CN108738710B - Picking machine - Google Patents
Picking machine Download PDFInfo
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- CN108738710B CN108738710B CN201810710071.9A CN201810710071A CN108738710B CN 108738710 B CN108738710 B CN 108738710B CN 201810710071 A CN201810710071 A CN 201810710071A CN 108738710 B CN108738710 B CN 108738710B
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- sleeve
- rod
- telescopic
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- crank
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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
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
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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
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D2046/262—Collecting surfaces extended around a tree in order to catch the fruit
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Abstract
The invention discloses a picking machine, and belongs to the technical field of fruit picking. The picking machine comprises: a rack; the travelling wheels are arranged at the bottom of the rack; the rotating device is arranged at the top of the rack; the bottom of the workbench is connected with the rotating device; the pulling and shaking device is arranged on the top of the workbench; the first end of the telescopic device is hinged with the pulling and shaking device; the first end of the angle adjusting device is connected with the top of the workbench hinge, and the second end of the angle adjusting device is hinged with the pulling and shaking device; the clamping device is arranged at the second end of the telescopic device. The picking machine can pick the jujube, improve the picking efficiency and save the manpower.
Description
Technical Field
The invention relates to the technical field of fruit picking, in particular to a picking machine.
Background
At present, the economic level of China is rapidly developed, the eating habits of people are healthier, people usually choose to eat fruits to supplement sugar and vitamins after having a meal, and the dates with rich nutritional values and various eating methods become one of the favorite fruits of people. However, through research, the picking efficiency of the jujube is not high, most of the jujube is picked by adopting a jujube beating mode, the picking efficiency of the jujube is not high, and the jujube tree can be damaged.
In order to improve the jujube picking efficiency, a plurality of portable picking devices exist, a fruit grower needs to bear most of the weight with both hands, and the efficiency is not obviously improved.
Disclosure of Invention
The invention provides a picking machine, which solves or partially solves the technical problem of low picking efficiency of Chinese dates in the prior art.
In order to solve the above technical problem, the present invention provides a picking machine comprising: a rack; the travelling wheels are arranged at the bottom of the rack; the rotating device is arranged at the top of the rack; the bottom of the workbench is connected with the rotating device; the pulling and shaking device is arranged on the top of the workbench; the first end of the telescopic device is hinged with the pulling and shaking device; the first end of the angle adjusting device is connected with the top of the workbench hinge, and the second end of the angle adjusting device is hinged with the pulling and shaking device; and the clamping device is arranged at the second end of the telescopic device.
Further, the rotating device includes: a rotating shaft; the first rotating shaft sleeve is arranged at the top of the rack; the bottom of the seat ring is provided with a second rotating shaft sleeve, the top of the seat ring is connected with the bottom of the workbench, the first end of the rotating shaft is arranged in the first rotating shaft sleeve, the second end of the rotating shaft is arranged in the second rotating shaft sleeve, and the edge of the seat ring is sleeved with a gear ring; the fixed end of the steering gear is arranged at the top of the rack, and the output end of the steering gear is provided with a straight gear which is meshed with the gear ring.
Further, the rolling device comprises: the support frame is arranged at the top of the workbench; the shell is connected with the supporting frame; a first motor having a fixed end disposed on a first side of the housing; the first crank is arranged in the first end of the shell, and the output end of the first motor penetrates through the first side of the shell to be connected with the middle part of the first crank; the second crank is arranged in the first end of the shell, the middle of the second crank is movably connected with the second side of the shell, the joint of the middle of the second crank and the second side of the shell corresponds to the position where the output end of the first motor penetrates through the shell, and the first side of the shell is opposite to the second side of the shell; the first end of the push rod is arranged between the top of the first crank and the top of the second crank, the first end of the push rod is hinged with the top of the first crank and the top of the second crank, and the push rod is hinged with the second end of the telescopic device;
further, the first crank and the second crank are both pendulum cranks.
Furthermore, a first sliding sleeve is arranged in the second end of the shell, and the telescopic device sequentially penetrates through the second end of the shell, the first sliding sleeve and the second end of the push rod to be connected.
Further, the rolling device further comprises: and the jujube collecting net rack is connected with the shell.
Further, the telescopic device comprises: the first end of the telescopic rod is hinged with the pulling and shaking device; the telescopic rod is provided with threads, the first end of the telescopic rod is in threaded connection with the telescopic rod thread sleeve, the second end of the telescopic rod is arranged in the telescopic bearing sleeve, and the second end of the telescopic rod is provided with a first bevel gear; the fixed end of the second motor is arranged on the telescopic bearing sleeve, the output end of the second motor penetrates through the telescopic bearing sleeve, the telescopic bearing sleeve is connected with the clamping device, and a second bevel gear is arranged on the output end of the second motor and meshed with the first bevel gear.
Further, the telescoping device still includes: the first end of the anti-rotation mechanism is connected with the telescopic rod through a threaded sleeve, and the second end of the anti-rotation mechanism is connected with the telescopic bearing sleeve; the rotation preventing mechanism includes: a fixed sleeve, a sliding sleeve and an anti-rotation rod; the fixed sleeve is fixedly connected with the telescopic bearing sleeve; the sliding sleeve is fixedly connected with the telescopic rod threaded sleeve; the rotation preventing rod penetrates through the sliding sleeve and is fixedly arranged in the fixed sleeve.
