CN107231888A - Anistree picking machine - Google Patents
Anistree picking machine Download PDFInfo
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- CN107231888A CN107231888A CN201710506512.9A CN201710506512A CN107231888A CN 107231888 A CN107231888 A CN 107231888A CN 201710506512 A CN201710506512 A CN 201710506512A CN 107231888 A CN107231888 A CN 107231888A
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- harvesting
- lowering
- hoisting gear
- base
- mechanical arm
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- 238000003306 harvesting Methods 0.000 claims abstract description 78
- 230000009193 crawling Effects 0.000 claims abstract description 28
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 238000010276 construction Methods 0.000 claims description 9
- 238000010008 shearing Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 240000009023 Myrrhis odorata Species 0.000 description 11
- 235000007265 Myrrhis odorata Nutrition 0.000 description 11
- 235000012550 Pimpinella anisum Nutrition 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
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- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
- STECJAGHUSJQJN-GAUPFVANSA-N Hyoscine Natural products C1([C@H](CO)C(=O)OC2C[C@@H]3N([C@H](C2)[C@@H]2[C@H]3O2)C)=CC=CC=C1 STECJAGHUSJQJN-GAUPFVANSA-N 0.000 description 1
- STECJAGHUSJQJN-UHFFFAOYSA-N N-Methyl-scopolamin Natural products C1C(C2C3O2)N(C)C3CC1OC(=O)C(CO)C1=CC=CC=C1 STECJAGHUSJQJN-UHFFFAOYSA-N 0.000 description 1
- 235000013405 beer Nutrition 0.000 description 1
- 239000002537 cosmetic Substances 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000796 flavoring agent Substances 0.000 description 1
- 235000019634 flavors Nutrition 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000021022 fresh fruits Nutrition 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of anistree picking machine, including crawler belt crawling device；Also include being arranged at the screw slider lowering or hoisting gear of crawler belt crawling device upper end, be arranged at the chassis slewing equipment of screw slider lowering or hoisting gear upper end, be arranged at the lifting arm of chassis slewing equipment upper end, be arranged at the harvesting rotating device of lifting arm upper end, be arranged at the scissors manipulator for being used to shear on harvesting rotating device, the lifting arm is provided with harvesting support platform, the harvesting support platform with harvesting rotating device connecting end surface and is additionally provided with camera Scan orientation device.The present invention is by setting the linkage of crawler belt crawling device, screw slider lowering or hoisting gear, chassis slewing equipment, lifting arm, harvesting rotating device and scissors manipulator to be plucked, operating efficiency can be improved, environmental protection, it is ensured that personal security, realizes high-altitude harvesting and stability and reliability is high.
Description
Technical field
The present invention relates to picking machine field, more particularly to a kind of anistree picking machine.
Background technology
Octagonal fruit is famous flavoring, also hyoscine, and its pericarp, seed and leaf are manufacture cosmetics, julapium, beer
The important source material of wine and food industry.General anise is grown on up to 5 to 10 meters of trunk, is generally and is manually climbed tree during harvesting
Harvesting.Because the particularity of anistree growing environment is severity with harvesting, and present on Softening：Work high above the ground is dangerous
Coefficient is high, and Softening tradition, mechanization degree is not high, and working strength is big, the low outstanding problem of efficiency；Occur successively on the market
Shaking formula, impacting type picking mechanical.However, the working method of these equipment is not only caused to branches of fruit trees and anistree integrality
Very macrolesion, and be not suitable for work high above the ground, Simultaneous Stabilization and reliability are not enough.
In the last few years, the country of China had emerged relatively advanced practical anistree picking mechanical equipment, such as orchard intelligence
Work machine, automation device for picking, air pressure beta pruning picking machine etc., but generally, still there is work(in the anistree harvesting machinery of China
Can single, stability is poor, reliability not strong, the low comparison of efficiency real defect and deficiency, these problems prevent orchard worker from
It is universal to go to receive and using these research equipments.
