CN108271533B - Automatic climbing picking device and picking method thereof - Google Patents
Automatic climbing picking device and picking method thereof Download PDFInfo
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- CN108271533B CN108271533B CN201810165391.0A CN201810165391A CN108271533B CN 108271533 B CN108271533 B CN 108271533B CN 201810165391 A CN201810165391 A CN 201810165391A CN 108271533 B CN108271533 B CN 108271533B
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- 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
- A01D46/30—Robotic devices for individually picking crops
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Abstract
The invention discloses an automatic climbing picking device and a picking method thereof. Because the fruit tree grows irregularly, the branch is more fragile, and manual fruit picking has a certain danger. The invention discloses an automatic climbing picking device which comprises an upper frame, a lower frame, a lifting mechanism, an upper climbing mechanism, a lower climbing mechanism and a picking mechanism. The lifting mechanism comprises a guide rod, a guide sleeve, a lifting screw rod, a lifting nut and a first driving component. The upper climbing mechanism and the lower climbing mechanism comprise a second driving assembly, a deflection transmission assembly, a rotating shaft and a cohesion assembly. The picking mechanism comprises a first electric push rod, a second electric push rod, a third electric push rod, a first picking arm, a second picking arm, an electric paw, a first picking steering engine and a second picking steering engine. The invention can realize the function of climbing upwards, and the telescopic picking mechanism can pick fruits in a larger range. The invention can move around the circumference of the trunk, thereby avoiding branches on a crawling path.
Description
Technical Field
The invention belongs to the technical field of fruit picking, and particularly relates to an automatic climbing picking device and a picking method thereof.
Background
Fruit picking is an important link of fruit operation, and at present, fruit picking in China is mainly finished by manual operation. However, the fruit is planted in mountain areas, the terrains are complex and changeable, some fruits even grow on cliffs, and because the fruit trees grow irregularly, the branches are brittle, and the manual fruit picking has a certain danger, and in recent years, accidents caused by fruit picking are often reported. Because the fruit picking maturity is short, the labor force in rural areas is aged to cause insufficient hands of pickers, the fruits are not picked up, and the fruit yield and the large-scale fruit planting are greatly influenced. Along with the increasing demand of fruits, the automation and specialization of fruit production are urgently needed, automatic fruit picking becomes a mainstream development trend of fruit operation, and research on mechanical fruit picking operation is very necessary.
Disclosure of Invention
The invention aims to provide an automatic climbing picking device and a picking method thereof.
The invention discloses an automatic climbing picking device which comprises an upper frame, a lower frame, a lifting mechanism, an upper climbing mechanism, a lower climbing mechanism and a picking mechanism. The upper frame is positioned right above the lower frame. The lifting mechanism comprises a guide rod, a guide sleeve, a lifting screw rod, a lifting nut and a first driving assembly. The lifting screw rod is supported on the upper frame. The lifting nut is fixed on the lower frame. The lifting screw rod and the lifting nut form a screw pair. The lifting screw is driven by the first driving assembly. The top end of the guide rod is fixed with the upper frame. The guide sleeve is fixed with the lower frame. The guide rod and the guide sleeve form a sliding pair.
The upper climbing mechanism and the lower climbing mechanism comprise a second driving assembly, a deflection transmission assembly, a rotating shaft and a cohesion assembly. The cohesion assembly comprises a cohesion frame, a cohesion motor, a cohesion screw, a cohesion nut, a connecting rod, a turnover block and a cohesion claw body. The cohesion screw is supported on the cohesion frame. The cohesion screw is driven by a cohesion motor. The cohesion nut and the cohesion frame form a sliding pair and form a screw pair with the cohesion screw. One end of each connecting rod is hinged with the cohesion nut, and the other end of each connecting rod is respectively hinged with the inner ends of the two overturning blocks; the middle parts of the two overturning blocks and the cohesion frame form a revolute pair, and the outer ends of the overturning blocks and the two cohesion claw bodies are respectively fixed. The deflection transmission assembly comprises a rocking plate, a first connecting rod and a second connecting rod. One end of the first connecting rod and one end of the second connecting rod are hinged with the rocking plate, and the other end of the second connecting rod is hinged with the cohesion frame; a deflection chute is arranged at the other end of the first connecting rod; a sliding column is fixed on the cohesion frame; the sliding column is positioned in the deflection sliding chute; the diameter of the spool is equal to the groove width of the deflection slide groove. The rocking plate is fixed with the rotating shaft. The rotating shaft is driven by the second driving component. The arc-shaped bulge of the cohesion frame in the upper climbing mechanism and the first arc-shaped chute arranged on the upper frame form a sliding pair; the arc-shaped bulge of the cohesion frame in the lower climbing mechanism and the second arc-shaped chute arranged on the lower frame form a sliding pair. A rotating shaft in the upper climbing mechanism is supported on the upper frame. The rotating shaft in the lower climbing mechanism is supported on the lower frame.