Further, the angle adjusting device includes: the rod sleeve is hinged with the top of the workbench, and threads are formed in the rod sleeve; the adjusting rod is provided with a thread, a first end of the adjusting rod is in threaded connection with the rod sleeve, a second end of the adjusting rod is arranged in the adjusting bearing sleeve, a third bevel gear is arranged at the second end of the adjusting rod, and the adjusting bearing sleeve is hinged with the pulling and shaking device; a fixed end of the third motor is arranged on the adjusting bearing sleeve, an output end of the third motor penetrates through the adjusting bearing sleeve, and a fourth bevel gear is arranged on an output end of the third motor and meshed with the third bevel gear; the angle adjusting device further includes: a stroke limiting mechanism; the first end of the stroke limiting mechanism is connected with the rod sleeve, and the second end of the stroke limiting mechanism is connected with the adjusting bearing sleeve; the stroke limiting mechanism includes: the limiting block, the limiting sleeve, the limiting plate and the limiting rod are arranged on the limiting plate; the limiting block is connected with the adjusting bearing sleeve; the limiting sleeve is connected with the rod sleeve; the first end of the limiting rod penetrates through the limiting sleeve to be connected with the limiting block, and the second end of the limiting rod is provided with the limiting plate.
Further, the clamping device includes: the claw shell is arranged at the second end of the telescopic device; the first end of the first mechanical claw is fixedly connected with the claw shell; the first end of the second mechanical claw is hinged with the claw shell, the second end of the first mechanical claw is opposite to the second end of the second mechanical claw, and the second end of the second mechanical claw is provided with a turbine; the fixed end of the fourth motor is arranged on the claw shell, the output end of the fourth motor penetrates through the claw shell, the output end of the third motor is provided with a worm, and the worm is meshed with the turbine.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the walking wheels are arranged at the bottom of the rack, so that the equipment can be transported to a picking position, the rotating device is arranged at the top of the rack, the bottom of the workbench is connected with the rotating device, the first end of the telescopic device is hinged to the pulling and shaking device, the first end of the angle adjusting device is hinged to the top of the workbench hinge, the second end of the angle adjusting device is hinged to the pulling and shaking device, and the clamping device is arranged at the second end of the telescopic device.
Drawings
Fig. 1 is a front view of a picking machine according to an embodiment of the present invention;
FIG. 2 is a side view of FIG. 1;
fig. 3 is a schematic structural diagram of a rolling device provided in an embodiment of the present invention;
FIG. 4 is a schematic view of the mounting of the crank of the swing of FIG. 3;
fig. 5 is a schematic structural diagram of a telescopic device according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of FIG. 5;
FIG. 7 is a schematic view of a connection between a clamping device and a retractable device provided in an embodiment of the present invention;
FIG. 8 is a schematic structural view of the clamping device of FIG. 7;
fig. 9 is a schematic structural diagram of an angle adjustment device according to an embodiment of the present invention;
FIG. 10 is a front view of the angle adjustment apparatus of FIG. 9;
fig. 11 is a top view of fig. 10.
Detailed Description
Referring to fig. 1-2, a picking machine provided in an embodiment of the present invention includes: the device comprises a rack 1, a walking wheel 2, a rotating device 3, a workbench 4, a pulling and shaking device 5, a telescopic device 6, an angle adjusting device 7 and a clamping device 8.
The walking wheels 2 are arranged at the bottom of the rack 1.
The rotating device 3 is arranged on top of the gantry 1.
The bottom of the working table 4 is connected with the rotating device 3.
The pulling and shaking device 5 is arranged on top of the table 4.
The first end of the telescopic device 6 is hinged with the pulling and shaking device 5.
The first end of the angle adjusting device 7 is connected with the hinged top of the workbench 4, and the second end is hinged with the pulling and shaking device 5.
A clamping device 8 is arranged at the second end of the telescopic device 6.
According to the specific embodiment of the invention, the travelling wheels 2 are arranged at the bottom of the rack 1, so that the equipment can be transported to a picking position, the rotating device 3 is arranged at the top of the rack 1, the bottom of the workbench 1 is connected with the rotating device 3, the first end of the telescopic device 6 is hinged with the pulling and shaking device 5, the first end of the angle adjusting device 7 is hinged with the top of the workbench 4, the second end of the angle adjusting device 7 is hinged with the pulling and shaking device 5, and the clamping device 8 is arranged at the second end of the telescopic device 6, so that the rotating device 3 is started to enable the telescopic device 6 to rotate in place, the telescopic device 6 and the angle adjusting device 7 are started, the clamping device 8 is sent to a jujube branch position, the jujube branch is clamped through the clamping device 8, and the pulling and shaking device 5 is arranged at the top of the workbench 4, so that the pulling and shaking device 5 is started to drive the clamping device 8 to shake the jujube, so that the jujube can be picked, the picking efficiency is improved, and the labor is saved.
The structure of the rotating means 3 will be described in detail.
The rotating device 3 includes: the device comprises a rotating shaft 3-1, a first rotating shaft sleeve 3-2, a seat ring 3-3, a steering gear 3-4 and a second rotating shaft sleeve 3-5.
The first rotary shaft sleeve 3-2 is fixedly arranged at the top of the rack 1. Specifically, in the present embodiment, the first rotating shaft sleeve 3-2 may be fixedly disposed on the top of the gantry 1 by bolts, and in other embodiments, the first rotating shaft sleeve 3-2 may be fixedly disposed on the top of the gantry 1 by other means, such as a shaft pin, etc. And is not limited in this embodiment.
