CN214228973U

CN214228973U - Fruit picking machine

Info

Publication number: CN214228973U
Application number: CN202022994480.1U
Authority: CN
Inventors: 程清伟; 张梓谦; 莫永康; 卓有成
Original assignee: Guangzhou College of South China University of Technology
Current assignee: Guangzhou College of South China University of Technology
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2021-09-21
Anticipated expiration: 2030-12-14

Abstract

The utility model provides a fruit picking machine, which comprises an inner ring part, an outer ring part, a telescopic cylinder, a crawling mechanism and a picking mechanism; the inner ring part is provided with more than two inner ring frames which are detachably connected, each inner ring frame comprises an inner upper ring, an inner lower ring and an inner ring connecting rod, the inner upper ring and the inner lower ring are respectively in the same arc shape, two ends of each inner ring connecting rod are respectively fixedly connected with the inner upper ring and the inner lower ring, and the inner ring parts are used for being sleeved on the periphery of the trunk; the outer ring part comprises more than two outer ring frames; the outer ring part is axially arranged around the central shaft of the inner ring part; one end of the telescopic cylinder is connected with the inner ring frame, and the other end of the telescopic cylinder is connected with the outer ring frame; the crawling mechanism comprises a sliding wheel, a sliding wheel bracket and a crawling motor which is arranged in the sliding wheel and drives the sliding wheel to rotate; the picking mechanism comprises an annular slide rail and a cutting manipulator arranged on the annular slide rail in a sliding manner; the utility model has the advantages of pick the fruit of arbitrary angle fast.

Description

Fruit picking machine

Technical Field

The utility model relates to the technical field of robots, concretely relates to fruit picking machine.

Background

In the fruit production operation, the fruit picking accounts for 33-50% of the whole operation amount, and farmers manually pick the fruits one by using a picking device for the fruits on higher trees. Farmers firstly observe the position of the fruit under the tree, then approach the picking device to the fruit, manually adjust the position, manually cut the branches and then pick up the fruit. The picking device is often a scissors or a three-grabbing manipulator, and the picking mode has high labor intensity and very low production efficiency. If farmers directly climb trees for picking, great potential safety hazards exist.

In the research on tree climbing machines at home and abroad, the design of mechanisms is mainly carried out from the mechanical structure and the bionic angle, wherein the design mainly comprises the following steps: 1. a novel tree climbing robot Risev3 developed by researchers at American Bingxi Nia university is mainly designed on the basis of a mechanical structure, and comprises four feet, wherein needle-shaped protruding teeth are adopted at the positions of the feet of the robot Risev3, so that the robot Risev3 can move on a vertical object conveniently; 2. the snake-shaped robot researched by the university of Kanaiji-Meilong is designed in a bionic angle, is a hexapod robot and can stick and crawl like cockroaches; 3. tree bot developed by hong Kong in China is a structure of the former two, consists of 3 connecting rods with telescopic functions, and is like the crawling of caterpillars, and the mechanical claws are provided with related touch sensors so as to realize walking.

However, all the three mainstream Tree climbing robots have certain defects, Risev3 has high requirements on mechanical parts, the snake-shaped robot is expensive in cost and low in automation level, manual control is still needed to complete a series of processes, and in addition, the work form is single, only Tree climbing is completed, the work efficiency is low, and the stability of the touch sensor of the Tree bot is poor.

The inventor of the utility model has disclosed and a surround formula fruit picking machine in patent document with application number CN201822177334.2, announcement date 2020.01.07, the inner ring arm is the tube-shape and is used for the cover to establish in the periphery of trunk, the outer ring plate of outer ring arm encircles along the center pin circumference of inner ring arm and sets up, telescopic machanism includes telescopic cylinder and telescopic guide rail, each outer ring plate is connected in the outside of inner ring arm through telescopic cylinder respectively, and telescopic cylinder can stretch out and draw back and make outer ring plate radially move along inner ring arm, telescopic guide rail connects the bottom surface of outer ring plate and the bottom surface of inner ring arm, crawl mechanism sets up on each outer ring plate and passes the inner ring arm, the movable pulley of crawl mechanism butts against the surface of trunk, the gripper in the fruit picking mechanism sets up on the outer ring plate through the arm, lock mechanism includes lock cylinder and the contact pin that can pierce the tree surface; the encircling fruit picking machine further comprises a control system. The fruit picking machine can realize the intellectualization of climbing and picking, so that the fruit picking machine can stay on a trunk to pick fruits.

