed of a U-shaped connecting piece, a pick-up shaft and a pick-up cage, wherein the U-shaped connecting piece is symmetrically hinged to the outer end part of the pick-up shaft, the pick-up cage is rotatably arranged on the pick-up shaft and is divided into a left half shaft and a right half shaft, the left half shaft and the right half shaft are oppositely arranged, the pick-up cage is identical in structure and can be universal, the pick-up cage is composed of a disc steel wire frame and spring steel wires, the disc steel wire frame is symmetrically and rotatably arranged at the inner ends of the left half shaft and the right half shaft, and the spring steel wires are mutually interwoven.

And, pick up the cage, divide into multiple specification according to spring wire density.

The utility model discloses an advantage and beneficial effect do:

1. the utility model discloses simple structure, the preparation is easy.

2. The utility model discloses a rugby shape is made to spring steel wire material, has certain profile modeling function, can adapt to the complicated ground condition in orchard, improves and picks up the effect, reduces to leak and examines the rate and to the damage of fruit.

3. The utility model discloses the spring steel wire quantity of pickup can be according to picking up fruit diameter size and setting, has multiple specification, is applicable to multiple forest fruit and picks up, and application scope is wide.

4. The utility model discloses the structure is the cage form, is convenient for clear miscellaneous.

5. The utility model has the advantages of structural design scientific and reasonable, have simple structure, the preparation is easy, the reliable operation, pick up the rate height, the profile modeling function is better, application scope is wide, be convenient for clear miscellaneous etc. be a forest fruit that falls to the ground picks up robot and use pickup attachment with higher novelty.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the connection of the present invention;

FIG. 3 is a view of the assembly position of the present invention;

fig. 4 is a left side view of fig. 3.

Reference is made to the accompanying drawings in which:

1-left half shaft, 2-disc steel wire frame, 3-spring steel wire, 4-right half shaft, 5-chain, 6-U-shaped connecting piece, 7-combined power supply device, 8-conveying mechanism, 9-picking device for ground fruit picking robot, 10-fruit collector, 11-self-propelled moving chassis and 12-horizontal swinging mechanism.

Detailed Description

The present invention will be described in further detail with reference to specific examples, which are provided for illustrative purposes only, and are not intended to be limiting, and the scope of the present invention should not be limited thereby.

The utility model provides a forest fruit that falls to ground picks up machine ware with picking up comprises U type connecting piece 6, pickup axle, pick up the cage, and U type connecting piece symmetry hinge is adorned in pickup off-axial tip, picks up the cage and rotates and set up in pickup off-axial.

The pickup shaft is divided into a left half shaft 1 and a right half shaft 4 which are arranged oppositely, and the pickup shaft has the same structure and can be used universally. Adopt semi-axis structure, can increase and pick up the cage inner space, increase the quantity of picking up the forest fruit, also can avoid simultaneously influencing forest fruit and pick up because of leading to the axle blockking of forest fruit.

The pick-up cage consists of a disc steel wire frame 2 and spring steel wires 3, the disc steel wire frame is symmetrically and rotatably arranged at the inner ends of the left half shaft and the right half shaft, and the spring steel wires are mutually interwoven to form a cage shape and are circumferentially and uniformly distributed on the disc steel wire frame.

The pick-up cage is divided into a plurality of specifications according to the density of the spring steel wire. The maximum diameter of the pickup is one hundred eighty millimeters, and the number of spring wires arranged in the circumferential direction is determined by the minimum diameter of the fruit that can be picked up. Taking the diameter of picked fruits in the range of twenty millimeters to fifty millimeters as an example, the circumference of the position with the largest diameter of the pickup device is five hundred sixty five millimeters, and the number of the spring steel wires which are uniformly distributed along the circumference is about thirty.

Pickup device for robot is picked up to forest fruit that falls to ground, including combined power supply unit 7, self-propelled removal chassis 11, control device, pickup device (falling to ground promptly the robot is picked up to forest fruit and using pickup device 9), fruit collector 10, conveying mechanism 8, horizontal swinging mechanism 12, the fruit collector rolls and sets up on self-propelled removal chassis, conveying mechanism sets up on fruit collector, combined power supply unit, the robot is picked up to forest fruit that falls to ground all sets up on conveying mechanism's chain 5 with pickup device, horizontal swinging mechanism one end symmetry sets up on self-propelled removal chassis, the other end and conveying mechanism hinge dress, control device respectively with self-propelled removal chassis, conveying mechanism, horizontal swinging mechanism control is connected.