The bottom of the seat ring 3-3 is fixedly provided with a second rotary shaft sleeve 3-5. Specifically, in the present embodiment, the bottom of the seat ring 3-3 may be fixedly provided with the second rotary sleeve 3-5 by means of bolts, and in other embodiments, the bottom of the seat ring 3-3 may be fixedly provided with the second rotary sleeve 3-5 by means of other means such as shaft pins and the like. And is not limited in this embodiment. The top of the seat ring 3-3 is fixedly connected with the bottom of the worktable 4. Specifically, in the present embodiment, the top of the seat 3-3 may be fixedly connected to the bottom of the table 4 by bolts, and in other embodiments, the top of the seat 3-3 may be fixedly connected to the bottom of the table 4 by other means, such as pins, etc. And is not limited in this embodiment. The first end of the rotating shaft 3-1 is arranged in the first rotating shaft sleeve 3-2, the second end is arranged in the second rotating shaft sleeve 3-5, and the edge of the seat ring 3-3 is sleeved with a gear ring.
The fixed end of the steering gear 3-4 is fixedly arranged on the top of the rack 1. Specifically, in the present embodiment, the fixed end of the steering gear 3-4 can be fixed on the top of the rack 1 by a bolt, and in other embodiments, the fixed end of the steering gear 3-4 can be fixed on the top of the rack 1 by other means, such as a shaft pin. And is not limited in this embodiment. The output end of the direction machine 3-4 is provided with a straight gear which is meshed with the gear ring.
The steering gear 3-4 is started to drive the straight gear to rotate, the straight gear drives the gear ring to act, the gear ring drives the seat ring 3-3 to rotate, and the seat ring 3-3 rotates in the first rotary shaft sleeve 3-2 and the second rotary shaft sleeve 3-5 through the rotary shaft 3-1 to drive the workbench 4 to act.
The structure of the rolling apparatus 5 will be described in detail.
Referring to fig. 3-4, the rolling device 5 includes: 5-1 of supporting frame, 5-2 of casing, 5-3 of first motor, 5-4 of first crank, 5-5 of second crank and push rod 5-6.
The support frame 5-1 is fixedly arranged at the top of the workbench 4. Specifically, in the present embodiment, the support frame 5-1 may be fixedly disposed on the top of the working platform 4 by bolts, and in other embodiments, the support frame 5-1 may be fixedly disposed on the top of the working platform 4 by other means, such as pins and the like. And is not limited in this embodiment.
The shell 5-2 is fixedly connected with the support frame 5-1. Specifically, in the embodiment, the housing 5-2 is provided with a pin shaft seat 5-9, and the pin shaft penetrates through the pin shaft seat 5-9 and is fixedly connected with the support frame 5-1.
The fixed end of the first motor 5-3 is fixedly arranged on the first side of the housing. Specifically, in the present embodiment, the fixed end of the first motor 5-3 may be fixedly disposed on the first side of the housing 5-2 by means of bolts, and in other embodiments, the fixed end of the first motor 5-3 may be fixedly disposed on the first side of the housing 5-2 by means of other means, such as a shaft pin, etc. And is not limited in this embodiment.
The first crank 5-4 is arranged in the first end of the shell 5-2, and the output end of the first motor 5-3 penetrates through the first side of the shell 5-2 to be fixedly connected with the middle part of the first crank 5-4.
The second crank 5-5 is arranged in the first end of the shell 5-2, and the middle part of the second crank 5-5 is movably connected with the second side of the shell 5-2. Specifically, in this embodiment, a bearing housing is provided on the second side of the housing 5-1, with a first end of the bearing being disposed within the bearing housing and a second end being connected to the middle of the second crank 5-5. The junction of the middle part of the second crank 5-5 and the second side of the housing 5-2 corresponds to the position where the output end of the first motor 5-3 passes through the housing 5-2, and the first side of the housing 5-2 is opposite to the second side of the housing 5-2.
Wherein, the first crank 5-4 and the second crank 5-5 are both connected with a jacking screw in a threaded manner, and the periodical forward stroke of the telescopic rod 6-1 of the telescopic device 6 is adjusted by screwing in or screwing out the jacking screw.
The first end of the push rod 5-6 is arranged between the top of the first crank 5-4 and the top of the second crank 5-5, the first end of the push rod 5-6 is hinged with the top of the first crank 5-4 and the top of the second crank 5-5, and the push rod 5-6 is hinged with the second end of the telescopic device 6.
The first crank 5-4 and the second crank 5-5 are pendulum cranks.
A first sliding sleeve 5-7 is fixedly arranged in the second end of the shell 5-2. Specifically, in the present embodiment, a first sliding sleeve 5-7 may be fixedly disposed in the second end of the housing 5-2 by means of bolts. In other embodiments, the first sliding sleeve 5-7 can be fixedly disposed in the second end of the housing 5-2 by other means, such as a shaft pin, etc. And is not limited in this embodiment. The first sliding sleeve 5-7 ensures the action direction of the telescopic rod 6-1 of the telescopic device 6. The telescopic rod 6-1 of the telescopic device 6 sequentially penetrates through the second end of the shell 5-2 and the first sliding sleeve to be connected with the second end of the push rod.
