CN215011730U - Flight type fruit picking system - Google Patents
Flight type fruit picking system Download PDFInfo
- Publication number
- CN215011730U CN215011730U CN202120534410.XU CN202120534410U CN215011730U CN 215011730 U CN215011730 U CN 215011730U CN 202120534410 U CN202120534410 U CN 202120534410U CN 215011730 U CN215011730 U CN 215011730U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- rod
- fixed
- driven
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Toys (AREA)
Abstract
The utility model provides a flight type fruit picking system, include: the unmanned aerial vehicle comprises a carrying platform, and the striking device comprises a striking unit and a folding unit; the folding unit comprises a link mechanism and a fixed platform, the fixed platform is fixed on the objective platform, one end of the link mechanism is fixedly connected with the fixed platform, the other end of the link mechanism is fixedly connected with the striking unit, and the striking unit is extended to the lower part of the fixed platform or pulled to be horizontal through the extension and contraction of the link mechanism; the striking unit comprises a rotating motor and a rotary striking piece, the rotary striking piece is fixed on the rotating motor through a fixing device, and the rotary striking piece is driven by the rotating motor to strike fruits in a rotating mode. The utility model discloses the carry is on the aircraft, picks highly unrestricted, more is fit for getting into the open-air mountain forest operation of complicated topography to it can guarantee to pick efficiency, can not cause destruction to trees.
Description
Technical Field
The utility model relates to a technical field is picked to the fruit, in particular to flight type fruit picking system.
Background
The current fruit picking mode mainly comprises manual picking and machine picking. For fruit picking in wild mountain forests, picking is mainly carried out manually due to the complex terrain which is not suitable for entering a machine. The manual picking has certain danger under certain operation environments, so that the personal safety of operators cannot be guaranteed, meanwhile, the labor cost is high, and the picking efficiency is low.
With the gradual improvement of the automation capacity of the machine, the agricultural robot is applied to a plurality of agricultural productions and develops towards the direction of intellectualization, a picking device based on a crawler type or a large wheel type is developed aiming at a field mountain forest with complex terrain, a telescopic lifting arm is usually arranged on the vehicle body of the picking device, a workbench for picking personnel to stand is arranged at the front end of the lifting arm, and fruits are picked manually after the lifting arm rises to a certain height; or a mechanism for tightly holding the tree trunk is arranged at the front end of the vehicle body of the picking device, and then the fruits are shaken off in a shaking mode. However, the mode of lifting the arm is limited by the extension height, and the operation range is limited; the trunk is vibrated, so that the picking rate of the fruit cannot be grasped, and the tree is easily damaged.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a system is picked to flight formula fruit with low costs to solve and lift the high arm and pick the problem that the mode was easily caused the damage to trees to high authorization and trunk vibration picking mode.
In order to achieve the above purpose, the utility model adopts the following specific technical scheme:
the utility model provides a flight type fruit picking system, include: the unmanned aerial vehicle comprises a carrying platform, and the striking device comprises a striking unit and a folding unit; the folding unit comprises a link mechanism and a fixed platform, the fixed platform is fixed on the objective platform, one end of the link mechanism is fixedly connected with the fixed platform, the other end of the link mechanism is fixedly connected with the striking unit, and the striking unit is extended to the lower part of the fixed platform or pulled to be horizontal through the extension and contraction of the link mechanism; the striking unit comprises a rotating motor and a rotary striking piece, the rotary striking piece is fixed on the rotating motor through a fixing device, and the rotary striking piece is driven by the rotating motor to strike fruits in a rotating mode.
Preferably, the swinging beater is a wire rope or chain.
Preferably, the fixing device includes an upper cover plate, a lower cover plate, and a connecting plate, the rotary striking member is clamped between the upper cover plate and the lower cover plate, the lower cover plate is fixed to the connecting plate, and the connecting plate is fixed to the rotating electric machine.
Preferably, a groove is formed in the lower cover plate along the length direction, a boss is arranged on the upper cover plate at a position corresponding to the groove, and when the upper cover plate is buckled with the lower cover plate, the rotary striking member is pressed in the groove through the boss.
Preferably, the upper cover plate is provided with a notch, and the rotary striking element is sleeved with a fastening sleeve clamped at the notch.
