CN110366951A - A kind of comb-tooth-type fresh dates cropper - Google Patents
A kind of comb-tooth-type fresh dates cropper Download PDFInfo
- Publication number
- CN110366951A CN110366951A CN201910722320.0A CN201910722320A CN110366951A CN 110366951 A CN110366951 A CN 110366951A CN 201910722320 A CN201910722320 A CN 201910722320A CN 110366951 A CN110366951 A CN 110366951A
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- China
- Prior art keywords
- elevating lever
- mounting rack
- mounting
- comb
- fresh dates
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- 230000003028 elevating effect Effects 0.000 claims abstract description 35
- 239000004744 fabric Substances 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000005611 electricity Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 2
- 238000003306 harvesting Methods 0.000 abstract description 11
- 244000126002 Ziziphus vulgaris Species 0.000 description 16
- 235000008529 Ziziphus vulgaris Nutrition 0.000 description 16
- 235000013399 edible fruits Nutrition 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 241001247821 Ziziphus Species 0.000 description 3
- 230000005520 electrodynamics Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B4/00—Separating solids from solids by subjecting their mixture to gas currents
- B07B4/02—Separating solids from solids by subjecting their mixture to gas currents while the mixtures fall
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A kind of comb-tooth-type fresh dates cropper, for realizing the harvest to fresh dates, and convenient for collecting.It include: mounting rack, mounting rack is fixed on above car body；Elevating lever, elevating lever are two disposed in parallel up and down, and the first electric pushrod is equipped between the elevating lever and mounting rack of lower section；It is equipped with mounting rod between the corresponding end of two elevating levers, twin shaft steering engine is equipped between mounting rod and elevating lever, is set between the corresponding end of two mounting rods there are two the second electric pushrod；Picking units, picking units include several shift forks of spaced set up and down being rotatably installed on mounting rod, the driving mechanism of shift fork rotation；Collector unit, collector unit include several uniaxial steering engines being fixed on mounting rack, the support rod for being fixed on uniaxial steering engine output end, be arranged on support rod collection cloth, the blower that is arranged on mounting rack.Picking, collection to fresh dates can be achieved in the present invention.
Description
Technical field
The present invention relates to fruit harvest technical field, specifically a kind of comb-tooth-type fresh dates cropper.
Background technique
Jujube tree branch is more and miscellaneous, and jujube is grown in the top of jujube tree, side, therefore the harvest of fresh dates is manually realized very
It is time-consuming and laborious.Therefore, it is badly in need of a kind of comb-tooth-type fresh dates cropper, for harvesting to fresh dates, and facilitates fresh dates after harvest
It collects.
Summary of the invention
The purpose of the present invention is to provide a kind of comb-tooth-type fresh dates croppers, for realizing the harvest to fresh dates, and are convenient for
It collects.
The technical scheme adopted by the invention to solve the technical problem is that: a kind of comb-tooth-type fresh dates cropper, including car body,
It is characterized in that, further includes:
Mounting rack, the mounting rack are fixed on above car body；
Elevating lever, the elevating lever is upper and lower two disposed in parallel and elevating lever is slided up and down with mounting rack and connect,
The first electric pushrod is equipped between the elevating lever and mounting rack of lower section；Mounting rod, peace are equipped between the corresponding end of two elevating levers
It fills and is equipped with twin shaft steering engine between bar and elevating lever, set between the corresponding end of two mounting rods there are two the second electric pushrod, the
Mounting rod moving along elevating lever is pushed under the action of two electric pushrods, passes through twin shaft servo driving mounting rod OQ t bar
It swings；
Picking units, the picking units include dialling for several spaced sets up and down being rotatably installed on mounting rod
The driving mechanism that fork, shift fork rotate；
Collector unit, the collector unit include several uniaxial steering engines being fixed on mounting rack, are fixed on uniaxial steering engine
The support rod of output end, be arranged on support rod collection cloth, the blower that is arranged on mounting rack, collect cloth and rear center be unfolded
It is low, surrounding is high, is equipped with downcast hole collecting cloth center, the air inlet of blower is connected with downcast hole, and the air outlet of blower is towards position
In the collecting box on car body.