The first motor 5-3 is started to drive the first crank 5-4 to move, then the second crank 5-5 is driven to move, the push rod 5-6 is driven to move, and the telescopic rod 6-1 of the telescopic device 6 reciprocates.
The pulling and shaking device 5 further comprises: a jujube collecting net frame 9.
The jujube collecting net frame 9 is hinged with the shell 5-2. Specifically, in the embodiment, hinged supports 5-8 are arranged on two sides of the middle of the shell 5-2, and penetrate through the hinged supports 5-8 through pin shafts to be hinged with the jujube collecting net rack 9. The fallen date is collected by a date collecting net rack 9.
The structure of the telescopic device 6 will be described in detail.
Referring to fig. 5-6, the telescopic device 6 comprises: a telescopic rod thread sleeve 6-1, a telescopic rod 6-2 and a second motor 6-3.
The first end of the telescopic rod thread bush 6-1 is hinged with the pulling and shaking device 5.
The telescopic rod 6-2 is provided with threads, the first end of the telescopic rod 6-2 is in threaded connection with the telescopic rod thread sleeve 6-1, the second end of the telescopic rod 6-2 is arranged in the telescopic bearing sleeve 6-4, and the second end of the telescopic rod 6-1 is provided with a first bevel gear 6-5.
The fixed end of the second motor 6-3 is fixedly arranged on the telescopic bearing sleeve 6-4. Specifically, in the present embodiment, the second motor 6-3 may be fixedly disposed on the telescopic bearing housing 6-4 by a bolt fixing end, and in other embodiments, the second motor 6-3 may be fixedly disposed on the telescopic bearing housing 6-4 by other means, such as a shaft pin or the like fixing end. And is not limited in this embodiment. The telescopic bearing bush 6-5 is connected with the clamping device 8, the output end of the second motor 6-3 penetrates through the telescopic bearing bush 6-4, the output end of the second motor 6-4 is provided with a second bevel gear 6-6, and the second bevel gear 6-6 is meshed with the first bevel gear 6-5.
The second motor 6-2 is started, the second motor 6-2 drives the first bevel gear 6-5 to rotate through the second bevel gear 6-6, the first bevel gear 6-5 drives the telescopic rod 6-2 to move, the telescopic rod 6-2 rotates in the telescopic rod threaded sleeve 6-1, the telescopic rod 6-2 and the telescopic rod threaded sleeve 6-1 form a ball screw mechanism, the telescopic rod 6-2 generates relative displacement in the telescopic rod threaded sleeve 6-1, then the telescopic bearing sleeve 6-4 is driven to move, and the telescopic bearing sleeve 6-4 drives the clamping device 8 to reach a proper position.
The telescopic device 6 further comprises: the rotation preventing mechanism 10.
The first end of the anti-rotation mechanism 10 is connected with the telescopic rod threaded sleeve 6-1, and the second end is connected with the telescopic bearing sleeve 6-4, so that the telescopic rod threaded sleeve 6-1 and the telescopic bearing sleeve 6-4 can be prevented from rotating.
The rotation preventing mechanism 10 includes: a fixed sleeve 10-1, a sliding sleeve 10-2 and an anti-rotation rod 10-3.
The fixed sleeve 10-1 is fixedly connected with the telescopic bearing sleeve 6-4. Specifically, in the present embodiment, the fixing sleeve 10-1 may be fixedly connected with the telescopic bearing sleeve 6-4 by bolts, and in other embodiments, the fixing sleeve 10-1 may be fixedly connected with the telescopic bearing sleeve 6-4 by other means such as shaft pins and the like. And is not limited in this embodiment.
The sliding sleeve 10-2 is fixedly connected with the telescopic rod thread sleeve 6-1. Specifically, in the present embodiment, the sliding sleeve 10-2 can be fixedly connected with the telescopic rod threaded sleeve 6-1 through a bolt, and in other embodiments, the sliding sleeve 10-2 can be fixedly connected with the telescopic rod threaded sleeve 6-1 through other means, such as a shaft pin and the like. And is not limited in this embodiment.
The anti-rotation rod 10-3 is fixedly arranged in the fixed sleeve 10-1 through the sliding sleeve 10-2. Specifically, in the present embodiment, the rotation-preventing rod 10-3 passing through the sliding sleeve 10-2 can be fixedly disposed in the fixing sleeve 10-1 by bolts, and in other embodiments, the rotation-preventing rod 10-3 passing through the sliding sleeve 10-2 can be fixedly disposed in the fixing sleeve 10-1 by other means such as a shaft pin and the like. And is not limited in this embodiment.
The structure of the angle adjusting means 7 will be described in detail.
Referring to fig. 9 to 11, the angle adjusting device 7 includes: a rod sleeve 7-1, an adjusting rod 7-2, a third motor 7-3, an adjusting bearing sleeve 7-4, a third bevel gear 7-5 and a fourth bevel gear 7-6.
The rod sleeve 7-1 is hinged with the top of the workbench 4, and a thread is arranged in the rod sleeve 7-1.
Wherein, the rod sleeve 7-1 is also fixedly provided with a stop rod 7-8, and the stop rod 7-8 is arranged above the jujube collecting net rack 9 to avoid the overturn caused by too many jubes in the jujube collecting net rack 9.