Preferably, the link mechanism comprises a first fixed link, a second fixed link, a first electric push rod, a first driving connecting rod, a first driven connecting rod and a second driven connecting rod, one end of the first fixed link is fixedly connected with the fixed platform, the other end of the first fixed link is hinged with the second driven connecting rod, the other end of the second driven connecting rod is fixedly connected with the rotating motor, one end of the first electric push rod is hinged with the fixed platform, the other end of the first electric push rod is hinged with the first driving connecting rod, two ends of the first driving connecting rod are respectively hinged with one end of the second fixed link and one end of the first driven connecting rod, the other end of the second fixed link is fixedly connected with the fixed platform, and the other end of the first driven connecting rod is hinged with one end, close to the first fixed link, of the second driven connecting rod; when the first electric push rod stretches, the first driving connecting rod is driven to rotate around the second fixing rod, the first driving connecting rod drives the first driven connecting rod to move, the first driven connecting rod pushes the second driven connecting rod to rotate around the first fixing rod, and the striking unit vertically extends to the lower side of the fixing platform or is pulled back to the horizontal state.
Preferably, the link mechanism comprises a steering engine, a steering engine fixing frame, a second driving link, a third driven link, a fourth driven link and a third fixed link, one end of the third fixed link is fixedly connected with the fixed platform, the other end of the third fixed link is hinged with one end of the fourth driven link, the other end of the fourth driven link is fixedly connected with the rotating motor, the steering engine is fixedly connected with the fixed platform through the steering engine fixing frame, one end of the second driving link is fixedly connected with an output rotating shaft of the steering engine, the other end of the second driving link is hinged with one end of the third driven link, and the other end of the third driven link is hinged to one end, close to the third fixed link, of the fourth driven link; when the steering engine rotates forwards and backwards, the second driving connecting rod is driven to rotate, the second driving connecting rod drives the third driven connecting rod to move, the third driven connecting rod drives the fourth driven connecting rod to rotate around the third fixing rod, and the striking unit vertically extends to the lower part of the fixing platform or is pulled back to the horizontal state.
Preferably, the link mechanism comprises a second electric push rod, a fourth fixed rod and a third driving connecting rod, one end of the fourth fixed rod is fixedly connected with the fixed platform, the other end of the fourth fixed rod is hinged with one end of the third driving connecting rod, the other end of the third driving connecting rod is fixedly connected with the rotating motor, the fixed end of the second electric push rod is hinged with the fixed platform, and the telescopic end of the second electric push rod is hinged with one end, close to the fourth fixed rod, of the third driving connecting rod; when the second electric push rod stretches, the third driving connecting rod is driven to rotate around the fourth fixing rod, and the striking unit vertically extends to the lower part of the fixing platform or is pulled back to the horizontal state.
Preferably, the hinged end of the second driven link, the hinged end of the fourth driven link and the hinged end of the third driving link are respectively in a T-shaped structure.
Preferably, the unmanned aerial vehicle further comprises a central plate and four arms which form an angle of 90 degrees with each other, one ends of the four arms are respectively and fixedly connected with the central plate, the other ends of the four arms are respectively provided with brushless motors through motor bases, and the output ends of the four brushless motors are respectively connected with propellers; two supporting foot rests are fixedly connected to the central plate through foot rest connecting frames, and the loading platform is located below the central plate and is fixedly connected with the two supporting foot rests respectively.
The utility model discloses can gain following technological effect:
(1) the striking device is mounted on a carrying platform of the unmanned aerial vehicle, the aircraft can fly at high altitude, and the picking height of the picking equipment cannot be limited.
(2) Aircraft carry harvesting equipment compares crawler-type or large-scale wheeled harvesting device, gets into complicated topography more easily, is convenient for pick the operation in open-air mountain forest.
(3) The picking equipment directly strikes the fruits for picking, and the trees cannot be damaged.
(4) Compared with manual picking, the picking personnel do not need to be put in danger, and the machine picking work efficiency is higher.