Because anise should not accumulate preservation for a long time, in order to ensure the fresh and original flavor of anise, harvesting anise is preferably
Carried out under conditions of becoming a fine day, the fresh fruit that harvesting is returned will be processed in time, this is required work task efficiency and working time
It is higher.
The content of the invention
It is an object of the present invention to provide a kind of picking mechanical arm, operating efficiency can be improved, environmental protection, it is ensured that personal security,
Realize high-altitude harvesting and stability and reliability is high.
To realize the purpose, there is provided a kind of anistree picking machine, including crawler belt crawling device；Also climbed including being arranged at crawler belt
Luggage is put the screw slider lowering or hoisting gear of upper end, the chassis slewing equipment for being arranged at screw slider lowering or hoisting gear upper end, is arranged at
The lifting arm of chassis slewing equipment upper end, be arranged at the harvesting rotating device of lifting arm upper end, be arranged at harvesting rotating device on
For the scissors manipulator of shearing, the lifting arm is provided with harvesting support platform with harvesting rotating device connecting end surface, described
Camera Scan orientation device is additionally provided with harvesting support platform.
Preferably, the lifting arm includes base, the mechanical arm that one end is movably connected with the base, one end and base activity even
The second hydraulic cylinder that the first hydraulic cylinder and one end connect is movably connected with the base, wherein, the mechanical arm includes flexible connection
Lower mechanical arm and upper mechanical arm；The opposite other end that the first hydraulic cylinder is movably connected with the base passes through a steel cable and upper machine
The opposite other end being connected with the lower mechanical arm connection of tool arm, the opposite other end that the second hydraulic cylinder is movably connected with the base
It is flexibly connected with lower mechanical arm, the upper end of the lower mechanical arm and upper mechanical arm link position is provided with the branch for supporting steel cable
Support structure, the 3rd liquid being flexibly connected with lower mechanical arm and upper mechanical arm is additionally provided between the lower mechanical arm and upper mechanical arm
Cylinder pressure.
Preferably, the harvesting rotating device includes harvesting basin, is arranged at the harvesting rotating device canine tooth of harvesting basin lower end
Wheel, the harvesting rotating device little gear with harvesting rotating device gear wheel engagement, with plucking adopting of being connected of rotating device little gear
Pluck electric rotating machine.
Preferably, the mechanical hand of the scissors include leading screw, be arranged at leading screw upper end and with cutting that the sliding block of leading screw is connected
Knife structure, the scissors manipulator lifting motor being connected with leading screw bottom, it is arranged at leading screw lower end and is connected with the cunning bucket of leading screw
Scissors manipulator gear wheel, the scissors manipulator that is engaged with scissors manipulator gear wheel by a scissors manipulator little gear revolves
Rotating motor.
Preferably, the scissor construction includes fixed blade bearing, the opening and closing fitted and be flexibly connected with fixed blade bearing
Blade, the shearing electric rotating machine for being arranged at fixed blade bearing side and shearing electric rotating machine are connected and pass through fixing blade bearing
Spring shaft with opening and closing blade, the torsionspring for being arranged on spring shaft and being connected with opening and closing blade.
Preferably, the crawler belt crawling device includes base plate, is symmetricly set in the synchronous pulley of base plate both sides
Group, the synchronous crawler belt of two be respectively arranged in the synchronous pulley group of both sides, be arranged in base plate and respectively with both sides
Two motion control motors that synchronous pulley group connects one to one, be arranged in base plate respectively with two motion control electricity
The diesel generator group of machine connection；Two motion control motors are symmetricly set in base plate and led to successively respectively
Shaft coupling, crawler belt crawling device bevel pinion and crawler belt crawling device bevel gear wheel is crossed to be connected with corresponding synchronous pulley group.