The adjusting rod 7-2 is provided with threads, the first end of the adjusting rod 7-2 is in threaded connection with the rod sleeve 7-1, the second end of the adjusting rod 7-2 is arranged in the adjusting bearing sleeve 7-4, and the second end of the adjusting rod 7-2 is fixedly provided with a third bevel gear 7-5. Specifically, in the present embodiment, the second end of the adjusting rod 7-2 may be fixedly provided with the third bevel gear 7-5 by a bolt, and in other embodiments, the second end of the adjusting rod 7-2 may be fixedly provided with the third bevel gear 7-5 by other means, such as a shaft pin and the like. And is not limited in this embodiment. The adjusting bearing sleeve 7-4 is hinged with the pulling and shaking device 5.
The fixed end of the third motor 7-3 is fixedly arranged on the adjusting bearing sleeve 7-4. Specifically, in the present embodiment, the third motor 7-3 may be fixedly disposed on the adjusting bearing sleeve 7-4 by a bolt fixing end, and in other embodiments, the fixing end of the third motor 7-3 may be fixedly disposed on the adjusting bearing sleeve 7-4 by other means, such as a shaft pin or the like. And is not limited in this embodiment. The output end of the third motor 7-3 penetrates through the adjusting bearing sleeve 7-4, a fourth bevel gear 7-6 is arranged on the output end of the third motor 7-3, and the fourth bevel gear 7-6 is meshed with the third bevel gear 7-5 in a gear manner.
The third motor 7-3 is started, the third motor 7-3 drives the third bevel gear 7-5 to rotate through the fourth bevel gear 7-6, the third bevel gear 7-5 drives the adjusting rod 7-2 to act, the adjusting rod 7-2 rotates in the rod sleeve 7-1, the adjusting rod 7-22 and the rod sleeve 7-1 form a ball screw mechanism, the adjusting rod 7-2 generates relative displacement in the rod sleeve 7-1, then the adjusting bearing sleeve 7-4 is driven to act, and the adjusting bearing sleeve 7-4 drives the pulling and shaking device 5 to reach a proper position.
The angle adjusting device 7 further includes: a stroke limiting mechanism 7-7.
The first end of the stroke limiting mechanism 7-7 is connected with the rod sleeve 7-1, and the second end is connected with the adjusting bearing sleeve 7-4, and is used for preventing the adjusting rod 7-2 from being separated from the rod sleeve 7-1 when being extended.
The stroke limiting mechanism 7-7 includes: 7-71 parts of limiting blocks, 7-72 parts of limiting sleeves, 7-73 parts of limiting plates and 7-74 parts of limiting rods.
The limiting blocks 7-71 are fixedly connected with the adjusting bearing sleeves 7-4. Specifically, in the present embodiment, the limit blocks 7 to 71 may be fixedly connected to the adjusting bearing sleeves 7 to 4 by bolts, and in other embodiments, the limit blocks 7 to 71 may be fixedly connected to the adjusting bearing sleeves 7 to 4 by other means, such as shaft pins and the like. And is not limited in this embodiment.
The limiting sleeve 7-72 is fixedly connected with the rod sleeve 7-1. Specifically, in the present embodiment, the position limiting sleeve 7-72 may be fixedly connected with the rod sleeve 7-1 by a bolt, and in other embodiments, the position limiting sleeve 7-72 may be fixedly connected with the rod sleeve 7-1 by other means, such as a shaft pin or the like. And is not limited in this embodiment.
The first end of the limiting rod 7-73 passes through the limiting sleeve 7-72 and is fixedly connected with the limiting block 7-71. Specifically, in the present embodiment, the first end of the limiting rod 7-73 passes through the limiting sleeve 7-72 and can be fixedly connected with the limiting block 7-71 through a bolt, and in other embodiments, the first end of the limiting rod 7-73 passes through the limiting sleeve 7-72 and can be fixedly connected with the limiting block 7-71 through other means, such as a shaft pin and the like. And is not limited in this embodiment. The second end of the limiting rod 7-73 is fixedly provided with a limiting plate 7-74. Specifically, in the present embodiment, the second end of the limiting rod 7-73 may be fixedly provided with the limiting plate 7-74 through a bolt, and in other embodiments, the second end of the limiting rod 7-73 may be fixedly provided with the limiting plate 7-74 through other means, such as a shaft pin and the like. And is not limited in this embodiment.
The size of the limiting plate 7-74 is larger than that of the limiting sleeve 7-72.
The structure of the holding device 8 will be described in detail.
Referring to fig. 7-8, the clamping device 8 comprises: the mechanical gripper comprises a gripper shell 8-1, a first mechanical gripper 8-2, a second mechanical gripper 8-3 and a fourth motor 8-4.
The claw shell 8-1 is fixedly arranged at the second end of the telescopic device 6. Specifically, in the present embodiment, the jaw housing 8-1 may be fixedly disposed at the second end of the telescopic device 6 by bolts, and in other embodiments, the jaw housing 8-1 may be fixedly disposed at the second end of the telescopic device 6 by other means, such as a shaft pin, etc. And is not limited in this embodiment.
The first end of the first mechanical claw 8-2 is fixedly connected with the claw shell 8-1. Specifically, in the present embodiment, the first end of the first gripper 8-2 may be fixedly connected to the gripper housing 8-1 by a bolt, and in other embodiments, the first end of the first gripper 8-2 may be fixedly connected to the gripper housing 8-1 by other means, such as a shaft pin or the like. And is not limited in this embodiment.