However, the outer ring plate and the inner ring plate of the fruit picking machine disclosed in this patent document are plate-shaped structures, which results in a large weight, and when the inner ring plate of the picking machine is fixed to the trunk, there is no snap structure between the inner ring plates, which results in low stability of fixation, and picking is performed only by four manipulators provided during picking, so that the picking angle is limited, and when the mechanical claws are disconnected from the fruit handles, the picking efficiency of the mechanical claws is not high, and although a plurality of mechanical claws are provided, it is difficult for the operator to simultaneously operate a plurality of mechanical manipulators for picking, and improvement is required.

Disclosure of Invention

The utility model provides a little weight picks efficient, picks wide embracing formula coconut palm fruit cutting picking machine of angle, utilizes the utility model discloses a structure can pick the fruit of arbitrary angle fast.

In order to achieve the above purpose, the technical scheme of the utility model is that: a fruit picking machine comprises an inner ring part, an outer ring part, a telescopic cylinder, a crawling mechanism and a picking mechanism;

the inner ring part is provided with more than two inner ring frames and connecting pieces for connecting the inner ring frames, the inner ring frames are detachably connected, the inner ring frame comprises an inner upper ring, an inner lower ring and an inner ring connecting rod, the inner upper ring and the inner lower ring are respectively in the same arc shape, two ends of the inner ring connecting rod are respectively fixedly connected with the inner upper ring and the inner lower ring, the inner upper ring and the inner upper ring are respectively provided with a connecting chute and a first fixing hole site, the connecting piece is matched with the connecting chute, the connecting piece is provided with a second fixing hole site, the inner ring part is sleeved on the periphery of the trunk, the outer ring part comprises more than two outer ring frames, each outer ring frame comprises an outer upper ring, an outer lower ring and an outer ring connecting rod, two ends of each outer ring connecting rod are respectively fixedly connected with the outer upper ring and the outer lower ring, the outer ring part is arranged in a surrounding manner along the axial direction of the central shaft of the inner ring part, and the outer upper ring and the outer lower ring are provided with sliding grooves; the cylinder body of the telescopic cylinder is connected to the inner ring frame, the piston rod of the telescopic cylinder is rotatably connected with a telescopic pulley, and the telescopic pulley is connected in the sliding groove of the outer ring frame in a sliding manner;

the crawling mechanism comprises sliding wheels, sliding wheel brackets and a crawling motor which is arranged in the sliding wheels and drives the sliding wheels to rotate, each sliding wheel is arranged on the outer ring frame through the sliding wheel brackets and is axially arranged in a surrounding mode along a central shaft of the inner ring portion of the outer ring frame, and the sliding wheels are abutted to the outer surface of the trunk; the output end of the crawling motor is connected with a worm gear reducer, and the output end of the crawling motor drives a sliding wheel through the worm gear reducer;

the picking mechanism comprises an annular slide rail and a cutting manipulator arranged on the annular slide rail in a sliding manner, the annular slide rail comprises more than two arc-shaped small slide rails, the more than two arc-shaped small slide rails form an annular shape, the more than two small slide rails are arranged along the axial direction of a central shaft of the inner ring part in a surrounding manner, the annular slide rail is fixedly connected onto a telescopic cylinder, the cutting manipulator comprises a sliding base, a sliding motor, a swinging arm, a first swinging motor, a steering motor, a cutting seat, a cutting motor and a circular saw blade, the sliding base is arranged on one side of the sliding base and drives the swinging arm, a threaded universal ball is arranged at the bottom of the sliding base, the output end of the sliding motor is connected with a driving wheel, the driving wheel is connected with the annular slide rail in a rolling manner and is connected with a connecting pin used for connecting a first fixed hole site and a second fixed hole site, and the cutting seat is movably arranged at one end, far away from the sliding base, of the swinging arm, the steering motor is fixedly arranged on the swing arm, the output end of the steering motor is fixedly connected with the cutting seat, the cutting motor is fixedly arranged on the cutting seat, the circular saw blade is rotatably arranged on the cutting seat, and the output end of the cutting motor is connected with the circular saw blade;

the swing arm comprises two swing rods and a connecting plate, the swing rods are symmetrically arranged on the sliding base, the swing rods are symmetrically arranged and hinged on the sliding base, and the connecting plate is fixedly connected between the two swing rods at one end, far away from the sliding base, of the swing rod; the first swing motor is fixedly arranged on one side of the sliding base, and the output end of the first swing motor is fixedly connected with the swing rod;

a second swing motor is further arranged on one side, far away from the first swing motor, of the sliding base; a first small arm is hinged to the swing rod on one side, close to the first swing motor, of the swing arm, a second small arm is hinged to the swing rod on one side, far away from the first swing motor, of the swing arm, the first small arm and the second small arm are respectively in rotating connection with the swing rods on two sides of the sliding base, and the first small arm and the second small arm are fixedly connected with the connecting plate; the second small arm is hinged with a connecting pull rod, the other end of the connecting pull rod is hinged with a rotary rod, and the other end of the rotary rod is connected with the output end of the second swing motor.