Preferably, the screw slider lowering or hoisting gear include lower end be connected with crawler belt crawling device lowering or hoisting gear base,
The lifting support and lowering or hoisting gear motor that are arranged on lowering or hoisting gear base, it is connected with lifting support upper end by guide rail slide block
Workbench；Lifting support lower end side is rotatably connected and lifting support lower end opposite side with lowering or hoisting gear base
Pass through mobile sliding plate and lowering or hoisting gear base contacts；The lowering or hoisting gear motor passes sequentially through horizontal lead screw and horizontal screw lead is slided
Block is connected with mobile sliding plate, and the lowering or hoisting gear hydraulic cylinder being connected with lifting support is additionally provided with the lowering or hoisting gear base.
Preferably, the lifting support is made up of the montant of one group of movable connection of symmetrical chiasma and passed through between montant group
One cross bar is connected, wherein, montant group is made up of two montants and is the crosspoint between two montants, montant with the tie point of cross bar
Group lower end one end is rotatably connected with lowering or hoisting gear base and the other end is by mobile sliding plate and lowering or hoisting gear base contacts,
Montant group upper end is connected by guide rail slide block with workbench, and lowering or hoisting gear hydraulic cylinder is connected with cross bar.
Preferably, the chassis slewing equipment include chassis turning motor, be connected with chassis turning motor rotating circular disk,
The rocking bar that is fixed on rotating circular disk, the rack being connected by rocking bar with rotating circular disk, the spur gear engaged with rack, it is arranged at
Reversing chassis on spur gear.
Preferably, the harvesting support platform lower end is additionally provided with filling band and is connected with harvesting basin lower end.
Compared with prior art, its advantage is the present invention：
The present invention is by setting crawler belt crawling device, screw slider lowering or hoisting gear, chassis slewing equipment, lifting arm, harvesting
The linkage of rotating device and scissors manipulator is plucked, and can improve operating efficiency, environmental protection, it is ensured that personal security, is realized
High-altitude is plucked and stability and reliability is high.Lifting arm in the present invention, can by setting three hydraulic cylinder linkage works
Prevent mechanical arm from producing the fortuitous event generation rocked with discontinuity when work, improve the peace of plant equipment
Full performance.Harvesting rotating device in the present invention controls to be arranged in Large Gear Shaft by the engaged transmission of big little gear
The anglec of rotation of harvesting disk can improve the stationarity, speed and operating efficiency of transmission.Scissors manipulator in the present invention leads to
Precision when harvesting is sheared can be effectively improved by crossing servomotor driving and screw mandrel motion.Crawler belt crawling device in the present invention
The front and rear elevation angle make with ground into 60 ° of angles can more preferably above and below more stable realization climbing and cross-domain various complicated gullies work(
Energy.Screw slider lowering or hoisting gear is coordinated to carry out descending operation by screw mandrel and hydraulic cylinder in the present invention, it is possible to increase transmission
There is provided larger lifting force for stationarity so that control is easy.Chassis slewing equipment is real by gear coordination operation in the present invention
Existing 180 ° gyration so that control is easy, easy for installation, cleverly realizes gyration.Pass through shooting in the present invention
The Scan orientation device of head can effectively improve operating efficiency and control accuracy, improve automatic controlling level.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is lifting arm structural representation in the present invention；
Fig. 3 is harvesting rotary device structure schematic diagram in the present invention；
Fig. 4 is scissors manipulator structural representation in the present invention；
Fig. 5 is the structural representation of scissor construction in the present invention；
Fig. 6 is the structural representation of crawler belt crawling device in the present invention；
Fig. 7 is the structural representation of screw slider lowering or hoisting gear in the present invention；
Fig. 8 is the structural representation of chassis slewing equipment in the present invention.
Embodiment
With reference to embodiment, the invention will be further described, but does not constitute any limitation of the invention, any
The modification of the limited number of time made in scope of the invention as claimed, still in scope of the presently claimed invention.