The picking mechanism comprises a first electric push rod, a second electric push rod, a third electric push rod, a first picking arm, a second picking arm, an electric paw, a first picking steering engine and a second picking steering engine. The shell of the first electric push rod is fixed with the upper frame. The push-out rod of the first electric push rod is fixed with the first picking steering engine. The output shaft of the first picking steering engine is fixed with the shell of the second electric push rod. The push-out rod of the second electric push rod is fixed with the shell of the third electric push rod. The pushing rod of the third electric push rod is fixed with one end of the first picking arm. The other end of the first picking arm is hinged with one end of the second picking arm through a hinge shaft. The second picking arm is driven by the second picking arm. The other end of the second picking arm is provided with an electric paw.
Further, the cohesion claw body in the upper climbing mechanism consists of an upper fixing column and two upper claw sheets. The two upper claw sheets arranged at intervals are mutually fixed through the upper fixing column. The two upper claw sheets are arc-shaped, and the inner ends of the two upper claw sheets are fixed with the turnover blocks in the upper climbing mechanism. The cohesion claw body in the lower climbing mechanism consists of a lower fixing column and four lower claw sheets. The four lower claw sheets are sequentially arranged along the vertical direction. The four lower claw pieces are mutually fixed through the lower fixing column. The lower claw pieces are all arc-shaped. The inner ends of the lower claw piece positioned at the bottommost position and the lower claw piece positioned at the secondary bottom are fixed with the turnover block in the lower climbing mechanism.
Further, the number of the lifting screw rods is two. The number of the lifting nuts is two. The two lifting screw rods and the two lifting nuts respectively form a screw pair. The first driving assembly comprises a lifting motor, a first belt wheel, a second belt wheel and a first transmission belt. The lifting motor is fixed on the upper frame. The first belt wheel is fixed with an output shaft of the lifting motor. The first driving assembly has two in total. The second belt wheels in the two first driving components are respectively fixed with the two lifting screw rods.
Further, the second driving assembly comprises a deflection motor, a third belt pulley, a fourth belt pulley and a second transmission belt. The third belt wheel is fixed with an output shaft of the deflection motor. The fourth belt wheel is fixed with the rotating shaft. The third belt pulley is connected with the fourth belt pulley through a second transmission belt. And a deflection motor in the upper climbing mechanism is fixed on the upper frame. And a deflection motor in the lower climbing mechanism is fixed on the lower frame.
Further, the cohesion motor is fixed with the cohesion frame. One end of the cohesion screw is fixed with an output shaft of the cohesion motor. The two cohesion claw bodies are arc-shaped, and the concave parts are arranged oppositely.
Further, the deflection transmission assemblies are two in total. The rocking plates in the two deflection transmission components are respectively fixed with the two ends of the rotating shaft.
Further, the hinge shafts of the first picking arm and the second picking arm are fixed with the second picking arm. The second picking steering engine is fixed with the first picking arm. The output shaft of the second picking steering engine is fixed with the hinge shaft.
Further, the axis of the pushing rod of the first electric push rod is perpendicular to the axis of the output shaft of the first picking steering engine. The push rod axis of the second electric push rod is perpendicular to the push rod axis of the third electric push rod. The electric paw comprises a paw frame, a picking paw, a picking shaft, a gear and a third picking steering engine. The paw frame is fixed with the second picking arm. The two picking claws are respectively fixed with the two picking shafts. Two picking shafts arranged in parallel are supported on the paw rest. Gears are fixed on both picking shafts. The two gears are meshed. And the third picking steering engine is fixed on the hand claw frame. The output shaft of the third picking steering engine is fixed with one picking shaft.
The picking method of the automatic climbing picking device comprises the following steps:
step one, placing an upper frame on one side of a fruit tree, so that the enclasping claw body in the upper climbing mechanism and the enclasping claw body in the lower climbing mechanism both encircle the trunk of the fruit tree.
Step two, the picking mechanism ascends to a target position under the cooperation of the upper climbing mechanism and the lower climbing mechanism.
Step three, the first electric push rod, the second electric push rod and the third electric push rod push out or retract, and the first picking steering engine and the second picking steering engine rotate, so that the electric paw rings fruits to be picked.
And fourthly, clamping fruits to be picked by the electric claws. And the second picking steering engine rotates to enable the electric paw to overturn and pick off fruits.
The method for ascending the picking mechanism in the second step comprises the following steps:
(1) And a cohesion assembly in the lower climbing mechanism is used for clasping the trunk of the fruit tree.