The first end of the second mechanical claw 8-3 is hinged with the claw shell 8-1, the second end of the first mechanical claw 8-2 is opposite to the second end of the second mechanical claw 8-3, and the second end of the second mechanical claw 8-3 is provided with a turbine 8-5.
The fixed end of the fourth motor 8-4 is fixedly arranged on the claw shell 8-1. Specifically, in the present embodiment, the fourth motor 8-4 may be fixedly disposed on the jaw case 8-1 by a bolt fixing end, and in other embodiments, the fourth motor 8-4 fixing end may be fixedly disposed on the jaw case 8-1 by other means such as a shaft pin or the like. And is not limited in this embodiment. The output end of the fourth motor 8-4 penetrates through the claw shell 8-1, the output end of the third motor 8-4 is provided with a worm 8-6, and the worm 8-6 is meshed with the worm wheel 8-5.
And starting the fourth motor 8-4, driving the turbine 8-5 to rotate by the fourth motor 8-4 through the worm 8-6, driving the second mechanical claw 8-3 to act on the claw shell 8-1 by the turbine 8-5, and adjusting the opening between the first mechanical claw 8-2 and the second mechanical claw 8-3 to ensure that the first mechanical claw 8-2 and the second mechanical claw 8-3 can clamp the jujube branches.
In order to more clearly describe the embodiments of the present invention, the following description is provided in terms of the method of using the embodiments of the present invention.
The rack 1 and the walking wheels 2 form a triangle, so that the balance and the stability are ensured. The rack 1 is pushed to enable the walking wheels 2 to walk to reach a proper position. The steering gear box 3-4 and the seat ring 3-3 are both arranged at the top of the rack 1, the first rotary shaft sleeve 3-2 is fixedly arranged at the top of the rack 1, the second rotary shaft sleeve 3-5 is fixedly arranged at the bottom of the seat ring 3-3, and the top of the seat ring 3-3 is fixedly connected with the bottom of the workbench 4. The fixed end of the steering gear 3-4 is fixedly arranged on the top of the rack 1.
And starting a steering gear 3-4 to drive a straight gear to rotate, wherein the straight gear drives a gear ring to act, the gear ring further drives a seat ring 3-3 to rotate, and the seat ring 3-3 rotates in the first rotating shaft sleeve 3-2 and the second rotating shaft sleeve 3-5 through a rotating shaft 3-1 to drive a workbench 4 to act.
The rod sleeve 7-1 is hinged with the top of the workbench 4, threads are formed in the rod sleeve 7-1, threads are formed in the adjusting rod 7-2, the first end of the adjusting rod 7-2 is in threaded connection with the rod sleeve 7-1, the second end of the adjusting rod 7-2 is arranged in the adjusting bearing sleeve 7-4, and the second end of the adjusting rod 7-2 is fixedly provided with a third bevel gear 7-5. The adjusting bearing sleeve 7-4 is hinged with the shell 5-2 of the pulling and shaking device 5. The fixed end of the third motor 7-3 is fixedly arranged on the adjusting bearing sleeve 7-4.
The third motor 7-3 is started, the third motor 7-3 drives the third bevel gear 7-5 to rotate through the fourth bevel gear 7-6, the third bevel gear 7-5 drives the adjusting rod 7-2 to act, the adjusting rod 7-2 rotates in the rod sleeve 7-1, the adjusting rod 7-22 and the rod sleeve 7-1 form a ball screw mechanism, the adjusting rod 7-2 generates relative displacement in the rod sleeve 7-1, then the adjusting bearing sleeve 7-4 is driven to act, and the adjusting bearing sleeve 7-4 drives the shell 5-2 of the pulling and shaking device 5 to reach a proper angle.
The first end of the telescopic rod thread bush 6-1 is hinged with a push rod 5-6 of the pulling and shaking device 5. The telescopic rod 6-2 is provided with threads, the first end of the telescopic rod 6-2 is in threaded connection with the telescopic rod thread sleeve 6-1, the second end of the telescopic rod 6-2 is arranged in the telescopic bearing sleeve 6-4, and the second end of the telescopic rod 6-1 is provided with a first bevel gear 6-5. The fixed end of the second motor 6-3 is fixedly arranged on the telescopic bearing sleeve 6-4, the telescopic bearing sleeve 6-5 is fixedly connected with the claw shell 8-1 of the clamping device 8, the output end of the second motor 6-3 penetrates through the telescopic bearing sleeve 6-4, the output end of the second motor 6-4 is provided with a second bevel gear 6-6, and the second bevel gear 6-6 is meshed with the first bevel gear 6-5.
The second motor 6-2 is started, the second motor 6-2 drives the first bevel gear 6-5 to rotate through the second bevel gear 6-6, the first bevel gear 6-5 drives the telescopic rod 6-2 to move, the telescopic rod 6-2 rotates in the telescopic rod threaded sleeve 6-1, the telescopic rod 6-2 and the telescopic rod threaded sleeve 6-1 form a ball screw mechanism, the telescopic rod 6-2 generates relative displacement in the telescopic rod threaded sleeve 6-1, then the telescopic bearing sleeve 6-4 is driven to move, and the telescopic bearing sleeve 6-4 drives the first mechanical claw 8-2 and the second mechanical claw 8-3 of the clamping device 8 to reach proper heights.