According to the arrangement, the inner ring portion and the outer ring portion are coaxially arranged, the inner ring portion is sleeved on the periphery of a trunk, when the encircling coconut cutting picking machine is used, a connecting pin for connecting the first fixing hole position and the second fixing hole position is pulled out, a connecting piece for connecting the inner ring frames is disassembled, the inner ring frames are clamped outside the trunk, the inner ring frames are connected through the connecting piece, and the connecting pin penetrates through the first fixing hole position and the second fixing hole position to complete installation; through the lightweight design of the inner ring frame and the outer ring frame, the original circular-arc plate type framework is replaced, the manufacturing procedure of punching holes on the circular-arc plate type framework is saved, and meanwhile, the weight of the encircling coconut cutting and picking machine is greatly reduced; the encircling coconut cutting and picking machine can stably move up and down along the trunk by matching the telescopic cylinder arranged between the outer ring part and the inner ring part and the sliding wheel connected to the outer ring part and capable of rotating and butting against the outer surface of the trunk, and the telescopic cylinder pushes the outer ring arm to move along the radial direction of the outer ring arm and is matched with the sliding wheel to rotate, so that the encircling coconut cutting and picking machine is suitable for coconut trees with different diameters; the encircling coconut cutting and picking machine moves to a proper position, the crawling motor stops driving, the telescopic cylinder drives the piston rod to be tightened, the telescopic pulley rotates and slides on the sliding groove, the outer ring frame drives the sliding wheel to clamp the outer surface of the trunk, meanwhile, the worm and gear reducer is self-locked to prevent the sliding wheel from sliding, and the encircling coconut cutting and picking machine can be locked and fixed on the trunk under the combined action of the outer ring frame and the sliding wheel; when the cutting manipulator is driven by the sliding motor to slide to any annular position along the annular slide rail for picking, the cutting manipulator is provided with a first swing motor and a steering motor, the cutting manipulator can change in multiple shafts to pick coconuts at any angle, and the circular saw blade is driven by the cutting motor to cut fruit stalks, so that the fruit stalks connected with the coconuts and fruit trees can be cut off quickly; in addition, the telescopic cylinder is directly connected to the inner ring frame and the outer ring frame, so that the weight of the inner ring part and the outer ring part is reduced, and the encircling coconut cutting and picking machine is more convenient to carry and use; in addition, because the inner upper ring and the inner lower ring are provided with the connecting chutes which are matched with the connecting pieces, the plurality of inner ring frames can be detachably connected through the connecting pieces, because the inner ring frames are provided with the connecting chutes, the connecting pieces can be conveniently connected, the weight of the inner ring frames can be reduced, the inner ring parts can be better fixed, the sliding stability of the small slide rail is ensured, the outer upper ring and the outer lower ring are provided with the sliding grooves, the telescopic pulleys slide in the sliding grooves to realize the reliable sliding of the telescopic cylinder, the structural stability is good, meanwhile, the first swing motor drives the swing rod to swing, the second swing motor drives the connecting pull rod to further drive the connecting block to swing around the first small arm and the second small arm, the structure is simple and reliable, and the first swing motor and the second swing motor are both arranged on the sliding base, so that the center of the swing arm moves down, the movement of the oscillating arm is made more reliable.

Furthermore, the telescopic cylinder is a spring cylinder, the cylinder body of the spring cylinder is connected to the inner ring frame, and the piston rod of the spring cylinder is connected to the outer ring frame, so that the trunk climbing of the encircling coconut fruit cutting and picking machine is more stable.

Further, the inner ring connecting rods are provided with more than two connecting rods, and the adjacent inner ring connecting rods are spaced, and the sliding wheel penetrates through the spacing between the two adjacent inner ring connecting rods, so that the sliding wheel transmission device can reduce the weight of the whole inner ring portion.

Further, flexible pulley includes flexible pulley holder and is located the pulley of flexible pulley holder upper both sides, and the intermediate position of flexible pulley holder is equipped with flexible pulley connecting hole, and flexible pulley connecting hole internal fixation has flexible connecting rod, and flexible connecting rod is articulated with telescopic cylinder's piston rod, like this, through set up flexible pulley connecting hole on flexible pulley holder, and the convenience links to each other with telescopic cylinder's piston rod.

Furthermore, the output end of the cutting motor is connected with the circular saw blade in a belt transmission mode, so that the cutting seat is more reasonable in size and convenient to cut.

Furthermore, the connecting sliding groove is a groove which is formed by sinking one side surface of the inner upper ring and the inner lower ring far away from the outer ring part to the position close to the outer ring part; the sliding tray is for outer ring sum outer lower ring go up to keeping away from the sunken recess of interior ring portion on being close to the side of interior ring portion, like this, the sliding tray can make things convenient for flexible pulley to remove in the spout, and connects the connection that the spout can make things convenient for the connecting piece.