As shown in figure 1, the invention provides a kind of anistree picking machine, including crawler belt crawling device 1；Also include being arranged at shoe
Screw slider lowering or hoisting gear 6 with the upper end of crawling device 1, the chassis slewing equipment for being arranged at the upper end of screw slider lowering or hoisting gear 6
7th, the lifting arm 2 of the upper end of chassis slewing equipment 7 is arranged at, the harvesting rotating device 3 of the upper end of lifting arm 2 is arranged at, is arranged at and adopts
The scissors manipulator 4 for being used to shear on rotating device 3 is plucked, lifting arm 2 is provided with harvesting branch with the harvesting connecting end surface of rotating device 3
Support and be additionally provided with camera Scan orientation device 5 in platform 26, harvesting support platform 26.Harvesting support platform 26 lower end is also set up
There is filling band 8 to be connected with harvesting basin 31 lower end.
In the present embodiment, crawler belt crawling device 1 moves to another point due to the operation of anistree picking machine from a point
Carry out anistree harvesting.Screw slider lowering or hoisting gear 6 is used to tentatively probably lift the anistree picker in upper end to harvesting position.Bottom
Disk slewing equipment 7 is used to the gyration that the anistree picker in upper end carries out 180 ° carrying out preliminary angle positioning to anise.Rise
Lifting and decline that arm 2 is used to control harvesting support platform 26 are dropped, and the need for meeting harvesting, harvesting rotating device 3 passes through rotation
Primary Location is carried out to the anistree of harvesting, scissors manipulator 4 is used to accurately shear anise so that anise falls into harvesting
Then it is collected into rotating device 3 in filling band 8.Scissors manipulator 4 can be arranged inside harvesting rotating device 3.Camera
Scan orientation device 5 be used to carry out anise accurately positioning and by transmitting a signal to background control system, control lifting
The linkage of arm 2, harvesting rotating device 3 and scissors manipulator 4 to anise so as to pluck.
As shown in Fig. 2 lifting arm 2 includes base 27, one end is flexibly connected with base 27 mechanical arm 25, one end and base
The second hydraulic cylinder 22 that 27 first hydraulic cylinders 21 being flexibly connected and one end are flexibly connected with base 27, wherein, mechanical arm 25 is wrapped
Include the lower mechanical arm 251 and upper mechanical arm 252 of flexible connection；It is relatively another that first hydraulic cylinder 21 is flexibly connected with base 27
End by opposite other end be connected with lower mechanical arm 251 connection of a steel cable 23 and upper mechanical arm 252, second hydraulic cylinder 22 and
The opposite other end that base 27 is flexibly connected is flexibly connected with lower mechanical arm 251, and lower mechanical arm 251 and upper mechanical arm 252 are connected
The upper end of position is provided with the supporting construction for supporting steel cable 23, is additionally provided between lower mechanical arm 251 and upper mechanical arm 252
The 3rd hydraulic cylinder 24 being flexibly connected with lower mechanical arm 251 and upper mechanical arm 252.
In the present embodiment, realized by second hydraulic cylinder 22 and the collective effect driving mechanical arm 25 of the 3rd hydraulic cylinder 24 flexible
And elevating function；The acting as of first hydraulic cylinder 21 controls the steady of upper mechanical arm 252 by controlling the tensioning dynamics of steel cable 23
It is fixed, prevent mechanical arm from producing the fortuitous event generation rocked with discontinuity when work, improve plant equipment
Security performance.
As shown in figure 3, harvesting rotating device 3 includes harvesting basin 31, is arranged at the harvesting rotating device of harvesting basin 31 lower end
Gear wheel 33, the harvesting rotating device little gear 32 engaged with harvesting rotating device gear wheel 33 and the harvesting small tooth of rotating device
The harvesting electric rotating machine 34 of the connection of wheel 32, harvesting electric rotating machine 34 is arranged at the harvesting lower end of support platform 26 and passes through harvesting branch
Support platform 26 is connected with little gear 32.