(2) The lifting motor rotates positively, and the upper frame is pushed up under the action of the lifting screw rod.
If branches exist in the ascending path 0.5m above the two cohesion claw bodies in the upper climbing mechanism, the deflection motor drives the rocking plate to rotate, so that the cohesion claw bodies in the upper climbing mechanism rotate around the trunk of the fruit tree.
(3) After the distance between the upper frame and the lower frame reaches the maximum, the lifting motor stops rotating, the enclasping assembly in the upper climbing mechanism enclasps the trunk of the fruit tree, and the enclasping assembly in the lower climbing mechanism releases the trunk of the fruit tree.
After the cohesion assembly in the lower climbing mechanism loosens the trunk of the fruit tree, if the rocking plate in the upper climbing mechanism is not at the initial position, the deflection motor in the upper climbing mechanism drives the rocking plate to rotate, so that the rocking plate is reset, and the upper frame and the lower frame rotate around the trunk of the fruit tree.
(4) The lifting motor rotates reversely, and the lower frame is pulled up under the action of the lifting nut.
If branches exist in a rising path 0.5m above the two cohesion claw bodies in the upper climbing mechanism, a deflection motor in the lower climbing mechanism drives the rocking plate to rotate, so that the cohesion claw bodies in the lower climbing mechanism rotate around the trunks of the fruit trees.
(5) After the upper frame contacts with the lower frame, the lifting motor stops rotating, the enclasping assembly in the lower climbing mechanism enclasps the trunk of the fruit tree, and the enclasping assembly in the upper climbing mechanism loosens the trunk of the fruit tree.
After the cohesion assembly in the upper climbing mechanism loosens the trunk of the fruit tree, if the rocking plate in the lower climbing mechanism is not at the initial position, the deflection motor in the lower climbing mechanism drives the rocking plate to rotate, so that the rocking plate is reset, and the upper frame and the lower frame rotate around the trunk of the fruit tree.
Step (6) is entered.
(6) If the picking mechanism does not reach the target position, executing the steps (2), (3), (4) and (5) again; otherwise, the climbing is ended.
Further, step five is entered after the execution of step four is completed.
Step five, pushing out or retracting the first electric push rod, the second electric push rod and the third electric push rod, and rotating the first picking steering engine and the second picking steering engine, so that the electric paw places fruits in a placing basket fixed on the upper frame. If fruits exist in the picking range of the picking mechanism, repeating the third and fourth steps. If no fruit exists in the picking range of the picking mechanism and the fruit trees have fruits which can be picked, repeating the second, third and fourth steps. If the fruit trees do not have fruits which can be picked, the upper frame and the lower frame climb down the fruit trees under the cooperation of the upper climbing mechanism and the lower climbing mechanism.
The invention has the beneficial effects that:
1. according to the invention, the upward climbing function is realized in a mode that the upper and lower cohesion assemblies alternately hug the trunk. The telescopic picking mechanism can pick fruits in a larger range.
2. The upper and lower cohesion assemblies in the invention can rotate around the trunk, so that the invention can move around the circumference of the trunk, thereby avoiding branches on a crawling path.
3. The cohesion claw body adopts a multi-layer sheet type connection design, so that the friction force between the claw body and the tree is greatly improved. The cohesion component is driven by a screw slider and has self-locking capability.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a removal mechanism according to the present invention;
FIG. 3 is a perspective view of the lower climbing mechanism of the present invention;
FIG. 4 is a perspective view of the clasping assembly in the present invention;
FIG. 5 is a schematic view of the movement of the clasping assembly in the present invention;
FIG. 6 is a schematic view showing the position of the arc-shaped protrusion matched with the first arc-shaped groove and the second arc-shaped groove in the invention;
FIG. 7 is a schematic illustration of the lower climbing mechanism of the present invention deflected to one side;
FIG. 8 is a schematic view of the lower climbing mechanism of the present invention deflected to the opposite side from FIG. 7;
fig. 9 is a perspective view of the picking mechanism of the present invention.
Description of the embodiments
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the automatic climbing picking device comprises an upper frame 1, a lower frame 2, a lifting mechanism 3, an upper climbing mechanism 4, a lower climbing mechanism 5 and a picking mechanism 6. The upper frame 1 is located directly above the lower frame 2.