Further, be equipped with 4 telescopic cylinder on every outer ring holder respectively, telescopic cylinder's cylinder body is connected respectively and is fitted with a contraceptive ring and interior lower ring in, telescopic cylinder's piston rod is connected respectively and is fitted with a contraceptive ring and outer lower ring outward, like this, connects interior ring portion and outer ring portion through telescopic cylinder, and interior ring portion and outer ring portion atress are more even, can provide sufficient radial tension and to the pressure on trunk surface, make the structure compacter when guaranteeing structural stability, alleviate the weight of picking machine.

Furthermore, the inner ring frames of the inner ring portion are detachably connected through the bolts, so that the inner ring frames can be conveniently connected or detached.

Further, little slide rail includes the spout and sets up the guide table in the spout both sides, the both sides wall of spout is equipped with inside downwardly extending's limiting plate, and the end of limiting plate is equipped with the clearance with the bottom of spout, and the universal ball of screw thread and guide table sliding connection, the both sides of drive wheel are located the clearance, and above setting makes things convenient for the universal ball of screw thread to hui guide table sliding connection through setting up the guide table on little slide rail.

Furthermore, a pressure sensor is arranged on the telescopic cylinder, so that the stroke of a piston rod of the telescopic cylinder can be conveniently adjusted.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic diagram of the explosion structure of the present invention.

Fig. 3 is a schematic structural view of the outer ring frame and the crawling mechanism of the present invention.

Fig. 4 is a schematic structural view of the middle picking mechanism of the present invention.

Fig. 5 is a schematic view of a three-dimensional structure of the middle cutting manipulator of the present invention.

Fig. 6 is a schematic structural view of the middle-inner ring frame of the present invention.

Fig. 7 is a schematic structural view of the middle and small slide rail of the present invention.

Fig. 8 is a schematic structural view of the middle telescopic pulley of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 8, in the present embodiment, a fruit picker includes an inner ring portion 1, an outer ring portion 2, a telescopic cylinder 3, a crawling mechanism 4, and a picking mechanism 5.

The inner ring part 1 is provided with more than two inner ring frames 11 and connecting pieces 110 for connecting the inner ring frames 11, the inner ring frames 11 are detachably connected, the inner ring frames 11 comprise inner upper rings 111, inner lower rings 112 and inner ring connecting rods 113, the inner upper rings 111 and the inner lower rings 112 are respectively in the same circular arc shape, two ends of the inner ring connecting rods 113 are respectively fixedly connected with the inner upper rings 111 and the inner lower rings 112, the inner upper rings 111 and the inner lower rings 112 are respectively provided with connecting chutes 114 and first fixing hole sites 115, the connecting chutes 114 are grooves which are recessed towards the outer ring part on one side surfaces of the inner upper rings 111 and the inner lower rings 112 far away from the outer ring part, the connecting pieces 110 are matched with the connecting chutes 114 in shape, the connecting pieces 110 are provided with second fixing hole sites 116 and connecting pins 117 for connecting the first fixing hole sites 115 and the second fixing hole sites 116, the inner ring part 1 is used for being sleeved on the periphery of a trunk, the outer ring part 2 comprises more than two outer ring frames 21, the outer ring frame 21 comprises an outer upper ring 211, an outer lower ring 212 and an outer ring connecting rod 213, two ends of the outer ring connecting rod 213 are fixedly connected with the outer upper ring 211 and the outer lower ring 212 respectively, the outer ring part 2 is arranged around the central axis of the inner ring part 1 in the axial direction, and sliding grooves 214 are formed in the outer upper ring 211 and the outer lower ring 212; the sliding groove 214 is a groove recessed away from the inner ring portion on one side surface of the outer upper ring 211 and the outer lower ring 212 close to the inner ring portion.

Cylinder body fixed connection of telescopic cylinder 3 is on interior ring rail 11, telescopic cylinder 3's piston rod rotates and is connected with telescopic pulley 31, telescopic pulley 31 sliding connection is in the sliding tray 214 of outer ring rail 21, interior ring connecting rod 113 is provided with more than two, and have the interval between the adjacent interior ring connecting rod 113, telescopic pulley 31 includes telescopic pulley seat 311 and the pulley 312 that is located telescopic pulley seat go up both sides, telescopic pulley seat 311's intermediate position is equipped with telescopic pulley connecting hole 3111, telescopic pulley connecting hole 3111 internal fixation has telescopic connecting rod 3112, telescopic connecting rod is articulated with telescopic cylinder's piston rod, pulley 312 has four in this embodiment, and the both sides of four pulleys respectively with two inside wall sliding connection of sliding tray 214.