In the present embodiment, harvesting electric rotating machine 43 is that servomotor carries out high-precision control.Pluck the small tooth of rotating device
Wheel 32 and all helical gears of harvesting rotating device gear wheel 33.Pluck electric rotating machine 43 drives bevel pinion to rotate by shaft coupling,
The anglec of rotation of harvesting disk is controlled through big bevel pinion engaged transmission, is completed to anistree Primary Location.So as to pluck rotation
The control mode of device 3 is easy, operating efficiency is big, sensitivity is high.
As shown in fig. 4-5, scissors manipulator 4 include leading screw 42, be arranged at the upper end of leading screw 42 and with the cunning of leading screw 42
Block connection scissor construction 46, be connected with the bottom of leading screw 42 scissors manipulator lifting motor 45, be arranged at the lower end of leading screw 42 simultaneously
And be connected with the cunning bucket of leading screw 42 scissors manipulator gear wheel 43, by a scissors manipulator little gear 44 and scissors manipulator
The scissors manipulator electric rotating machine 41 that gear wheel 43 is engaged.Scissor construction 46 includes fixed blade bearing 462, with fixing blade bearing
462 fit and be flexibly connected opening and closing blades 463, be arranged at the fixed side of blade bearing 462 shearing electric rotating machine 461, with
Shearing electric rotating machine 461 is connected and pass through fixing the spring shaft 464 of blade bearing 462 and opening and closing blade 463, is arranged at spring shaft
The torsionspring 465 being connected on 464 and with opening and closing blade 463, scissors manipulator lifting motor 45 and the rotation of scissors manipulator
Motor 41 is arranged in harvesting support platform 26.
In the present embodiment, scissors manipulator little gear 44 and scissors manipulator gear wheel 43 are bevel gear, scissor machine
Tool hand electric rotating machine 41 and scissors manipulator lifting motor 45 are servomotor.Scissors manipulator electric rotating machine 41 drives conelet
Gear is rotated, and the anglec of rotation of scissors manipulator 4 is controlled through big bevel pinion engaged transmission；Again by the lifting of scissors manipulator
The rotating of motor 45 drives screw mandrel 42 to realize that positive and negative rotation is moved in slide cartridge, and the lifting of its sliding block is controlled by screw mandrel 42, is entered
And drive scissor construction 46 to realize raising and lowering function.
As shown in fig. 6, crawler belt crawling device 1 includes base plate 18, is symmetricly set in the synchronization of the both sides of base plate 18
Belt wheel group 11, the synchronous crawler belt 12 of two be respectively arranged in both sides synchronous pulley group 11, be arranged in base plate 18 and
Two motion control motors 13 being connected one to one respectively with the synchronous pulley group 11 of both sides, it is arranged in base plate 18 point
The diesel generator group 17 not being connected with two motion control motors 13；Two motion control motors 13 are symmetricly set in pedestal
Pass sequentially through in chassis 18 and respectively shaft coupling, crawler belt crawling device bevel pinion 15 and crawler belt crawling device bevel gear wheel 16
It is connected with corresponding synchronous pulley group 11.
In the present embodiment, diesel generator group 17 is arranged at the middle part of base plate 18.Two motion control motors 13
For AC servo motor, two motion control motors 13 can be symmetricly set in the front end of base plate 18 or rear end.Motion control
Motor 13 drives the rotation of crawler belt crawling device bevel gear wheel 16 by the engagement of crawler belt crawling device bevel pinion 15, then passes through
Synchronous pulley group 11 and the engaged transmission of synchronous crawler belt 12, make base plate 18 realize reciprocating motion；Control motion control motor
A rotation in 13, realizes the commutation function of base plate；Make with ground into 60 ° at the front and rear elevation angle of crawler belt crawling device 1
Angle can more preferably above and below more stable realization climbing and cross-domain various complicated gullies function.