As shown in fig. 1 and 2, the lifting mechanism 3 includes a guide rod 3-1, a guide sleeve 3-2, a lifting screw 3-3, a lifting nut 3-4, and a first driving assembly 3-5. The top ends of two vertically arranged lifting screw rods 3-3 are supported on the upper frame. The two lifting nuts 3-4 are fixed on the lower frame. The two lifting screw rods 3-3 and the two lifting nuts 3-4 respectively form a screw pair. The top ends of three guide rods 3-1 which are vertically arranged are respectively fixed with three side surfaces of the upper frame, and three guide sleeves 3-2 are respectively fixed with three side surfaces of the lower frame. The three guide rods 3-1 and the three guide sleeves 3-2 respectively form sliding pairs. The first drive assembly 3-5 comprises a lift motor, a first pulley, a second pulley and a first drive belt. The lifting motor is fixed on the upper frame. The first belt wheel is fixed with an output shaft of the lifting motor. The first drive assemblies 3-5 have two in total. The second belt wheels in the two first driving components 3-5 are respectively fixed with the two lifting screw rods 3-3. The two lifting motors synchronously rotate, so that the distance between the upper rack and the lower rack is changed, and climbing is realized.
As shown in fig. 1, 2, 3, 4, 5 and 6, the upper climbing mechanism 4 provided in the upper frame 1 and the lower climbing mechanism 5 provided in the lower frame 2 each include a second driving assembly, a deflection transmission assembly, a rotation shaft 5-2 and a clasping assembly. The cohesion assembly comprises a cohesion frame 5-3, a cohesion motor 5-4, a cohesion screw 5-5, a cohesion nut 5-6, a connecting rod 5-7, a turnover block 5-8 and a cohesion claw body 5-9. The cohesion motor 5-4 is fixed with the cohesion frame 5-3. The cohesion screw 5-5 is supported on the cohesion frame 5-3. One end of the cohesion screw 5-5 is fixed with the output shaft of the cohesion motor 5-4. The cohesion nut 5-6 and the cohesion frame 5-3 form a sliding pair and form a screw pair with the cohesion screw 5-5. One end of each connecting rod 5-7 is hinged with the cohesion nut 5-6, and the other end is respectively hinged with the inner ends of the two overturning blocks 5-8. The middle parts of the two overturning blocks 5-8 and the cohesion frame 5-3 form a revolute pair, and the outer ends of the overturning blocks are respectively fixed with the two cohesion claw bodies 5-9. The two cohesion claw bodies 5-9 are arc-shaped, and the concave parts are arranged oppositely. The bottom surface of the cohesion frame 5-3 is provided with an arc-shaped bulge 5-16. The deflection transmission assembly comprises a rocker plate 5-15, a first connecting rod 5-13 and a second connecting rod 5-14. One end of each of the first connecting rod 5-13 and the second connecting rod 5-14 is hinged with the rocking plate 5-15. The other end of the second connecting rod 5-14 is hinged with the cohesion frame 5-3. The other end of the first connecting rod 5-13 is provided with a deflection chute. A sliding column is fixed on the cohesion frame 5-3. The slide column is arranged in the deflection slide groove. The diameter of the spool is equal to the groove width of the deflection slide groove. So that the spool can both rotate relative to the first links 5-13 and slide relative to the first links 5-13. The axes of the hinge shafts of the first connecting rod 5-13 and the rocking plate 5-15 are parallel to and not coincident with the axes of the hinge shafts of the second connecting rod 5-14 and the rocking plate 5-15. The axis of the sliding column is parallel to and not coincident with the axis of the hinge shaft of the second connecting rod and the embracing frame. The deflection transmission components are two in total. The rocking plates 5-15 in the two deflection transmission components are respectively fixed with the two ends of the rotating shaft 5-2. The second drive assembly comprises a yaw motor 5-1, a third pulley 5-10, a fourth pulley 5-11 and a second drive belt 12. The third pulley 5-10 is fixed to the output shaft of the yaw motor 5-1. The fourth belt wheel 5-11 is fixed with the rotating shaft 5-2. The third pulley 5-10 is connected to the fourth pulley 5-11 by a second drive belt 12.
The arc-shaped bulge 5-16 of the cohesion frame 5-3 in the upper climbing mechanism 4 and the first arc-shaped chute arranged on the upper frame 1 form a sliding pair sliding along an arc shape. The arc-shaped bulge 5-16 of the cohesion frame 5-3 in the lower climbing mechanism 5 and the second arc-shaped chute arranged on the lower frame 2 form a sliding pair sliding along an arc shape. The rotation of the deflection motor 5-1 can drive the arc-shaped protrusions 5-16 to slide along the first arc-shaped grooves or the second arc-shaped grooves, so that the purpose that the cohesion claw body rotates along the trunk of the fruit tree is achieved. A yaw motor 5-1 in the upper climbing mechanism 4 is fixed to the upper frame. The deflection motor 5-1 in the lower climbing mechanism 5 is fixed on the lower frame. The rotating shaft 5-2 in the upper climbing mechanism 4 is supported on the upper frame. The rotating shaft 5-2 in the lower climbing mechanism 5 is supported on the lower frame.