The crawling mechanism 4 comprises sliding wheels 41, sliding wheel brackets 42 and a crawling motor 43 which is arranged in the sliding wheels and drives the sliding wheels to rotate, each sliding wheel 41 is arranged on the outer ring frame 21 through the sliding wheel brackets 42 and is axially arranged in a surrounding manner along the central axis of the inner ring part 1 of the outer ring frame, and the sliding wheels 41 are abutted to the outer surface of the trunk; the output of motor 43 of crawling is connected with worm gear reduction gear 44, the output of motor 43 of crawling passes through worm gear reduction gear 44 drive movable pulley 41, movable pulley 41 passes the interval between two adjacent inner ring connecting rods 113, interval between the adjacent inner ring connecting rods is greater than or equal to movable pulley 41's thickness, movable pulley support 42 includes support connecting seat 421 and support connecting rod 422, the one end of support connecting seat 421 is fixed on outer ring connecting rod 213, support connecting seat 421 and support connecting rod 422 fixed connection, and the both sides of movable pulley 41 link to each other with support connecting rod 422, be fixed with motor 43 of crawling on the movable pulley support 42.

The picking mechanism 5 comprises an annular slide rail 51 and a cutting manipulator 52 arranged on the annular slide rail 51 in a sliding manner, the annular slide rail 51 comprises more than two arc-shaped small slide rails 511, the two arc-shaped small slide rails 511 form the annular slide rail 51, the small slide rails 511 comprise a slide groove 5111 and guide platforms 5112 arranged on two sides of the slide groove 5111, two side walls of the slide groove 5111 are provided with limiting plates extending inwards and downwards, a gap 51111 is formed between the tail end of each limiting plate and the bottom of the slide groove 5111, the guide platforms 5112 are in an arc-shaped hollow pipe structure, a rack (not shown in the figure) is arranged on one inner side wall of the slide groove 5111, the small slide rails 511 are axially arranged around the central axis of the inner ring part 1, the bottoms of the two small slide rails 511 are respectively welded on the telescopic cylinder 3, and the cutting manipulator 52 comprises a sliding base 521 and a sliding motor 522 arranged on the sliding base 521, The swing arm 523, set up in slide base 521 one side and drive first swing motor 5241, steering motor 525, cutting seat 526, cutting motor 5261 and the circular saw blade 5262 of setting on cutting seat 526 of swing arm 523, slide base 521 bottom is provided with screw universal ball 5211, the output of slide motor 522 is connected with the drive wheel, drive wheel 5221 and annular slide rail 51 roll connection, in the clearance 51111 of the both sides position spout 5111 of drive wheel 5221, and drive wheel 5221 and the rack meshing of spout 5111 one side mutually, drive wheel 5221 motion under the drive of slide motor 522, screw universal ball 5211 and guide table 5112 phase-match play the guide effect to the motion of drive wheel 5221.

The cutting seat 526 is movably arranged at one end, far away from the sliding base 521, of the swinging arm 523, the steering motor 525 is fixedly arranged on the swinging arm 523, the output end of the steering motor 525 is fixedly connected with the cutting seat 526, the cutting motor 5261 is fixedly arranged on the cutting seat 526, the circular saw blade 5262 is rotatably arranged on the cutting seat 526, and the output end of the cutting motor 5261 is connected with the circular saw blade 5262.

In order to realize intelligent tree climbing and fruit picking instead of manual operation, the encircling coconut cutting picking machine further comprises a control system, wherein the control system comprises a detection device, the detection device is arranged at the top of the outer upper ring 211, and the detection device comprises a visual module for detecting characteristic data of trees; the transmission module is used for receiving a remote operation instruction sent by the mobile terminal and sending the instruction; the storage module is used for storing the operation instruction received by the transmission module; the processor is used for receiving the instructions sent by the detection device and the transmission module; the processor is respectively and electrically connected with the telescopic cylinder 3, the crawling motor 43, the sliding motor 522, the first swing motor 5241, the second swing motor 5242, the rotating motor 525 and the cutting motor 5261, a pressure sensor is arranged on the telescopic cylinder 3, the stroke of a piston rod of the telescopic cylinder is convenient to adjust, the stroke of the piston rod of the telescopic cylinder is adjusted by detecting the pressure value of the telescopic cylinder in real time through the pressure sensor, so that the inner diameter of an inner ring formed by each sliding wheel is adjusted according to the outer diameter of a trunk, the optimal abutting degree of the sliding wheel and the periphery of the trunk is ensured, a certain shock absorption effect is achieved, the vibration generated in the crawling process is reduced, if the diameter of the trunk is increased, the pressure value of the telescopic cylinder is increased through the pressure sensor, the stroke of the piston rod of the telescopic cylinder is increased, and at the moment, the outer ring frame moves away from the inner ring frame, thereby make outer ring carrier drive the movable pulley and keep away from inner ring portion and remove, increase the distance between movable pulley and the trunk.