As shown in fig. 7, screw slider lowering or hoisting gear 6 includes the lowering or hoisting gear base that lower end is connected with crawler belt crawling device 1
69th, the lifting support 63 and lowering or hoisting gear motor 66 that are arranged on lowering or hoisting gear base 69, guide rail slide block 62 and lifting are passed through
The workbench 61 of the upper end of support 63 connection；The lower end side of lifting support 63 is rotatably connected and risen with lowering or hoisting gear base 69
The lower end opposite side of descending branch frame 63 is contacted by mobile sliding plate 65 with lowering or hoisting gear base 69；Lowering or hoisting gear motor 66 is passed sequentially through
Horizontal lead screw 67 and horizontal screw lead sliding block 64 are connected with mobile sliding plate 65, are additionally provided with lowering or hoisting gear base 69 and lifting support
The lowering or hoisting gear hydraulic cylinder 68 of 63 connections.
Lifting support 63 is made up of the montant of one group of movable connection of symmetrical chiasma and connected between montant group by a cross bar
Connect, wherein, montant group is made up of two montants and is the crosspoint between two montants, montant group lower end one with the tie point of cross bar
End is rotatably connected with lowering or hoisting gear base 69 and the other end is contacted by mobile sliding plate 65 with lowering or hoisting gear base 69, is erected
Bar group upper end is connected by guide rail slide block 62 with workbench 61, and lowering or hoisting gear hydraulic cylinder 68 is connected with cross bar.
In the present embodiment, when being additionally provided with fence on workbench 61, it can entirely fence up, can also partly enclose on four sides
Get up.The guide rail that mobile disk 65 is set along on lowering or hoisting gear base 69 is moved.Lowering or hoisting gear motor 66 is alternating current asynchronous
Motor, AC induction motor drives screw slider 64 to realize the rotation of positive and negative both direction, passes through screw slider 64 and mobile circle
The lifting of the reciprocating motion control lifting support 63 of disk 65.When screw slider 64 is slided to the left, the lower end of workbench 61 is led
Rail sliding block 62 is moved to the left also along fixed guide rail, realizes the rising function of workbench；When screw slider 64 is slided to the right, work
The guide rail slide block 62 for making the lower end of platform 61 is steadily moved to the right also along fixed guide rail, and then drives workbench 61 to realize decline
Function.When workbench 61 is in higher work high above the ground, by lowering or hoisting gear hydraulic cylinder 68 and screw slider 64 together now
Drive lifting support 63 realize lifting, both provided can be enough lifting force, ensured again work stationarity.
As shown in figure 8, the rotation that chassis slewing equipment 7 includes chassis turning motor 71, is connected with chassis turning motor 71
Disk 72, the rocking bar 73 being fixed on rotating circular disk 72, the rack 74 being connected by rocking bar 73 with rotating circular disk 72 and rack 74
The spur gear 76 of engagement, the reversing chassis 75 being arranged on spur gear 76.
In the present embodiment, chassis turning motor 71 is servomotor.Rotating circular disk 72 is driven to rotate by servomotor, then
Straight reciprocating motion is realized with carry-over bar 74 by the rocking bar 73 that is fixed on rotating circular disk 72, finally by the spur gear 76 of engagement
Power is transferred into reversing chassis 75 with rack 74 and realizes its 180 ° of gyration.
The present embodiment workflow：During anistree harvesting is carried out, whole table apparatus is transported by crawler belt crawling device 1
Go under Chinese anise, screw slider lowering or hoisting gear 6 is tentatively lifted the equipment of its upper end, and chassis slewing equipment 7 is revolved
Turn to carry out anise Primary Location, 5 pairs of the Scan orientation device of camera is anistree to carry out accurately positioning and by sending signal
To background control system, control lifting arm 2 carries out the further determination of height, then rotated to by plucking rotating device 3
Set angle, completes to position anistree further angle, is then adopted by the 4 pairs of anistree accurate shearings of progress of scissors manipulator
Pluck, by the way that continual harvesting can be realized to each anistree positioning, so as to bringing of avoiding that harvesting personnel climb
Danger, can improve operating efficiency, it is ensured that personal security, real high-altitude harvesting and stability and reliability height.