The cohesion claw body 5-9 in the upper climbing mechanism 4 consists of an upper fixing column and two upper claw sheets. The two upper claw sheets arranged at intervals are mutually fixed through the upper fixing column. The two upper claw sheets are arc-shaped, and the inner ends of the two upper claw sheets are fixed with the turnover blocks 5-8 in the upper climbing mechanism. The cohesion claw body 5-9 in the lower climbing mechanism consists of a lower fixing column and four lower claw sheets. The four lower claw sheets are sequentially arranged along the vertical direction. The four lower claw pieces are mutually fixed through the lower fixing column. The lower claw pieces are all arc-shaped. The inner ends of the lower claw piece positioned at the bottommost position and the lower claw piece positioned at the secondary bottom are fixed with the turnover blocks 5-8 in the lower climbing mechanism.
The invention has the following two states in the ascending process of climbing upwards: (1) when the enclasping assembly in the upper climbing mechanism enclasps the fruit tree, and the enclasping assembly in the lower climbing mechanism loosens the fruit tree, the stress point of the automatic climbing picking device is higher, and the lower frame receives upward tension. (2) When the fruit tree is enclasped by the enclasping assembly in the lower climbing mechanism and the fruit tree is loosened by the enclasping assembly in the upper climbing mechanism, the stress point of the automatic climbing picking device is lower, and the upper frame receives upward thrust.
Obviously, the automatic climbing picking device in state (1) is more easily kept stable (the center of gravity of the automatic climbing picking device is easily kept on the symmetry plane of the two clasping claws 5-9) relative to state (2). Therefore, the number of the lower claw sheets is larger than that of the upper claw sheets in the design, so that the stability of the state (2) is improved, and the state (1) is stable and reliable as the state (2).
As shown in fig. 7 and 8, rotation of the rotating shaft 5-2 can drive the rocking plate 5-15 to rotate, so that the cohesion assembly rotates around the trunk of the fruit tree, and the automatic climbing picking device can rotate around the trunk of the fruit tree.
As shown in fig. 9, the picking mechanism 6 includes a first electric putter 6-1, a second electric putter 6-2, a third electric putter 6-3, a first picking arm 6-4, a second picking arm 6-5, an electric gripper 6-6, a first picking steering engine 6-7, and a second picking steering engine. The shell of the first electric push rod 6-1 is fixed with the upper frame. The push rod of the first electric push rod 6-1 is vertically arranged and fixed with the first picking steering engine 6-7. The output shaft of the first picking steering engine 6-7 is fixed with the shell of the second electric push rod 6-2. The push rod of the second electric push rod 6-2 is fixed with the housing of the third electric push rod 6-3. The push rod axis of the first electric push rod 6-1 is perpendicular to the output shaft axis of the first extraction steering engine 6-7. The push rod axis of the second electric push rod 6-2 is perpendicular to the push rod axis of the third electric push rod 6-3. The push rod of the third electric push rod 6-3 is fixed with one end of the first picking arm 6-4. The other end of the first picking arm 6-4 is hinged with one end of the second picking arm 6-5 through a hinge shaft. The hinge shaft is fixed to the second picking arm 6-5. The other end of the second picking arm 6-5 is provided with an electric gripper 6-6. The second picking steering engine is fixed with the first picking arm 6-4. The output shaft of the second picking steering engine is fixed with the hinge shaft.
The electric paw 6-6 comprises a paw frame, a picking paw, a picking shaft, a gear and a third picking steering engine. The paw frame is fixed with the second picking arm. The two picking claws are respectively fixed with the two picking shafts. Two picking shafts arranged in parallel are supported on the paw rest. Gears are fixed on both picking shafts. The two gears are meshed. And the third picking steering engine is fixed on the paw frame. The output shaft of the third picking steering engine is fixed with one picking shaft.
The picking method of the automatic climbing picking device comprises the following steps:
step one, placing the upper frame on one side of a fruit tree, so that the enclasping claw body 5-9 in the upper climbing mechanism 4 and the enclasping claw body 5-9 in the lower climbing mechanism 5 encircle the trunk of the fruit tree.
Step two, the picking mechanism ascends to a target position (a position with fruits in the picking range of the picking mechanism 6) under the cooperation of the upper climbing mechanism 4 and the lower climbing mechanism 5.
And thirdly, pushing out or retracting the first electric push rod 6-1, the second electric push rod 6-2 and the third electric push rod 6-3, and rotating the first picking steering engine 6-7 and the second picking steering engine to enable the electric claws 6-6 to encircle fruits to be picked.
And fourthly, clamping fruits to be picked by the electric claws 6-6. And the second picking steering engine rotates to enable the electric paw 6-6 to overturn and pick up fruits. Step five is entered.