Drawings
Fig. 1 is a schematic structural diagram of a flying fruit picking system according to embodiment 1 of the present invention;
fig. 2 is a first state schematic diagram of the striking device according to embodiment 1 of the present invention;
fig. 3 is a second state schematic diagram of the striking device according to embodiment 1 of the present invention;
fig. 4 is a schematic structural view of a striking unit according to embodiment 1 of the present invention;
fig. 5 is a schematic structural diagram of an upper cover plate and a lower cover plate according to embodiment 1 of the present invention
Fig. 6 is a schematic structural view of a link mechanism according to embodiment 1 of the present invention;
fig. 7 is a schematic view of an operation state of a link mechanism according to embodiment 1 of the present invention;
fig. 8 is a partially enlarged schematic structural view of a link mechanism according to embodiment 1 of the present invention;
fig. 9 is a schematic structural diagram of an integrated remote control device according to embodiment 1 of the present invention;
fig. 10 is a first state schematic diagram of a folding unit according to embodiment 2 of the present invention;
fig. 11 is a second state schematic diagram of the folding unit according to embodiment 2 of the present invention;
fig. 12 is a schematic view of a first state of a folding unit according to embodiment 3 of the present invention;
fig. 13 is a second state diagram of the folding unit according to embodiment 3 of the present invention.
The reference numerals of embodiment 1 include: the percussion device 1, percussion unit 11, rotating motor 111, rotary percussion piece 112, fixing device 113, upper cover plate 1131, boss 11311, gap 11312, lower cover plate 1132, groove 11321, connecting plate 1133, fastening sleeve 1134, folding unit 12, fixing platform 121, link mechanism 122, first fixing rod 1221, first hinge piece 12211, second hinge piece 12212, second fixing rod 1222, first electric push rod 1223, first driving link 1224, first driven link 1225, second driven link 1226, third hinge piece 12261, limit flap 12262, pin 1227, reinforcing fixing plate 123, unmanned aerial vehicle 2, central plate 21, arm 22, brushless motor 23, propeller 24, support foot rest 25, carrying platform 26, and integrated remote control device 3;
the reference numerals of embodiment 2 include: the device comprises a fixed platform 121, a steering engine 131, a steering engine fixing frame 132, a second driving connecting rod 133, a third driven connecting rod 134, a fourth driven connecting rod 135 and a third fixing rod 136;
the reference numerals of embodiment 3 include: a fixed platform 121, a second electric push rod 141, a fourth fixed rod 142 and a third driving link 143.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute limitations on the invention.
The flying fruit picking system provided by the present invention is described in detail with several embodiments.
Example 1
As shown in fig. 1, the utility model discloses flying type fruit picking system that embodiment 1 provided includes: the hitting device 1 is mounted on the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 comprises a central plate 21 and four arms 22 which form an angle of 90 degrees with each other, one ends of the four arms 22 are fixedly connected with the central plate 21 respectively, motor bases are mounted at the other ends of the four arms 22 through sleeves respectively, a brushless motor 23 is mounted on each motor base respectively, and a propeller 24 is connected to the output end of each brushless motor 23; two support foot frames 25 are fixedly connected to the central plate 21 through foot frame connecting frames, the support foot frames 25 are made of carbon fiber tubes, a loading platform 26 is fixedly connected to the lower portion of the central plate 21 between the two support foot frames 25 through bolts, and the striking device 1 is hung on the loading platform 26.
As shown in fig. 2 and 3, the striking device 1 includes a striking unit 11 and a folding unit 12, the folding unit 12 includes a fixed platform 121 and a link mechanism 122, one end of the link mechanism 122 is connected with the fixed platform 121, the other end is connected with the striking unit 11, the fixed platform 121 is fixed on a mounting platform of an aircraft, the striking unit 11 and the folding unit 12 are mounted on the aircraft through the fixed platform 121, thereby realizing the flying movement of the picking equipment, and compared with a crawler-type or large-sized wheel-type picking device, the device is easier to enter into a complex terrain, and is convenient for picking operation in a wild mountain forest.
Picking equipment is carried on the aircraft, and along with the aircraft flight, the flying height of aircraft is the picking height of picking equipment promptly, therefore picks the picking height of equipment and can not receive the restriction, but also can freely adjust and pick the height.