Wherein the processor is an STM32 processor. The control principle of the detection method in the control system, the detection method of the pressure sensor, and the control method in the processor in the present embodiment is the prior art, and will not be described in detail herein.

The detection device feeds detected data back to the processor, and the processor controls the movements of the telescopic cylinder 3, the crawling motor 43, the sliding motor 522, the first swing motor 5241, the second swing motor 5242, the rotating motor 525 and the cutting motor 5261 respectively through operation instructions sent by the mobile terminal through the transmission module and the storage module, so that the climbing path, the climbing speed, the picking mode and the like of the picking machine are accurately controlled; the mobile terminal can be a mobile phone, a tablet personal computer or a computer, the transmission module can be one of Bluetooth, wireless broadband, wireless radio frequency identification, GPRS, GSM, 3G, 4G and 5G communication transmission, an operation instruction received by the transmission module is stored in the storage module, and then the operation instruction is sent to the processor through the transmission module to serve as various command instructions, so that remote control is achieved.

The telescopic cylinder 3 is a spring cylinder, the cylinder body of the spring cylinder is fixedly connected to the inner ring frame, an outward convex mounting lug 1111 is arranged on one side surface of the inner ring frame close to the outer ring frame, one end of the cylinder body of the telescopic cylinder is fixed on the mounting lug, and the piston rod of the spring cylinder is movably connected to the outer ring frame 21; when the spring in the spring cylinder is in a natural state, the inner diameter of each ring formed by the sliding wheels 41 is smaller than the outer diameter of the trunk, so that the encircling coconut cutting and picking machine is more stable when climbing the trunk.

The swinging arm 523 comprises two swinging rods 5231 and a connecting plate 5232 which are symmetrically arranged on the sliding base 521, the swinging rods 5231 are symmetrically arranged and hinged on the sliding base, and the connecting plate 5232 is fixedly connected between the two swinging rods 5231 at one end of the swinging rod 5231 far away from the sliding base 521; the first swing motor 5241 is fixedly disposed at one side of the sliding base 521, and an output end of the first swing motor 5241 is fixedly connected to the swing lever 5231, so that the two swing levers 5231 are stably connected to the connection plate 5232.

A second swing motor 5242 is further arranged on one side of the sliding base 521, which is far away from the first swing motor 5241; a first small arm 5233 is hinged to the swinging rod 5231 on one side of the swinging arm 523 close to the first swinging motor 5241, a second small arm 5234 is hinged to the swinging rod 5231 on one side of the swinging arm 523 far away from the first swinging motor 5241, the first small arm 5233 and the second small arm 5234 are respectively and rotatably connected with the swinging rods 5231 on two sides of the sliding base 521, and the first small arm 5233 and the second small arm 5234 are fixedly connected with the connecting plate 5232; a connecting pull rod 5235 is hinged to the second small arm 5234, a rotating rod 5236 is hinged to the other end of the connecting pull rod 5235, and the other end of the rotating rod 5236 is connected with the output end of a second swing motor 5242; the processor is electrically connected to the second swing motor, and is configured to rotate the swing arm 523 about the swing lever 5231 and the slide base 521 when the first swing motor 5241 is driven; when the second swing motor 5242 rotates, the output end of the second swing motor 5242 drives the cutting manipulator 52 to rotate around the connecting positions of the first small arm 5233, the second small arm 5234 and the swing rod 5231 by driving the rotating rod 5236, so as to facilitate cutting and picking, and the second swing motor 5242 is arranged below the cutting manipulator, so that the center of gravity of the second swing motor 5242 moves downwards and the stability of the swing arm 523 is facilitated.

The output end of the cutting motor 5261 is connected with the circular saw blade 5262 in a belt transmission mode, so that the cutting seat is more reasonable in size and convenient to cut.

The outer ring part 2 comprises 4 outer ring frames 21, so that the whole stress of the picking machine is more uniform, and the structural stability is improved.

Be equipped with 4 telescopic cylinder 3 on every outer ring bracket 21 respectively, telescopic cylinder 3's cylinder body difference fixed connection is in interior ring 111 and interior lower ring 112, telescopic cylinder 3's piston rod is connected respectively in outer ring 211 and outer lower ring 212 of fitting with a contraceptive ring, and like this, cylinder body fixed connection inner ring portion 1 and outer loop portion 2 through telescopic cylinder 3, inner ring portion 1 and outer loop portion 2 atress are more even, can provide sufficient radial tension and to the pressure on trunk surface, make the structure compacter when guaranteeing structural stability, alleviate picking machine's weight.