Step five, the first electric push rod 6-1, the second electric push rod 6-2 and the third electric push rod 6-3 push out or retract, and the first picking steering engine 6-7 and the second picking steering engine rotate, so that the electric paw 6-6 places fruits in a placing basket fixed on the upper frame. If fruits remain in the picking range of the picking mechanism 6, the third and fourth steps are repeatedly executed. If there is no fruit in the picking range of the picking mechanism 6 and there is fruit that can be picked, the second, third and fourth steps are repeatedly performed. If the fruit trees do not have fruits which can be picked, the upper frame and the lower frame climb down the fruit trees under the cooperation of the upper climbing mechanism 4 and the lower climbing mechanism 5.
The method for ascending the picking mechanism in the second step comprises the following steps:
(1) The enclasping component in the lower climbing mechanism 5 enclasps the trunk of the fruit tree.
(2) The lifting motor rotates forward, and the upper frame 1 is pushed up under the action of the lifting screw rod 3-3.
If branches exist in the ascending path 0.5m above the two cohesion claw bodies 5-9 in the upper climbing mechanism 4 (namely branches which cannot pass through between the two cohesion claw bodies 5-9 exist in the range 0.5m above), the deflection motor 5-1 drives the rocking plate 5-15 to rotate, so that the cohesion claw bodies 5-9 in the upper climbing mechanism 4 rotate around the trunk of the fruit tree.
(3) After the distance between the upper frame 1 and the lower frame 2 reaches the maximum (namely, the bottom end face of the lifting screw rod 3-3 is in the same level with the bottom of the lifting nut 3-4), the lifting motor stops rotating, the enclasping assembly in the upper climbing mechanism 4 enclasps the trunk of the fruit tree, and the enclasping assembly in the lower climbing mechanism 5 releases the trunk of the fruit tree.
After the cohesion assembly in the lower climbing mechanism 5 loosens the trunk of the fruit tree, if the rocking plate 5-15 in the upper climbing mechanism 4 is not at the initial position (namely, the rocking plate 5-15 is rotated in the step (2)), the deflection motor 5-1 in the upper climbing mechanism 4 drives the rocking plate 5-15 to rotate, so that the rocking plate 5-15 is reset, and the upper frame and the lower frame rotate around the trunk of the fruit tree, thereby realizing the aim of avoiding branches.
(4) The lifting motor is reversed, and the lower frame 2 is pulled up under the action of the lifting nuts 3-4.
If branches exist in the ascending path 0.5m above the two cohesion claw bodies 5-9 in the upper climbing mechanism 4 (namely branches which cannot pass through between the two cohesion claw bodies 5-9 exist in the range 0.5m above), the deflection motor 5-1 in the lower climbing mechanism 5 drives the rocking plate 5-15 to rotate, so that the cohesion claw bodies 5-9 in the lower climbing mechanism 5 rotate around the trunk of the fruit tree.
(5) After the upper frame 1 contacts with the lower frame 2, the lifting motor stops rotating, the enclasping assembly in the lower climbing mechanism 5 enclasps the trunk of the fruit tree, and the enclasping assembly in the upper climbing mechanism 4 loosens the trunk of the fruit tree.
After the cohesion assembly in the upper climbing mechanism 4 loosens the trunk of the fruit tree, if the rocking plate 5-15 in the lower climbing mechanism 5 is not at the initial position, the deflection motor 5-1 in the lower climbing mechanism 5 drives the rocking plate 5-15 to rotate, so that the rocking plate 5-15 is reset, and the upper frame and the lower frame rotate around the trunk of the fruit tree.
Step (6) is entered.
(6) If the picking mechanism does not reach the target position, executing the steps (2), (3), (4) and (5) again; otherwise, the climbing is ended.