In the embodiment 1, the connecting mechanism 22 is used to control the position of the striking unit 11 so that the striking unit 11 performs striking work, and the striking unit 11 is used to directly strike fruits for picking.
As shown in fig. 4, the striking unit includes a rotating motor 111, a rotary striking member 112 and a fixing device 113, the rotary striking member 112 is fixed on the fixing device 113, the fixing device 113 is fixedly connected to a rotating shaft of the rotating motor 111, the fixing device 113 and the rotary striking member 112 are driven to rotate by the rotation of the rotating motor 111, and the rotary striking member 112 directly contacts with the fruit through the rotary motion to strike the fruit off the branches.
The rotary striking member 112 may be a flexible rope having a certain weight, such as a steel wire rope or a chain, and is driven by the rotating motor 111 to perform a circular motion, so as to strike off the fruits. Compare in the picking mode of vibrations trunk, can not cause the destruction to trees, can also guarantee stable picking rate. Compare artifical the picking, efficiency is better, still need not place the picking personnel in the middle of dangerous, does not have the potential safety hazard.
As shown in fig. 5, in order to clamp the swinging striking element 112, a groove 11321 is formed in the lower cover plate 1132 along the length direction, a boss 11311 is provided at a position of the upper cover plate 1131 corresponding to the groove 11321, and when the upper cover plate 1131 is engaged with the lower cover plate 1132, the swinging striking element 112 is pressed into the groove 11321 by the boss 11311.
In a preferred embodiment, the grooves 11321 and the bosses 11311 are disposed along the center lines of the lower cover plate 1132 and the upper cover plate 1131 to improve stability.
When revolving striking element 112 rotates, in order to prevent revolving striking element 112 from moving between upper cover plate 1131 and lower cover plate 1132, opening 11312 is opened on upper cover plate 1131, fastening sleeve 1134 is sleeved on revolving striking element 112, fastening sleeve 1134 is clamped at opening 11312 of upper cover plate 1131, and moving of revolving striking element 112 during rotation is prevented.
Set up the screw hole on adapter sleeve 1134, there is a jackscrew at screw hole female connection, and the jackscrew is used for tightly propping up gyration striking piece 112, prevents to produce relative position between adapter sleeve 1134 and the commentaries on classics striking piece 12, further prevents that gyration striking piece 112 from taking place the drunkenness when rotatory.
Referring back to fig. 2 and 3, since rotary striking member 112 is long and requires a striking space when it rotates, striking unit 11 is vertically extended downward by folding unit 12 before striking fruit, leaving a striking space for rotary striking member 112 to avoid rotary striking member 112 from hitting folding unit 12. While revolving beater 112 is located below folding unit 12, the picking apparatus can be made sufficiently stable when beating fruit.
In order to realize the safe landing of the aircraft, the striking unit 11 is pulled to the horizontal direction from the vertical direction through the folding unit 12, so that the striking unit 11 is prevented from contacting the ground when the aircraft lands, a supporting foot stand of the aircraft is ensured to contact the ground, and the safe landing of the aircraft is realized.
As shown in fig. 6, the link mechanism includes a first fixing rod 1221, a second fixing rod 1222, a first electric push rod 1223, the first driving connecting rod 1224, the first driven connecting rod 1225 and the second driven connecting rod 1226, one end of the first fixing rod 1221 is fixedly connected with the fixing platform 121 through an adaptor, the other end of the first fixing rod 1221 is hinged to the second driven connecting rod 1226, the other end of the second driven connecting rod 1226 is fixedly connected with the rotating motor 111, one end of the first electric push rod 1223 is hinged to the fixing platform 121, the other end of the first electric push rod 1223 is hinged to the first driving connecting rod 1224, two ends of the first driving connecting rod 1224 are hinged to one end of the second fixing rod 1222 and one end of the first driven connecting rod 1225 respectively, the other end of the second fixing rod 1222 is fixedly connected with the fixing platform 121, and the other end of the first driven connecting rod 1225 is hinged to one end, close to the first fixing rod 1221, of the second driven connecting rod 1226.