The claw shell 8-1 is fixedly arranged at the second end of the telescopic bearing sleeve 6-4 of the telescopic device 6. The first end of the first mechanical claw 8-2 is fixedly connected with the claw shell 8-1, the first end of the second mechanical claw 8-3 is hinged with the claw shell 8-1, the second end of the first mechanical claw 8-2 is opposite to the second end of the second mechanical claw 8-3, and the second end of the second mechanical claw 8-3 is provided with a turbine 8-5. The fixed end of the fourth motor 8-4 is fixedly arranged on the claw shell 8-1, the output end of the fourth motor 8-4 penetrates through the claw shell 8-1, the output end of the third motor 8-4 is provided with a worm 8-6, and the worm 8-6 is meshed with the worm wheel 8-5.
And starting the fourth motor 8-4, driving the turbine 8-5 to rotate by the fourth motor 8-4 through the worm 8-6, driving the second mechanical claw 8-3 to act on the claw shell 8-1 by the turbine 8-5, and adjusting the opening between the first mechanical claw 8-2 and the second mechanical claw 8-3 to ensure that the first mechanical claw 8-2 and the second mechanical claw 8-3 can clamp the jujube branches.
The support frame 5-1 is fixedly arranged at the top of the workbench 4, the shell 5-2 is fixedly connected with the support frame 5-1, and the fixed end of the first motor 5-3 is fixedly arranged on the first side of the shell. The first crank 5-4 is arranged in the first end of the shell 5-2, the output end of the first motor 5-3 penetrates through the first side of the shell 5-2 to be fixedly connected with the middle of the first crank 5-4, the second crank 5-5 is arranged in the first end of the shell 5-2, and the middle of the second crank 5-5 is movably connected with the second side of the shell 5-2. The junction of the middle part of the second crank 5-5 and the second side of the housing 5-2 corresponds to the position where the output end of the first motor 5-3 passes through the housing 5-2, and the first side of the housing 5-2 is opposite to the second side of the housing 5-2. The first end of the push rod 5-6 is arranged between the top of the first crank 5-4 and the top of the second crank 5-5, the first end of the push rod 5-6 is hinged with the top of the first crank 5-4 and the top of the second crank 5-5, and the push rod 5-6 is hinged with the second end of the telescopic rod threaded sleeve 6-1 of the telescopic device 6.
The first motor 5-3 is started to drive the first crank 5-4 to move, then the second crank 5-5 is driven to move in the shell 5-2, the push rod 5-6 is driven to move, the push rod 5-6 pulls the telescopic rod thread sleeve 6-1 of the telescopic device 6, the telescopic rod 6-1 of the telescopic device 6 is made to reciprocate, then the jujube branches clamped by the first mechanical claw 8-2 and the second mechanical claw 8-3 are made to shake, the jujubes are shaken down to the jujube collecting net rack 9, the jujube can be picked, the picking efficiency is improved, and the labor is saved.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (4)
1. A picking machine, comprising:
a rack;
the travelling wheels are arranged at the bottom of the rack;
the rotating device is arranged at the top of the rack;
the bottom of the workbench is connected with the rotating device;
the pulling and shaking device is arranged on the top of the workbench;
the first end of the telescopic device is hinged with the pulling and shaking device;
the first end of the angle adjusting device is hinged with the top of the workbench, and the second end of the angle adjusting device is hinged with the pulling and shaking device;
the clamping device is arranged at the second end of the telescopic device;
the rotating device includes:
a rotating shaft;
the first rotating shaft sleeve is arranged at the top of the rack;
the bottom of the seat ring is provided with a second rotating shaft sleeve, the top of the seat ring is connected with the bottom of the workbench, the first end of the rotating shaft is arranged in the first rotating shaft sleeve, the second end of the rotating shaft is arranged in the second rotating shaft sleeve, and the edge of the seat ring is sleeved with a gear ring;
the fixed end of the steering gear is arranged at the top of the rack, and the output end of the steering gear is provided with a straight gear which is meshed with the gear ring;
the device that shakes draws includes:
the support frame is arranged at the top of the workbench;
the shell is connected with the supporting frame;
a first motor having a fixed end disposed on a first side of the housing;
the first crank is arranged in the first end of the shell, and the output end of the first motor penetrates through the first side of the shell to be connected with the middle part of the first crank;
the second crank is arranged in the first end of the shell, the middle of the second crank is movably connected with the second side of the shell, the joint of the middle of the second crank and the second side of the shell corresponds to the position where the output end of the first motor penetrates through the shell, and the first side of the shell is opposite to the second side of the shell;
the first end of the push rod is arranged between the top of the first crank and the top of the second crank, the first end of the push rod is hinged with the top of the first crank and the top of the second crank, and the push rod is hinged with the first end of the telescopic device;
a first sliding sleeve is arranged in the second end of the shell, and the telescopic device sequentially penetrates through the second end of the shell and the first sliding sleeve to be connected with the second end of the push rod;
the telescoping device includes:
the first end of the telescopic rod is hinged with the pulling and shaking device;