Claims (8)
1. The automatic climbing picking device comprises an upper frame, a lower frame, a lifting mechanism, an upper climbing mechanism, a lower climbing mechanism and a picking mechanism; the method is characterized in that: the upper frame is positioned right above the lower frame; the lifting mechanism comprises a guide rod, a guide sleeve, a lifting screw rod, a lifting nut and a first driving component; the lifting screw rod is supported on the upper frame; the lifting nut is fixed on the lower frame; the lifting screw rod and the lifting nut form a screw pair; the lifting screw rod is driven by the first driving component; the top end of the guide rod is fixed with the upper rack; the guide sleeve is fixed with the lower frame; the guide rod and the guide sleeve form a sliding pair;
the upper climbing mechanism and the lower climbing mechanism comprise a second driving assembly, a deflection transmission assembly, a rotating shaft and a cohesion assembly; the cohesion assembly comprises a cohesion frame, a cohesion motor, a cohesion screw, a cohesion nut, a connecting rod, a turnover block and a cohesion claw body; the cohesion screw is supported on the cohesion frame; the cohesion screw is driven by a cohesion motor; the cohesion nut and the cohesion frame form a sliding pair, and a spiral pair is formed by the cohesion nut and the cohesion screw; one end of each connecting rod is hinged with the cohesion nut, and the other end of each connecting rod is respectively hinged with the inner ends of the two overturning blocks; the middle parts of the two overturning blocks and the cohesion frame form a revolute pair, and the outer ends of the overturning blocks and the two cohesion claw bodies are respectively fixed; an arc-shaped bulge is arranged on the bottom surface of the cohesion frame; the deflection transmission assembly comprises a rocking plate, a first connecting rod and a second connecting rod; one end of each of the first connecting rod and the second connecting rod is hinged with the rocking plate; the other end of the second connecting rod is hinged with the cohesion frame; a deflection chute is arranged at the other end of the first connecting rod; a sliding column is fixed on the cohesion frame; the sliding column is positioned in the deflection sliding chute; the diameter of the sliding column is equal to the groove width of the deflection sliding groove; the rocking plate is fixed with the rotating shaft; the rotating shaft is driven by the second driving component; the arc-shaped bulge of the cohesion frame in the upper climbing mechanism and the first arc-shaped chute arranged on the upper frame form a sliding pair; the arc-shaped bulge of the cohesion frame in the lower climbing mechanism and the second arc-shaped chute arranged on the lower frame form a sliding pair; a rotating shaft in the upper climbing mechanism is supported on the upper frame; a rotating shaft in the lower climbing mechanism is supported on the lower frame;
the picking mechanism comprises a first electric push rod, a second electric push rod, a third electric push rod, a first picking arm, a second picking arm, an electric paw, a first picking steering engine and a second picking steering engine; the shell of the first electric push rod is fixed with the upper rack; the push-out rod of the first electric push rod is fixed with the first picking steering engine; the output shaft of the first picking steering engine is fixed with the shell of the second electric push rod; the push-out rod of the second electric push rod is fixed with the shell of the third electric push rod; the pushing rod of the third electric push rod is fixed with one end of the first picking arm; the other end of the first picking arm is hinged with one end of the second picking arm through a hinge shaft; the second picking arm is driven by the second picking arm; the other end of the second picking arm is provided with an electric paw;
in the working process, the rotating shaft can drive the rocking plate to rotate and drive the arc-shaped bulge to slide along the first arc-shaped chute or the second arc-shaped chute, so that the cohesion assembly rotates around the trunk of the fruit tree;
the cohesion claw body in the upper climbing mechanism consists of an upper fixing column and two upper claw sheets; the two upper claw sheets which are arranged at intervals are mutually fixed through an upper fixing column; the two upper claw sheets are arc-shaped, and the inner ends of the two upper claw sheets are fixed with a turnover block in the upper climbing mechanism; the cohesion claw body in the lower climbing mechanism consists of a lower fixing column and four lower claw sheets; the four lower claw sheets are sequentially arranged along the vertical direction; the four lower claw sheets are mutually fixed through a lower fixing column; the lower claw pieces are all arc-shaped; the inner ends of the lower claw piece positioned at the bottommost position and the lower claw piece positioned at the secondary bottom are fixed with a turnover block in the lower climbing mechanism;
the number of the lifting screw rods is two; the number of the lifting nuts is two; the two lifting screw rods and the two lifting nuts respectively form a screw pair; the first driving assembly comprises a lifting motor, a first belt wheel, a second belt wheel and a first transmission belt; the lifting motor is fixed on the upper frame; the first belt wheel is fixed with an output shaft of the lifting motor; the first driving components are two in total; the second belt wheels in the two first driving components are respectively fixed with the two lifting screw rods.
2. The automatic climbing picking device of claim 1, wherein: the second driving assembly comprises a deflection motor, a third belt pulley, a fourth belt pulley and a second transmission belt; the third belt wheel is fixed with an output shaft of the deflection motor; the fourth belt wheel is fixed with the rotating shaft; the third belt pulley is connected with the fourth belt pulley through a second transmission belt; a deflection motor in the upper climbing mechanism is fixed on the upper rack; and a deflection motor in the lower climbing mechanism is fixed on the lower frame.
3. The automatic climbing picking device of claim 1, wherein: the cohesion motor is fixed with the cohesion frame; one end of the cohesion screw is fixed with an output shaft of the cohesion motor; the two cohesion claw bodies are arc-shaped, and the concave parts are arranged oppositely.