It the above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, do not taking off
On the premise of from structure of the present invention, several modifications and improvements can also be made, these effects implemented all without the influence present invention
And practical applicability.
Claims (10)
1. a kind of anistree picking machine, including crawler belt crawling device (1)；It is characterized in that：Also include being arranged at crawler belt crawling device
(1) the screw slider lowering or hoisting gear (6) of upper end, be arranged at screw slider lowering or hoisting gear (6) upper end chassis slewing equipment (7),
The lifting arm (2) of chassis slewing equipment (7) upper end is arranged at, the harvesting rotating device (3) of lifting arm (2) upper end is arranged at, sets
The scissors manipulator (4) for being used to shear is placed on harvesting rotating device (3), and the lifting arm (2) is with plucking rotating device (3) even
Contact surface is provided with harvesting support platform (26), the harvesting support platform (26) and is additionally provided with camera Scan orientation device
(5)。
2. a kind of anistree picking machine according to claim 1, it is characterised in that：The lifting arm (2) include base (27),
The first hydraulic cylinder (21) and one that mechanical arm (25) that one end is flexibly connected with base (27), one end are flexibly connected with base (27)
The second hydraulic cylinder (22) being flexibly connected with base (27) is held, wherein, the mechanical arm (25) includes the lower machine of flexible connection
Tool arm (251) and upper mechanical arm (252)；The first hydraulic cylinder (21) passes through with the opposite other end that base (27) is flexibly connected
One steel cable (23) is connected with the opposite other end being connected with lower mechanical arm (251) of upper mechanical arm (252), the second hydraulic cylinder
(22) opposite other end being flexibly connected with base (27) is flexibly connected with lower mechanical arm (251), the lower mechanical arm (251) and
The upper end of upper mechanical arm (252) link position is provided with the supporting construction for supporting steel cable (23), the lower mechanical arm (251)
The 3rd hydraulic cylinder being flexibly connected with lower mechanical arm (251) and upper mechanical arm (252) is additionally provided between upper mechanical arm (252)
(24)。
3. a kind of anistree picking machine according to claim 1, it is characterised in that：The harvesting rotating device (3) includes adopting
Pluck basin (31), be arranged at the harvesting rotating device gear wheel (33) of harvesting basin (31) lower end, with plucking rotating device gear wheel
(33) the harvesting rotating device little gear (32) of engagement, the harvesting electric rotating machine being connected with harvesting rotating device little gear (32)
(34)。
4. a kind of anistree picking machine according to claim 1, it is characterised in that：The scissors manipulator (4) includes leading screw
(42) scissor construction (46) for, being arranged at leading screw (42) upper end and being connected with the sliding block of leading screw (42) and leading screw (42) bottom
The scissors manipulator lifting motor (45) of connection, it is arranged at leading screw (42) lower end and the scissors being connected with the cunning bucket of leading screw (42)
Manipulator gear wheel (43), the scissor machine engaged by a scissors manipulator little gear (44) with scissors manipulator gear wheel (43)
Tool hand electric rotating machine (41).
5. a kind of anistree picking machine according to claim 4, it is characterised in that：The scissor construction (46) includes fixing cutter
Bar (462), the opening and closing blade (463) fitted and be flexibly connected with fixed blade bearing (462), it is arranged at fixed blade bearing
(462) the shearing electric rotating machine (461) of side, with shearing electric rotating machine (461) be connected and pass through fixing blade bearing (462) and
The spring shaft (464) of opening and closing blade (463), the torsion bullet for being arranged on spring shaft (464) and being connected with opening and closing blade (463)
Spring (465).