the telescopic rod is provided with threads, the first end of the telescopic rod is in threaded connection with the telescopic rod thread sleeve, the second end of the telescopic rod is arranged in the telescopic bearing sleeve, and the second end of the telescopic rod is provided with a first bevel gear;
the fixed end of the second motor is arranged on the telescopic bearing sleeve, the output end of the second motor penetrates through the telescopic bearing sleeve, the telescopic bearing sleeve is connected with the clamping device, and a second bevel gear is arranged on the output end of the second motor and meshed with the first bevel gear;
the telescoping device still includes:
the first end of the anti-rotation mechanism is connected with the telescopic rod through a threaded sleeve, and the second end of the anti-rotation mechanism is connected with the telescopic bearing sleeve;
the rotation preventing mechanism includes: a fixed sleeve, a sliding sleeve and an anti-rotation rod;
the fixed sleeve is fixedly connected with the telescopic bearing sleeve;
the sliding sleeve is fixedly connected with the telescopic rod threaded sleeve;
the anti-rotation rod penetrates through the sliding sleeve and is fixedly arranged in the fixed sleeve;
the angle adjusting device includes:
the rod sleeve is hinged with the top of the workbench, and threads are formed in the rod sleeve;
the first end of the adjusting rod is in threaded connection with the rod sleeve, the second end of the adjusting rod is arranged in the adjusting bearing sleeve, the second end of the adjusting rod is provided with a third bevel gear, and the adjusting bearing sleeve is hinged with the pull-swing device;
a fixed end of the third motor is arranged on the adjusting bearing sleeve, an output end of the third motor penetrates through the adjusting bearing sleeve, and a fourth bevel gear is arranged on an output end of the third motor and meshed with the third bevel gear;
the angle adjusting device further includes: a stroke limiting mechanism;
the first end of the stroke limiting mechanism is connected with the rod sleeve, and the second end of the stroke limiting mechanism is connected with the adjusting bearing sleeve;
the stroke limiting mechanism includes: the limiting block, the limiting sleeve, the limiting plate and the limiting rod are arranged on the limiting plate;
the limiting block is connected with the adjusting bearing sleeve;
the limiting sleeve is connected with the rod sleeve;
the first end of gag lever post passes the stop collar with the stopper is connected, the second end of gag lever post sets up the limiting plate.
2. The picking machine according to claim 1, characterized in that:
the first crank and the second crank are pendulum cranks.
3. The picking machine of claim 1, wherein the pulling and shaking device further comprises:
and the jujube collecting net rack is connected with the shell.
4. The picking machine according to claim 1, characterised in that the gripping means comprise:
the claw shell is arranged at the second end of the telescopic device;
the first end of the first mechanical claw is fixedly connected with the claw shell;
the first end of the second mechanical claw is hinged with the claw shell, the second end of the first mechanical claw is opposite to the second end of the second mechanical claw, and the second end of the second mechanical claw is provided with a worm wheel;
the fixed end of the fourth motor is arranged on the claw shell, the output end of the fourth motor penetrates through the claw shell, a worm is arranged on the output end of the fourth motor, and the worm is meshed with the worm wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810710071.9A CN108738710B (en) | 2018-07-02 | 2018-07-02 | Picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810710071.9A CN108738710B (en) | 2018-07-02 | 2018-07-02 | Picking machine |
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| Publication Number | Publication Date |
|---|---|
| CN108738710A CN108738710A (en) | 2018-11-06 |
| CN108738710B true CN108738710B (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810710071.9A Active CN108738710B (en) | 2018-07-02 | 2018-07-02 | Picking machine |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109479510B (en) * | 2018-12-27 | 2020-03-03 | 湖南农业大学 | Jujube picking device based on parallelogram arm lifting telescopic mechanism |
| CN109618668B (en) * | 2018-12-27 | 2020-03-03 | 湖南农业大学 | Control method of arm-lifting telescopic jujube picking device |
| CN110679289A (en) * | 2019-11-15 | 2020-01-14 | 河南大学 | Be used for automatic intelligent robot of picking of hawthorn |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1042666A (en) * | 1996-07-30 | 1998-02-17 | Nikkari Co Ltd | Vibrational fruit gatherer |
| CN103039199A (en) * | 2013-01-09 | 2013-04-17 | 陕西科技大学 | Portable walnut picker |
| CN103947378A (en) * | 2014-04-08 | 2014-07-30 | 浙江理工大学 | Variable-frequency variable-amplitude vibrating type fruit picking machine |
| KR20160070407A (en) * | 2014-12-10 | 2016-06-20 | 대한민국(산림청 국립산림과학원장) | Indirect vibratory type tree fruit harvester |
| CN107690965A (en) * | 2017-08-26 | 2018-02-16 | 沈佩军 | A kind of orchard walnut mechanization recovering device |
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2018
- 2018-07-02 CN CN201810710071.9A patent/CN108738710B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1042666A (en) * | 1996-07-30 | 1998-02-17 | Nikkari Co Ltd | Vibrational fruit gatherer |
| CN103039199A (en) * | 2013-01-09 | 2013-04-17 | 陕西科技大学 | Portable walnut picker |
| CN103947378A (en) * | 2014-04-08 | 2014-07-30 | 浙江理工大学 | Variable-frequency variable-amplitude vibrating type fruit picking machine |
| KR20160070407A (en) * | 2014-12-10 | 2016-06-20 | 대한민국(산림청 국립산림과학원장) | Indirect vibratory type tree fruit harvester |
| CN107690965A (en) * | 2017-08-26 | 2018-02-16 | 沈佩军 | A kind of orchard walnut mechanization recovering device |
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| Publication number | Publication date |
|---|---|
| CN108738710A (en) | 2018-11-06 |
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