The fruit collector consists of a supporting rod, a box seat, a fruit collecting box body and a fruit collecting drawer, wherein the supporting rod is symmetrically hinged to the upper top surface of a self-propelled movable chassis in a rectangular shape, the box seat is arranged on the supporting rod, the fruit collecting box body is fixedly arranged on the top surface of the box seat, and the fruit collecting drawer is arranged in the fruit collecting box body. The bottom end of the supporting rod is provided with a roller.

The fruit collecting box body is provided with a rectangular opening above the fruit collecting box body, and a plurality of arc-shaped bulges are respectively arranged on two sides of the rectangular opening. When falling to the ground forest fruit and picking up robot and conveying to fruit collector top with the pickup attachment, produce the squeezing action with the arc arch, adjacent spring steel wire is strutted, and the clearance grow, the fruit of being convenient for falls into fruit collector.

The conveying mechanism comprises a conveying motor, a chain wheel shaft frame, a chain wheel shaft, a chain wheel and a chain, wherein the conveying motor is arranged at the upper bottom of the box body seat, the chain wheel shaft frame is rectangular and vertically and fixedly arranged at the four corners of the box body seat, the chain wheel shaft is rectangular and horizontally arranged on the chain wheel shaft frame and is in transmission connection with the conveying motor, the chain wheel is symmetrically arranged at the two ends of the chain wheel shaft frame, and the chain is arranged on the chain wheel.

The horizontal swinging mechanism consists of a crankshaft and a swinging motor, one end of the crankshaft is arranged on the self-propelled movable chassis, the other end of the crankshaft is hinged with the chain wheel shaft, and the swinging motor is arranged on the self-propelled movable chassis and is in transmission connection with the crankshaft.

The combined power supply device comprises a solar battery, an electricity storage battery and a mains supply connecting piece. The power supply device is used for supplying power to the self-propelled movable chassis, the conveying motor and the swinging motor.

The self-propelled mobile chassis comprises a chassis, four traveling wheels, four driving motors and four shock absorbers corresponding to the traveling wheels and an automatic obstacle avoidance mechanism. The top surface of the chassis is provided with a supporting rod slideway.

The utility model discloses a theory of operation:

when the fallen forest fruit picking robot is used for picking up forest fruits, the picker for the fallen forest fruit picking robot matched with the fallen forest fruit picking robot is selected and assembled according to the diameter of the fruit. The robot is picked up to forest fruit that will fall to the ground arranges the woodland that has the forest fruit in, starts self-propelled removal chassis and horizontal swing mechanism, and self-propelled removal chassis is at the ground walking that scatters the forest fruit, and this robot is picked up to forest fruit that falls to the ground produces the friction and rotates with ground under the self-propelled removal chassis drives, when meeting the forest fruit, the forest fruit can be with the spring steel wire on the pickup separately and get into the pickup in, the forest fruit gets into the back, and the spring steel wire is automatic reconversion under the elastic force effect. After a certain amount of forest fruits are picked up by the first pickup device, the conveying mechanism is started, the conveying motor drives the chain wheel shaft, the chain wheel and the chain to rotate, and meanwhile, the pickup device arranged on the chain moves along until the second pickup device is located at the bottom picking position. In the conveying process, under the action of the horizontal swinging mechanism, other parts except the moving chassis are in horizontal reciprocating motion, and the impurity removing work can be finished by the forest fruits in the first pickup device. When first pickup reaches collection fruit ware top rectangle opening top, the spring steel wire and the arc arch that fall to the ground the pickup produce the squeezing action, and adjacent spring steel wire is dialled open, and the clearance grow, the fruit falls into in the collection fruit drawer of collection fruit box. The steps are circulated, so that the forest fruit picking and impurity removing can be automatically and continuously carried out. The fruit collecting drawer is manually taken out after being filled with fruit or a certain amount of fruit collecting drawers.

Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims, and therefore, the scope of the present invention is not limited to the disclosure of the embodiments and the accompanying drawings.

Claims (2)

1. The utility model provides a fall to ground forest fruit and pick up machine ware for robot which characterized in that: the pick-up cage is composed of a U-shaped connecting piece, a pick-up shaft and a pick-up cage, wherein the U-shaped connecting piece is symmetrically hinged to the outer end part of the pick-up shaft, the pick-up cage is rotatably arranged on the pick-up shaft and is divided into a left half shaft and a right half shaft, the left half shaft and the right half shaft are oppositely arranged, the pick-up cage is identical in structure and can be universal, the pick-up cage is composed of a disc steel wire frame and spring steel wires, the disc steel wire frame is symmetrically and rotatably arranged at the inner ends of the left half shaft and the right half shaft, and the spring steel wires are mutually interwoven.

2. The pickup device for the robot for picking up fallen forest fruits as claimed in claim 1, wherein: the pick-up cage is divided into a plurality of specifications according to the density of the spring steel wire.

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