4. The automatic climbing picking device of claim 1, wherein: the deflection transmission components are two in total; the rocking plates in the two deflection transmission components are respectively fixed with the two ends of the rotating shaft.
5. The automatic climbing picking device of claim 1, wherein: the hinge shafts of the first picking arm and the second picking arm are fixed with the second picking arm; the second picking steering engine is fixed with the first picking arm; the output shaft of the second picking steering engine is fixed with the hinge shaft.
6. The automatic climbing picking device of claim 1, wherein: the axis of the pushing rod of the first electric push rod is perpendicular to the axis of the output shaft of the first picking steering engine; the push rod axis of the second electric push rod is perpendicular to the push rod axis of the third electric push rod; the electric paw comprises a paw frame, a picking paw, a picking shaft, a gear and a third picking steering engine; the hand claw frame is fixed with the second picking arm; the two picking claws are respectively fixed with the two picking shafts; two picking shafts which are arranged in parallel are supported on the paw rest; gears are fixed on the two picking shafts; the two gears are meshed; the third picking steering engine is fixed on the hand claw frame; the output shaft of the third picking steering engine is fixed with one picking shaft.
7. The method of picking for automatically climbing a picking device of claim 2 wherein: placing an upper frame on one side of a fruit tree, so that the enclasping claw body in the upper climbing mechanism and the enclasping claw body in the lower climbing mechanism both encircle the trunk of the fruit tree;
step two, the picking mechanism ascends to a target position under the cooperation of the upper climbing mechanism and the lower climbing mechanism;
step three, pushing out or retracting the first electric push rod, the second electric push rod and the third electric push rod, and rotating the first picking steering engine and the second picking steering engine to enable the electric paw to encircle the fruit to be picked;
fourthly, the electric claws clamp fruits to be picked; the second picking steering engine rotates to enable the electric paw to overturn and pick off fruits;
the method for ascending the picking mechanism in the second step comprises the following steps:
(1) The enclasping component in the lower climbing mechanism enclasps the trunk of the fruit tree;
(2) The lifting motor rotates positively, and the upper frame is pushed up under the action of the lifting screw rod;
if branches exist in a rising path 0.5m above the two cohesion claw bodies in the upper climbing mechanism, the deflection motor drives the rocking plate to rotate, so that the cohesion claw bodies in the upper climbing mechanism rotate around the trunk of the fruit tree;
(3) After the distance between the upper frame and the lower frame reaches the maximum, the lifting motor stops rotating, the enclasping assembly in the upper climbing mechanism enclasps the trunk of the fruit tree, and the enclasping assembly in the lower climbing mechanism releases the trunk of the fruit tree;
after the cohesion assembly in the lower climbing mechanism loosens the trunk of the fruit tree, if the rocking plate in the upper climbing mechanism is not at the initial position, the deflection motor in the upper climbing mechanism drives the rocking plate to rotate, so that the rocking plate is reset, and the upper frame and the lower frame rotate around the trunk of the fruit tree;
(4) The lifting motor rotates reversely, and the lower frame is pulled up under the action of the lifting nut;
if branches exist in an ascending path 0.5m above the two cohesion claw bodies in the upper climbing mechanism, a deflection motor in the lower climbing mechanism drives the rocking plate to rotate, so that the cohesion claw bodies in the lower climbing mechanism rotate around the trunk of the fruit tree;
(5) After the upper frame contacts with the lower frame, the lifting motor stops rotating, the enclasping assembly in the lower climbing mechanism enclasps the trunk of the fruit tree, and the enclasping assembly in the upper climbing mechanism releases the trunk of the fruit tree;
after the cohesion assembly in the upper climbing mechanism loosens the trunk of the fruit tree, if the rocking plate in the lower climbing mechanism is not at the initial position, the deflection motor in the lower climbing mechanism drives the rocking plate to rotate, so that the rocking plate is reset, and the upper frame and the lower frame rotate around the trunk of the fruit tree;
entering step (6);
(6) If the picking mechanism does not reach the target position, executing the steps (2), (3), (4) and (5) again; otherwise, the climbing is ended.
8. The method of picking for automatically climbing a picking device of claim 7, wherein: step four, entering a step five after the execution is completed;
step five, pushing out or retracting the first electric push rod, the second electric push rod and the third electric push rod, and rotating the first picking steering engine and the second picking steering engine to enable the electric paw to place fruits into a placing basket fixed on the upper frame; if fruits exist in the picking range of the picking mechanism, repeating the third and fourth steps; if no fruit exists in the picking range of the picking mechanism and the fruit trees have fruits which can be picked, repeating the second, third and fourth steps; if the fruit trees do not have fruits which can be picked, the upper frame and the lower frame climb down the fruit trees under the cooperation of the upper climbing mechanism and the lower climbing mechanism.
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