Further, several fixed links are equipped in car body top, mounting rack is fixedly connected by fixed link realization；?
Car body is equipped with handrail, and panel is equipped between handrail, and panel is equipped with key.
Further, mounting rack includes vertically arranged the first vertical bar of a pair, a pair of second vertical bar, is arranged and erects two first
Anchorage bar between bar, the anchorage bar being arranged between two second vertical bars.
Further, it is fixed with the first sliding block on elevating lever, is equipped on the first vertical bar and is slidably connected with the first sliding block
The first guide rail.
Further, it is equipped with the second guide rail on elevating lever, the second sliding block, the second electricity are slidably fitted on the second guide rail
Dynamic push rod is fixedly connected with the second sliding block；Twin shaft steering engine is arranged between the second sliding block and mounting rod.
Further, comb teeth is Y-shaped structure.
The beneficial effects of the present invention are: a kind of comb-tooth-type fresh dates cropper provided by the invention, simulates people with hand and plucks jujube
Mode contacts the comb teeth on shift fork sufficiently with the region of fruit comparatively dense, then by adjusting comb teeth height, the angle of shift fork
Shift fork rotation is driven by driving motor, is picked fresh dates by comb teeth.The present invention is electrodynamic type machinery, can be helped automatically
Lixing, which is walked, only need to manually grasp direction.When work, two row jujube trees can be disposably picked, single jujube tree can also be adopted
It plucks.When picking two row jujube trees simultaneously, start machine first, drive among two row jujube trees, will be picked by the first electric pushrod
Unit is elevated to proper height, then the transverse shifting of comb teeth is controlled by the second electric pushrod, so as to adjust picking range；Pass through
Change the elongation ratio of two group of second electric pushrod, the regulation of longitudinal angle of shift fork can also be adjusted, is then turned by twin shaft steering engine
It is dynamic, to adjust the lateral angles of shift fork.By adjusting the horizontal and vertical angle of shift fork, can make equally distributed on shift fork
Comb teeth is sufficiently contacted with fruit, to improve picking efficiency.After adjusting, with the control support rod rotation of uniaxial steering engine, opens and receive
Collect cloth, then open blower, machine is slowly travelled forward, the harvest of fresh dates is carried out.Contact and rotation by comb teeth with fresh dates,
Fresh dates are picked, falls to and collects on cloth, downcast hole is slipped down to along cloth is collected, carries out selection by winnowing by blower, it will be lighter
Branch and leaf blowout, separate, the fresh dates after selection by winnowing are fallen in collecting box with fresh dates.It, can be by one when harvesting single jujube tree
The comb teeth of side contacts tree crown, then travels one week car body around tree crown, completes the collection to single jujube tree.
Detailed description of the invention
Fig. 1 is one of schematic three dimensional views of the invention；
Fig. 2 is the two of schematic three dimensional views of the invention；
Fig. 3 is the right view of Fig. 1；
Fig. 4 is the front view of Fig. 1；
Fig. 5 is the top view of Fig. 1；
Fig. 6 is the three-dimensional figure of car body；
Fig. 7 is the three-dimensional figure of shift fork and comb teeth；
In figure: 1 car body, 11 driving wheels, 12 universal wheels, 13 differential speed motors, 14 panels, 15 handrails, 16 fixed links, 17 collect
Case, 2 first vertical bars, 2 the second vertical bars of ', 21 anchorage bars, 22 first guide rails, 3 elevating levers, 31 first sliding blocks, 32 second guide rails, 33
First electric pushrod, 34 second sliding blocks, 35 second electric pushrods, 36 brackets, 4 mounting rods, 41 twin shaft steering engines, 42 driving motors,
43 chain-drive mechanisms, 5 shift forks, 51 comb teeth, 6 support rods, 61 collect cloth, 62 uniaxial steering engines, 7 blowers.