The inner ring frames 11 of the inner ring part 1 are detachably connected through bolts, so that the inner ring frames 11 can be conveniently connected or detached.

The worm and gear reducer 44 is an NRV reducer which is compact in mechanical structure, low in energy consumption and convenient for long-time operation of the picking machine.

The encircling fruit picking machine in the embodiment is mainly applied to climbing palmaceae plants, and particularly to picking fruits such as coconuts.

The utility model discloses a theory of operation: the inner ring portion and the outer ring portion are coaxially arranged, the inner ring portion is sleeved on the periphery of a trunk, when the encircling coconut cutting and picking machine is used, a connecting pin used for connecting the first fixing hole site and the second fixing hole site is pulled out, the inner ring frame of the inner ring portion is disassembled, the inner ring frame is clamped outside the trunk, the inner ring frame is connected through a connecting piece, and the connecting pin penetrates through the first fixing hole site and the second fixing hole site to complete installation; through the lightweight design of the inner ring frame and the outer ring frame, the original circular-arc plate type framework is replaced, the manufacturing procedure of punching holes on the circular-arc plate type framework is saved, and meanwhile, the weight of the encircling coconut cutting and picking machine is greatly reduced; through the cooperation of the telescopic cylinder arranged between the outer ring part and the inner ring part and the sliding wheel connected to the outer ring part and capable of rotating and abutting against the outer surface of the trunk, when the trunk is embraced, the telescopic cylinder stretches out to drive the inner ring frames to draw close to the trunk, one end of a piston rod of the telescopic cylinder stretches out and slides in the sliding groove to provide a movable space for the extension of the telescopic cylinder, and in the moving process of the telescopic cylinder, the telescopic cylinder drives the small sliding rails to move towards the trunk and splice into an annular sliding rail, the crawling cylinder is started to drive the sliding wheel to roll on the trunk, if the diameter of the trunk is increased, the telescopic cylinder stretches out to drive the outer ring frame to move towards the direction far away from the inner ring part, so that the outer ring frame drives the sliding wheel to move outwards to adapt to the increase of the diameter of the trunk, and the stable movement is ensured and is suitable for coconut trees with different diameters; the encircling coconut cutting and picking machine moves to a proper position, the crawling motor stops driving, the telescopic cylinder drives the piston rod to be tightened, the telescopic pulley rotates and slides on the sliding groove, the outer ring frame drives the sliding wheel to clamp the outer surface of the trunk, meanwhile, the worm and gear reducer is self-locked to prevent the sliding wheel from sliding, and the encircling coconut cutting and picking machine can be locked and fixed on the trunk under the combined action of the outer ring frame and the sliding wheel; when the cutting manipulator is driven by the sliding motor, the cutting manipulator can slide to any annular position along the annular slide rail for picking, the cutting manipulator is provided with a first swing motor, a second swing motor and a steering motor, and when the first swing motor is driven, the swing arm rotates by taking the swing rod and the sliding base as a shaft; when the second swing motor rotates in the opposite direction, the output end of the second swing motor drives the cutting hand machine to rotate by taking the joints of the first small arm, the second small arm and the swing rod as axes through driving the rotary rod, the cutting hand machine can change in multiple axes to pick coconuts at any angle, and the circular saw blade is driven by the cutting motor to cut fruit stalks, so that the fruit stalks connected with the coconuts and the fruit trees can be cut off quickly; in addition, the telescopic cylinder is directly connected to the inner ring frame and the outer ring frame, so that the weight of the inner ring part and the outer ring part is reduced, and the encircling coconut cutting and picking machine is more convenient to carry and use; furthermore, the utility model discloses still be equipped with control system, can carry out the prejudgement of climbing to trees kind and actual size, information and received operating instruction through the feedback are with real-time adjustment climbing direction and speed, and pick the condition etc. can realize remote operation moreover, realize the climbing and pick intellectuality, can carry out the fruit high-efficiently and pick.

Claims

1. A fruit picker, characterized by: comprises an inner ring part, an outer ring part, a telescopic cylinder, a crawling mechanism and a picking mechanism;