As shown in fig. 7, when the first electric putter 1223 extends, the first driving link 1224 is driven to rotate counterclockwise around the second fixing rod 1222, the first driving link 1224 drives the first driven link 1225 to move, the first driven link 1225 pushes the second driven link to rotate clockwise around the first fixing rod 1221, when the first electric putter 1223 extends to the maximum, the first driving link 1224 and the first driven link 1225 form a straight line, at this time, the second driven link 1226 and the first fixing rod 1221 also form a straight line, and reach a vertical state, and the striking unit connected to the second driven link 1226 is located under the fixing platform 121.
When the first electric push rod 1223 is shortened, the first driving connecting rod 1224 is driven to rotate clockwise around the second fixing rod 1222, the first driving connecting rod 1224 drives the first driven connecting rod 1225 to move, the first driven connecting rod 1225 pulls the second driven connecting rod to rotate anticlockwise around the first fixing rod 1221, and when the first electric push rod 1223 is shortened to the shortest, the first driven connecting rod 1225 pulls the second driven connecting rod 1226 to be horizontal and parallel to the fixing platform 121.
The first fixing rod 1221, the second fixing rod 1222, the first driving connecting rod 1224, the first driven connecting rod 1225 and the second driven connecting rod 1226 are made of carbon fiber tubes, so that the overall weight of the picking equipment can be reduced, and the load of an aircraft can be reduced.
In an example of the present invention, a reinforced fixing plate 123 is fixed between the first fixing rod 1221 and the second fixing rod 1222, the reinforced fixing plate 123 is a carbon fiber plate, two points of upper and lower fixed connections of the first fixing rod 1221 and the reinforced fixing plate 123, two points of upper and lower fixed connections of the second fixing rod 1222 and the reinforced fixing plate 123, and through four points of fixed connections, stable connection between the reinforced fixing plate 123 and the first fixing rod 1221, the second fixing rod 1222 is achieved, and deformation displacement of the first fixing rod 1221 and the second fixing rod 1222 is reduced.
In order to prevent the second driven link 1226 from excessively rotating about the first fixing rod 1221, a limit structure is provided on the second driven link 1226 and the first fixing rod 1221. As shown in fig. 8, a first hinge piece 12211 and a second hinge piece 12212 are disposed at one end of the first fixing rod 1221, which is hinged to the second driven connecting rod 1226, pin shaft holes are respectively formed at corresponding positions of the first hinge piece 12211 and the second hinge piece 12212, a third hinge piece 12261 is disposed at one end of the second driven connecting rod 1226, which is hinged to the first fixing rod 1221, a pin shaft hole is also formed in the third hinge piece 12261, the third hinge piece 12261 is inserted between the first hinge piece 12211 and the second hinge piece 12212, a pin shaft 1227 is inserted into the pin shaft holes of the first hinge piece 12211, the second hinge piece 12212, and the third hinge piece 12261, so as to realize the hinge of the second driven connecting rod 1226 and the first fixing rod 1221.
Limiting blocking pieces 12262 are integrally formed on one side of the third hinge piece 12261, the limiting blocking pieces 12262 and the third hinge piece 12261 form a T-shaped structure, when the limiting blocking pieces 12262 are in contact with the first hinge piece 12211 and the second hinge piece 12212, a blocking effect is achieved, the second driven connecting rod 1226 is prevented from excessively rotating around the first fixing rod 1221, and the maximum rotating angle of the second driven connecting rod 1226 is collinear with the first fixing rod 1221.
The hinged ends of the first driving link 1224 and the first driven link 1225 are provided with the same limiting structure, which is not described in detail with reference to fig. 8.
The embodiment of the utility model provides a flying type fruit picking system still includes integration remote control unit, maps unmanned aerial vehicle 2 control and strike device 1's function to integration remote control unit.
As shown in fig. 9, the integrated remote control device 3 includes a rigid plastic housing, two operation rockers, three toggle switches, an adjustment knob, and a gain antenna. Rigid plastic housing is whole integration remote control unit 3's main structure body, and the gain antenna is located rigid plastic housing's one end, and two operation rockers distribute in rigid plastic housing's both sides, and left operation rocker control unmanned aerial vehicle 2's height, course, the operation rocker remote control unmanned aerial vehicle 2's on right side roll dress, every single move gesture. Dispose the display screen between two operation rockers for receive the video picture of the high definition motion camera passback that unmanned aerial vehicle 2 carried on, conveniently control personnel and keep watch on the operation condition. 2 toggle switch in upper left side are used for triggering unmanned aerial vehicle 2's flight mode respectively and trigger high definition motion camera, and the toggle switch in upper right side is as flexible trigger switch for triggering the flexible of striking device 1, the adjust knob in upper right side is used for adjusting the rotational speed of rotating electrical machines 111.