Specific embodiment
As shown in Figures 1 to 7, the invention mainly comprises car body 1, mounting rack, elevating lever 3, the first electric pushrod 33, pickings
Unit and collector unit, present invention will now be described in detail with reference to the accompanying drawings..
As shown in Figures 1 to 6, car body 1 is basic components of the invention, and the bottom of car body is equipped with driving wheel 11 and universal wheel
12, driving wheel is being located at being rotated by for the differential speed motor 13 of vehicle bottom.It is equipped with a pair of armrests 15 on the car body, is helped two
It is equipped with panel 14 between hand, key is equipped on panel, key is for controlling the first electric pushrod, the second electric pushrod, twin shaft
The movement of steering engine, uniaxial steering engine, driving motor, blower.More fixed links 16 are fixed at the top of car body, several fixed links are enclosed
At a frame-shaped construction, and part fixed link is laterally arranged, and part fixed link is vertically arranged.Collecting box is equipped in the top of car body
17, collecting box can be directly placed on car body.
It is equipped with mounting rack in the top of car body, mounting rack includes that two vertically arranged the first vertical bars 2, two are vertically arranged
2 ' of the second vertical bar, connect two first vertical bars several anchorage bars 21, connect two second vertical bars anchorage bar, be fixed on the
The first guide rail 22 on one vertical bar, the first guide rail is vertically arranged, and the effect of mounting rack is for installing, supporting picking units and receipts
Collect unit.
It is equipped with a pair of elevating lever 3 disposed in parallel up and down in the front side of the first vertical bar, it is sliding that first is fixed on elevating lever
Block 31, the first sliding block are slided up and down with the first guide rail on the first vertical bar and are connect.The second guide rail 32 is fixed on elevating lever, the
Two guide rails are longitudinally disposed in the horizontal plane.The first electric pushrod 33 is equipped between the elevating lever and car body of lower section, in the first electricity
Driving lower section elevating lever moves up and down under the action of dynamic push rod.Being slidably installed on each elevating lever, there are two the second sliding blocks
34, specially the second sliding block is slidably connected with the second guide rail, sets that there are two the between two the second sliding blocks of each elevating lever
Two electric pushrods 35, the cylinder barrels of two second electric pushrods and bracket 36 are articulated and connected, bracket setting two second electric pushrods it
Between.Movement of second sliding block on the second guide rail is driven by the second electric pushrod, the second sliding block on the elevating lever of top is under
The second sliding block on square elevating lever is one group, mounting rod 4 is equipped between the second sliding block being arranged in groups, in mounting rod and second
It is equipped with twin shaft steering engine 41 between sliding block, turn of mounting rod in the horizontal plane with respect to the second sliding block is driven under the action of twin shaft steering engine
It is dynamic.
It is rotatably equipped with driving motor 42 in the middle part of mounting rod, is rotatably equipped on mounting rod several equidistant up and down
The shift fork 5 of setting, the substantially cylindrical bar of shift fork, wherein shift fork being rotated by driving motor.In phase up and down
It is equipped with chain-drive mechanism 43 between two adjacent shift forks, the synchronization action of all shift forks is driven by chain-drive mechanism.Such as Fig. 7 institute
Show, several groups comb teeth 51 is equipped on the outer wall of shift fork, and two comb teeth being arranged in groups are symmetrical arranged.Comb teeth is Y-shaped structure,
The gap on comb teeth top is less than fresh dates outer diameter, can be scraped fresh dates by comb teeth in this way.Shift fork, comb teeth, mounting rod, chain conveyer
Mechanism, driving motor, the second sliding block, elevating lever, the first electric pushrod, the second electric pushrod constitute picking units, driving electricity
Machine, chain-drive mechanism constitute the driving mechanism of shift fork rotation, are scraped fresh dates from branch by picking units.