6. a kind of anistree picking machine according to claim 1, it is characterised in that：The crawler belt crawling device (1) includes base
Seat chassis (18), be symmetricly set in the synchronous pulley group (11) of base plate (18) both sides, be respectively arranged at both sides synchronous pulley
Two in group (11) synchronous crawler belts (12), it is arranged in base plate (18) and the synchronous pulley group (11) with both sides respectively
Two motion control motors (13) connecting one to one, be arranged in base plate (18) respectively with two motion control motors
(13) diesel generator group (17) of connection；Two motion control motors (13) are symmetricly set in base plate (18)
And shaft coupling, crawler belt crawling device bevel pinion (15) and crawler belt crawling device bevel gear wheel (16) and phase are passed sequentially through respectively
Corresponding synchronous pulley group (11) connection.
7. a kind of anistree picking machine according to claim 1, it is characterised in that：Screw slider lowering or hoisting gear (6) bag
Include the lowering or hoisting gear base (69) that lower end is connected with crawler belt crawling device (1), the lifting being arranged on lowering or hoisting gear base (69)
Support (63) and lowering or hoisting gear motor (66), the workbench being connected by guide rail slide block (62) with lifting support (63) upper end
(61)；Lifting support (63) the lower end side is rotatably connected and lifting support (63) lower end with lowering or hoisting gear base (69)
Opposite side is contacted by mobile sliding plate (65) with lowering or hoisting gear base (69)；The lowering or hoisting gear motor (66) passes sequentially through water
Flat screw mandrel (67) and horizontal screw lead sliding block (64) are connected with mobile sliding plate (65), are additionally provided with the lowering or hoisting gear base (69)
The lowering or hoisting gear hydraulic cylinder (68) being connected with lifting support (63).
8. a kind of anistree picking machine according to claim 7, it is characterised in that：The lifting support (63) is symmetrical by one group
Connected between the montant composition and montant group that intersect movable connection by a cross bar, wherein, montant group is made up of two montants
And be the crosspoint between two montants with the tie point of cross bar, montant group lower end one end rotatably with lowering or hoisting gear base (69)
Connect and the other end is contacted by mobile sliding plate (65) with lowering or hoisting gear base (69), montant group upper end passes through guide rail slide block
(62) it is connected with workbench (61), lowering or hoisting gear hydraulic cylinder (68) is connected with cross bar.
9. a kind of anistree picking machine according to claim 1, it is characterised in that：The chassis slewing equipment (7) includes bottom
Disk turning motor (71), the rotating circular disk (72) being connected with chassis turning motor (71), it is fixed on shaking on rotating circular disk (72)
Bar (73), the rack (74) being connected by rocking bar (73) with rotating circular disk (72), the spur gear (76) engaged with rack (74), set
The reversing chassis (75) being placed on spur gear (76).
10. a kind of anistree picking machine according to claim 1, it is characterised in that：Described harvesting support platform (26) lower end
Filling band (8) is additionally provided with to be connected with harvesting basin (31) lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710506512.9A CN107231888A (en) | 2017-06-28 | 2017-06-28 | Anistree picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710506512.9A CN107231888A (en) | 2017-06-28 | 2017-06-28 | Anistree picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107231888A true CN107231888A (en) | 2017-10-10 |
Family
ID=59989985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710506512.9A Pending CN107231888A (en) | 2017-06-28 | 2017-06-28 | Anistree picking machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN107231888A (en) |
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| CN108684315A (en) * | 2018-07-16 | 2018-10-23 | 合肥学院 | A kind of multi-faceted fruit picking collection integrated apparatus |
| CN108901363A (en) * | 2018-08-24 | 2018-11-30 | 沈阳工业大学 | Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism |
| CN109362356A (en) * | 2018-11-27 | 2019-02-22 | 山东农业大学 | A kind of shed frame type snakegourd picking machine |
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Application publication date: 20171010 |