The embodiment of the utility model provides a system is picked to flight formula fruit work flow as follows:
and S1, electrifying the whole unmanned aerial vehicle to control the unmanned aerial vehicle 2 to take off.
S2, fly to a take the altitude when unmanned aerial vehicle 2, flexible trigger switch stirs to the lower extreme, makes second driven link 1226 turn to vertical downward position from horizontal position.
S3, when the unmanned aerial vehicle 2 flies to the position near the upper part of the fruit tree, the adjusting knob is twisted to the side with the maximum value, so that the rotating motor 111 runs at the rated rotating speed to drive the rotary striking piece 112 to strike the fruit, and the fruit is picked.
And S4, after the fruit picking task is finished, the adjusting knob is twisted to the side of the minimum value, and the rotating motor 111 is stopped.
S5, wait that unmanned aerial vehicle 2 descends to when liftoff 2 meters above the height, flexible trigger switch stirs to the upper end, makes second driven connecting rod 1226 reply to horizontal position from vertical lower position, controls unmanned aerial vehicle 2 to descend to ground at last.
Example 2
As shown in fig. 10 and 11, the link mechanism of embodiment 2 includes a steering engine 131, a steering engine fixing frame 132, a second driving link 133, a third driven link 134, a fourth driven link 135 and a third fixing link 136, one end of the third fixing link 136 is fixedly connected to the fixing platform 121, the other end of the third fixing link 136 is hinged to one end of the fourth driven link 135, the other end of the fourth driven link 135 is fixedly connected to the rotating motor 111, the steering engine 131 is fixed to the steering engine fixing frame 132, the steering engine fixing frame 132 is fixedly connected to the fixing platform 121, one end of the second driving link 133 is fixedly connected to an output rotating shaft of the steering engine 131, the other end of the second driving link 133 is hinged to one end of the third driven link 134, and the other end of the third driven link 134 is hinged to one end of the fourth driven link 135 close to the third fixing link 136.
When the steering engine 131 rotates forward, the second driving connecting rod 133 is driven to rotate clockwise, the second driving connecting rod 133 drives the third driven connecting rod 134 to move, the third driven connecting rod 134 drives the fourth driven connecting rod 135 to rotate counterclockwise around the third fixing rod 136, so that the striking unit 11 is lifted, and when the second driving connecting rod 133 and the third driven connecting rod 134 are overlapped, the striking unit 11 is lifted to be horizontal.
When the steering engine 131 rotates reversely, the second driving connecting rod 133 is driven to rotate counterclockwise, the second driving connecting rod 133 drives the third driven connecting rod 134 to move, the third driven connecting rod 134 drives the fourth driven connecting rod 135 to rotate clockwise around the third fixing rod 136, and when the second driving connecting rod 133 and the third driven connecting rod 134 form a straight line, the fourth driven connecting rod 135 and the third fixing rod 136 also form a straight line, so that the striking unit 11 vertically extends to the position under the fixing platform 121.
Example 3
As shown in fig. 12 and 13, the link mechanism of embodiment 3 includes a second electric push rod 141, a fourth fixing rod 142 and a third driving link 143, one end of the fourth fixing rod 142 is fixedly connected to the fixed platform 121, the other end of the fourth fixing rod 142 is hinged to one end of the third driving link 143, the other end of the third driving link 143 is fixedly connected to the rotating motor 111, the fixed end of the second electric push rod 141 is hinged to the fixed platform 121, and the telescopic end of the second electric push rod 141 is hinged to one end of the third driving link 143 near the fourth fixing rod 142.
When the second electric putter 141 extends, the third driving link 143 is pushed to rotate clockwise around the fourth fixing rod 142, and when the second electric putter 141 extends to the maximum, the third driving link 143 and the fourth fixing rod 142 are aligned to vertically extend the striking unit 11 below the fixing platform 121.