In use, the height and position according to locating for fresh dates, drives moving up and down for picking units by the first electric pushrod,
So that picking units are placed in suitable height and position.Picking units are driven to stretch or contract to two sides by the second electric pushrod
It returns, this can enable picking units to get at jujube tree branch when two row jujube trees are carried out while being harvested.Twin shaft steering engine is set
It sets, and the swing of picking units in the horizontal plane can be driven, so that picking units are placed in suitable angle position.
To realize the collection to the fresh dates of harvest, it is equipped with collector unit in the lower section of picking units, collector unit includes solid
Several uniaxial steering engines 62, the support rod 6 for being fixed on uniaxial steering engine output end, the receipts being arranged on support rod being scheduled on mounting rack
Collect cloth 61, the swing of support rod is driven under the action of uniaxial steering engine, so that support rod gathers together or to external diffusion
It opens, after support rod is spread apart, collects cloth also with expansion, and the collection cloth center after expansion is low, surrounding is high, falls in collection in this way
Fresh dates on cloth can be rolled to cloth center is collected, and downcast hole is equipped at the center for collecting cloth, after fresh dates are rolled to downcast hole
Parabolic motion or the movement of falling object are done after downcast hole, blower 7 is fixed on mounting rack, and the air inlet of blower is located at
Simultaneously it is connected with downcast hole below downcast hole, the air outlet of blower is towards collecting box.The fresh dates to fall in this way through downcast hole enter wind
Machine, and fallen in collecting box after the removal of the air outlet of blower；Enter the leaf of blower together with fresh dates because that quality is small is remote
Remote blowout is fallen on the ground except car body, and then realizes selection by winnowing.Blower, support rod, collection cloth constitute collector unit.
The present invention simulates people and plucks the mode of jujube with hand by adjusting comb teeth height, the angle of shift fork, makes the comb teeth on shift fork
It is sufficiently contacted with the region of fruit comparatively dense, shift fork rotation is then driven by driving motor, is picked down fresh dates by comb teeth
Come.The present invention is electrodynamic type machinery, and can be walked with autoamtic boosting only need to manually grasp direction.When work, can disposably it pick
Two row jujube trees can also pick single jujube tree.When picking two row jujube trees simultaneously, starts machine first, drive to two rows
Among jujube tree, picking units are elevated to by proper height by the first electric pushrod, then comb teeth is controlled by the second electric pushrod
Transverse shifting, so as to adjust picking range；By changing the elongation ratio of two group of second electric pushrod, shift fork can also be adjusted
Regulation of longitudinal angle, then by the rotation of twin shaft steering engine, to adjust the lateral angles of shift fork.By adjusting the transverse direction of shift fork and indulging
To angle, equally distributed comb teeth on shift fork can be made sufficiently to contact with fruit, to improve picking efficiency.After adjusting,
With the control support rod rotation of uniaxial steering engine, opens and collect cloth, then open blower, machine is slowly travelled forward, fresh dates are carried out
Harvest.Contact and rotation by comb teeth with fresh dates, fresh dates are picked, and are fallen to and are collected on cloth, are slipped down to along cloth is collected
Downcast hole carries out selection by winnowing by blower, lighter branch and leaf is blown out, separated with fresh dates, the fresh dates after selection by winnowing fall in receipts
In header.When harvesting single jujube tree, the comb teeth of side can be contacted into tree crown, then travel car body one week around tree crown, it is complete
The collection of pairs of single jujube tree.