the inner ring part is provided with more than two inner ring frames and connecting pieces used for connecting the inner ring frames, the inner ring frames are detachably connected, each inner ring frame comprises an inner upper ring, an inner lower ring and an inner ring connecting rod, the inner upper ring and the inner lower ring are respectively in the same circular arc shape, two ends of each inner ring connecting rod are respectively fixedly connected with the inner upper ring and the inner lower ring, the inner upper ring and the inner lower ring are respectively provided with a connecting chute and a first fixing hole position, the connecting pieces are matched with the connecting chutes, each connecting piece is provided with a second fixing hole position and a connecting pin used for connecting the first fixing hole position and the second fixing hole position, the inner ring part is used for being sleeved on the periphery of a trunk, the outer ring part comprises more than two outer ring frames, each outer ring frame comprises an outer upper ring, an outer lower ring and an outer ring connecting rod, two ends of the outer ring are respectively fixedly connected with the outer upper ring and the outer lower ring, and the outer ring part is axially arranged along the central axis of the inner ring part, the outer upper ring and the outer lower ring are provided with sliding grooves; the cylinder body of the telescopic cylinder is connected to the inner ring frame, the piston rod of the telescopic cylinder is rotatably connected with a telescopic pulley, and the telescopic pulley is connected in the sliding groove of the outer ring frame in a sliding manner;

the crawling mechanism comprises sliding wheels, sliding wheel brackets and a crawling motor which is arranged in the sliding wheels and drives the sliding wheels to rotate, and each sliding wheel is arranged on the outer ring frame through the sliding wheel brackets and is axially arranged in a surrounding manner along the central shaft of the inner ring part of the outer ring frame; the output end of the crawling motor is connected with a worm gear reducer, and the output end of the crawling motor drives a sliding wheel through the worm gear reducer;

the picking mechanism comprises an annular slide rail and a cutting mechanical arm arranged on the annular slide rail in a sliding manner, the annular slide rail comprises more than two arc-shaped small slide rails, the more than two arc-shaped small slide rails form an annular shape, the more than two small slide rails are arranged along the axial direction of a central shaft of the inner ring part in a surrounding manner, the annular slide rail is fixedly connected onto a telescopic cylinder, the cutting mechanical arm comprises a sliding base, a sliding motor, a swing arm, a first swing motor, a steering motor, a cutting seat, a cutting motor and a circular saw blade, the first swing motor is arranged on one side of the sliding base and drives the swing arm, the circular saw blade is arranged on the cutting seat, a threaded universal ball is arranged at the bottom of the sliding base, the output end of the sliding motor is connected with a driving wheel, the driving wheel is connected with the annular slide rail in a rolling manner, the cutting seat is movably arranged at one end of the swing arm, which is far away from the sliding base, and the steering motor is fixedly arranged on the swing arm, the output end of the steering motor is fixedly connected with the cutting seat, the cutting motor is fixedly arranged on the cutting seat, the circular saw blade is rotatably arranged on the cutting seat, and the output end of the cutting motor is connected with the circular saw blade;

2. A fruit picking machine according to claim 1, characterised in that: the telescopic cylinder is a spring cylinder, the cylinder body of the spring cylinder is connected to the inner ring frame, and the piston rod of the spring cylinder is connected to the outer ring frame.

3. A fruit picking machine according to claim 1, characterised in that: the inner ring connecting rods are more than two, a space is reserved between every two adjacent inner ring connecting rods, and the sliding wheels penetrate through the space between every two adjacent inner ring connecting rods.

4. A fruit picking machine according to claim 1, characterised in that: the telescopic pulley comprises a telescopic pulley seat and pulleys located on two sides of the telescopic pulley seat, a telescopic pulley connecting hole is formed in the middle of the telescopic pulley seat, a telescopic connecting rod is fixed in the telescopic pulley connecting hole, and the telescopic connecting rod is hinged to a piston rod of the telescopic cylinder.

5. A fruit picking machine according to claim 1, characterised in that: the output end of the cutting motor is connected with the circular saw blade in a belt transmission mode.

6. A fruit picking machine according to claim 1, characterised in that: the connecting sliding groove is a groove which is formed in one side surface of the inner upper ring and the inner lower ring far away from the outer ring part and is recessed towards the outer ring part; the sliding groove is a groove which is formed in one side face, close to the inner ring portion, of the outer upper ring and the outer lower ring and is recessed far away from the inner ring portion.

7. A fruit picking machine according to claim 6, characterised in that: and 4 telescopic cylinders are respectively arranged on each outer ring frame, the cylinder bodies of the telescopic cylinders are respectively connected to the inner upper ring and the inner lower ring, and the piston rods of the telescopic cylinders are respectively connected to the outer upper ring and the outer lower ring.

8. A fruit picking machine according to claim 1, characterised in that: the inner ring frame of the inner ring part is detachably connected through a bolt.

9. A fruit picking machine according to claim 1, characterised in that: the small sliding rail comprises a sliding groove and guide tables arranged on two sides of the sliding groove, limiting plates extending inwards and downwards are arranged on two side walls of the sliding groove, a gap is formed between the tail end of each limiting plate and the bottom of the sliding groove, the threaded universal ball is connected with the guide tables in a sliding mode, and two sides of the driving wheel are located in the gap.

10. A fruit picking machine according to claim 1, characterised in that: and a pressure sensor is arranged on the telescopic cylinder.