When the second electric putter 141 is shortened, the third driving link 143 is pulled to rotate counterclockwise around the fourth fixing lever 142, and when the second electric putter 141 is shortened to the shortest, the striking unit 11 is pulled back to the horizontal state.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
The above detailed description of the present invention does not limit the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A flight type fruit picking system is characterized by comprising an unmanned aerial vehicle and a striking device, wherein the unmanned aerial vehicle comprises a carrying platform, and the striking device comprises a striking unit and a folding unit; the folding unit comprises a link mechanism and a fixed platform, the fixed platform is fixed on the objective platform, one end of the link mechanism is fixedly connected with the fixed platform, the other end of the link mechanism is fixedly connected with the striking unit, and the striking unit is extended to the lower part of the fixed platform or pulled to be horizontal through the extension and contraction of the link mechanism; the hitting unit comprises a rotating motor and a rotary hitting piece, the rotary hitting piece is fixed on the rotating motor through a fixing device, and the rotary hitting piece is driven by the rotating motor to rotate to hit fruits.
2. The flying fruit picking system of claim 1, wherein the rotating beater is a wire rope or chain.
3. The in-flight fruit picking system of claim 2, wherein the fixture includes an upper cover plate, a lower cover plate and a connecting plate, the rotating beater being clamped between the upper cover plate and the lower cover plate, the lower cover plate being secured to the connecting plate, the connecting plate being secured to the rotating motor.
4. A flying fruit picking system as claimed in claim 3, wherein the lower cover plate is provided with a groove along its length, and a boss is provided on the upper cover plate at a position corresponding to the groove, so that the rotary beater is pressed into the groove by the boss when the upper cover plate is engaged with the lower cover plate.
5. A flying fruit picking system as claimed in claim 3 or claim 4, wherein the upper cover plate is provided with a notch, and the rotary beater is sleeved with a locking sleeve which is clamped in the notch.
6. The flying fruit picking system of claim 1, wherein the linkage mechanism comprises a first fixed rod, a second fixed rod, a first electric push rod, a first drive link, a first driven link, and a second driven link, one end of the first fixed rod is fixedly connected with the fixed platform, the other end of the first fixed rod is hinged with the second driven connecting rod, the other end of the second driven connecting rod is fixedly connected with the rotating motor, one end of the first electric push rod is hinged with the fixed platform, the other end of the first electric push rod is hinged with the first driving connecting rod, two ends of the first driving connecting rod are respectively hinged with one end of the second fixed rod and one end of the first driven connecting rod, the other end of the second fixed rod is fixedly connected with the fixed platform, and the other end of the first driven connecting rod is hinged to one end, close to the first fixed rod, of the second driven connecting rod;
when first electric putter is flexible, drive first initiative connecting rod winds the second dead lever rotates, first initiative connecting rod drives first driven connecting rod motion, first driven connecting rod promotes second driven connecting rod winds first dead lever rotates, will strike the unit and vertically extend fixed platform's below or will strike the unit and pull back to the horizontality.
7. The flying fruit picking system according to claim 1, wherein the linkage mechanism comprises a steering engine, a steering engine fixing frame, a second driving connecting rod, a third driven connecting rod, a fourth driven connecting rod and a third fixing rod, one end of the third fixing rod is fixedly connected with the fixing platform, the other end of the third fixing rod is hinged to one end of the fourth driven connecting rod, the other end of the fourth driven connecting rod is fixedly connected with the rotating motor, the steering engine is fixedly connected with the fixing platform through the steering engine fixing frame, one end of the second driving connecting rod is fixedly connected with an output rotating shaft of the steering engine, the other end of the second driving connecting rod is hinged to one end of the third driven connecting rod, and the other end of the third driven connecting rod is hinged to one end, close to the third fixing rod, of the fourth driven connecting rod;
when the steering engine rotates forwards and backwards, the second driving connecting rod is driven to rotate, the second driving connecting rod drives the third driven connecting rod to move, the third driven connecting rod drives the fourth driven connecting rod to rotate around the third fixing rod, and the striking unit vertically extends to the lower portion of the fixing platform or is pulled back to the horizontal state.