Claims (6)
1. a kind of comb-tooth-type fresh dates cropper, including car body, characterized in that further include:
Mounting rack, the mounting rack are fixed on above car body；
Elevating lever, the elevating lever is upper and lower two disposed in parallel and elevating lever is slided up and down with mounting rack and connect, in lower section
Elevating lever and mounting rack between be equipped with the first electric pushrod；Mounting rod, mounting rod are equipped between the corresponding end of two elevating levers
It is equipped with twin shaft steering engine between elevating lever, is set between the corresponding end of two mounting rods there are two the second electric pushrod, in the second electricity
Mounting rod moving along elevating lever is pushed under the action of dynamic push rod, passes through the pendulum of twin shaft servo driving mounting rod OQ t bar
It is dynamic；
Picking units, the picking units include several shift forks of spaced set up and down being rotatably installed on mounting rod, drive
The driving mechanism of dynamic shift fork rotation；
Collector unit, the collector unit include several uniaxial steering engines being fixed on mounting rack, are fixed on uniaxial steering engine output
The support rod at end, be arranged on support rod collection cloth, the blower that is arranged on mounting rack, collect cloth expansion rear center it is low, four
Zhou Gao is equipped with downcast hole collecting cloth center, and the air inlet of blower is connected with downcast hole, and the air outlet of blower is towards positioned at car body
On collecting box.
2. a kind of comb-tooth-type fresh dates cropper according to claim 1, characterized in that be equipped with several fixations in car body top
Bar is fixedly connected with mounting rack by fixed link realization；It is equipped with handrail on the car body, panel, panel are equipped between handrail
It is equipped with key.
3. a kind of comb-tooth-type fresh dates cropper according to claim 1, characterized in that mounting rack includes vertically arranged one
To the first vertical bar, a pair of second vertical bar, the anchorage bar being arranged between two first vertical bars, be arranged in it is tight between two second vertical bars
Solid rod.
4. a kind of comb-tooth-type fresh dates cropper according to claim 1, characterized in that it is sliding to be fixed with first on elevating lever
Block is equipped with the first guide rail being slidably connected with the first sliding block on the first vertical bar.
5. a kind of comb-tooth-type fresh dates cropper according to claim 1, characterized in that be equipped with second on elevating lever and lead
Rail, is slidably fitted with the second sliding block on the second guide rail, and the second electric pushrod is fixedly connected with the second sliding block；The setting of twin shaft steering engine
Between the second sliding block and mounting rod.
6. a kind of comb-tooth-type fresh dates cropper according to claim 1, characterized in that comb teeth is Y-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910722320.0A CN110366951A (en) | 2019-08-06 | 2019-08-06 | A kind of comb-tooth-type fresh dates cropper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910722320.0A CN110366951A (en) | 2019-08-06 | 2019-08-06 | A kind of comb-tooth-type fresh dates cropper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110366951A true CN110366951A (en) | 2019-10-25 |
Family
ID=68258198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910722320.0A Pending CN110366951A (en) | 2019-08-06 | 2019-08-06 | A kind of comb-tooth-type fresh dates cropper |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111213492A (en) * | 2020-02-12 | 2020-06-02 | 南京林业大学 | Separation and vibration comb type automatic picking end effector for kiwi fruits |
| CN112703891A (en) * | 2021-01-27 | 2021-04-27 | 无为县翔博生态农业开发有限公司 | Be used for raspberry to plant and pick equipment in with canopy |
| CN113455189A (en) * | 2021-07-07 | 2021-10-01 | 官鑫 | Insertion protection type picking method for extracting raw material fructus forsythiae from pinene |
| CN114982480A (en) * | 2022-07-12 | 2022-09-02 | 西安理工大学 | Automatic wild jujube picking and collecting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111213492A (en) * | 2020-02-12 | 2020-06-02 | 南京林业大学 | Separation and vibration comb type automatic picking end effector for kiwi fruits |
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| CN113455189A (en) * | 2021-07-07 | 2021-10-01 | 官鑫 | Insertion protection type picking method for extracting raw material fructus forsythiae from pinene |
| CN114982480A (en) * | 2022-07-12 | 2022-09-02 | 西安理工大学 | Automatic wild jujube picking and collecting device |
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Effective date of registration: 20210521 Address after: 250300 No.5 Jiaoxiao Road, Tianqiao District, Jinan City, Shandong Province Applicant after: Shandong Jiaotong University Address before: No.19, sangyuan Road, Licheng District, Jinan City, Shandong Province Applicant before: Shandong Academy of Agricultural Machinery Sciences |