8. The flying fruit picking system of claim 1, wherein the linkage mechanism comprises a second electric push rod, a fourth fixed rod and a third driving link, one end of the fourth fixed rod is fixedly connected with the fixed platform, the other end of the fourth fixed rod is hinged with one end of the third driving link, the other end of the third driving link is fixedly connected with the rotating motor, the fixed end of the second electric push rod is hinged with the fixed platform, and the telescopic end of the second electric push rod is hinged with one end of the third driving link close to the fourth fixed rod; when the second electric push rod stretches, the third driving connecting rod is driven to rotate around the fourth fixing rod, and the striking unit vertically extends to the lower side of the fixing platform or is pulled back to the horizontal state.
9. A fruit picking system according to any of claims 6 to 8 in which the hinged end of the second follower link, the hinged end of the fourth follower link and the hinged end of the third drive link are each of T-shaped configuration.
10. The flying fruit picking system according to claim 1, wherein the unmanned aerial vehicle further comprises a central plate and four arms which are at 90 ° to each other, one end of each of the four arms is fixedly connected with the central plate, the other end of each of the four arms is provided with a brushless motor through a motor base, and the output ends of the four brushless motors are respectively connected with a propeller; the central plate is also fixedly connected with two supporting foot stands through foot stand connecting frames, and the loading platform is positioned below the central plate and is respectively and fixedly connected with the two supporting foot stands.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120534410.XU CN215011730U (en) | 2021-03-15 | 2021-03-15 | Flight type fruit picking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120534410.XU CN215011730U (en) | 2021-03-15 | 2021-03-15 | Flight type fruit picking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215011730U true CN215011730U (en) | 2021-12-07 |
Family
ID=79261053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120534410.XU Active CN215011730U (en) | 2021-03-15 | 2021-03-15 | Flight type fruit picking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215011730U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114342662A (en) * | 2022-02-24 | 2022-04-15 | 海南大学 | Bionic wing collecting device for fruit collection |
-
2021
- 2021-03-15 CN CN202120534410.XU patent/CN215011730U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114342662A (en) * | 2022-02-24 | 2022-04-15 | 海南大学 | Bionic wing collecting device for fruit collection |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215011730U (en) | Flight type fruit picking system | |
| CN102668898B (en) | High-altitude pruning manipulator | |
| CN105563514B (en) | Manipulator device | |
| CN113716057B (en) | Unmanned aerial vehicle independently picks litchi device | |
| CN107176298B (en) | Aircraft flight control method and aircraft | |
| US20190339719A1 (en) | Self-moving device and automatic working method of same | |
| CN105621265A (en) | Lifting machine | |
| JP7244084B2 (en) | Electronic parts and aircraft equipped with such electronic parts | |
| CN215011729U (en) | Picking equipment based on aircraft mounting | |
| CN106628151B (en) | Casing fast disassembly type unmanned plane | |
| CN106828867B (en) | Noise-proofing formula unmanned plane | |
| KR102400837B1 (en) | Drones including Robot Leg | |
| JP3225236U (en) | Flight safety frame for large drones | |
| CN115675838B (en) | Double-perch-arm perching unmanned aerial vehicle and self-adaptive lifting and perching method | |
| CN110692613A (en) | Liquid ejecting apparatus and unmanned device | |
| CN114013642B (en) | Vertical take-off and landing fixed wing unmanned aerial vehicle | |
| CN115783291A (en) | Multi-rotor unmanned aerial vehicle platform unfolding and folding control method | |
| CN215884892U (en) | Automatic cover-turning reset device for material tower | |
| CN212556774U (en) | Unmanned aerial vehicle's horn device and have its unmanned aerial vehicle | |
| CN213502887U (en) | Unmanned aerial vehicle flight platform capable of accurately throwing aerial materials | |
| CN220298788U (en) | Plant protection unmanned aerial vehicle screw | |
| CN108522015B (en) | Floor type fruit picking device | |
| CN207891804U (en) | Garbage cleaning machine with mechanical support arm | |
| KR20190081923A (en) | Pole loadable drone and pole loading device for the same | |
| KR20170000371A (en) | Mounting structure of high place works vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |