CN111201890A - Picking device with automatic leveling function - Google Patents
Picking device with automatic leveling function Download PDFInfo
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- CN111201890A CN111201890A CN202010029124.8A CN202010029124A CN111201890A CN 111201890 A CN111201890 A CN 111201890A CN 202010029124 A CN202010029124 A CN 202010029124A CN 111201890 A CN111201890 A CN 111201890A
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- connecting piece
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- leveling
- chain wheel
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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
- A01D46/20—Platforms with lifting and lowering devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a picking device with an automatic leveling function, which relates to the field of agricultural machinery and comprises a crawler chassis, a leveling mechanism, a lifting mechanism, a container and a human station operating mechanism, wherein the crawler chassis is arranged on the leveling mechanism; a leveling mechanism is arranged above the crawler chassis, a lifting mechanism is arranged above the leveling mechanism, the lifting mechanism is connected with the container, and one side of the container is connected with the personnel station operation mechanism; the leveling mechanism comprises an upper platform, a lower platform, an oil cylinder, a flange, an upper connecting piece and an angle sensor, wherein the upper part of the upper platform is connected with the lifting mechanism, the upper connecting piece is arranged below the upper platform and is connected with the telescopic end of the oil cylinder, the oil cylinder is perpendicular to the upper platform, the fixed end of the oil cylinder is connected with the lower platform through the flange, the lower platform is fixedly connected with the chassis frame, and the angle sensor is arranged at the top angle of the upper platform. The container and the man-station operating mechanism provided by the invention can be self-adaptively leveled, and can be suitable for complex orchard terrains and guarantee the operation safety of fruit growers.
Description
Technical Field
The invention belongs to the field of agricultural machinery, relates to operating machinery used in an orchard, and particularly relates to a picking device with an automatic leveling function.
Background
In recent years, the orchard planting scale in China is continuously enlarged, but the planting land is poor, the land is mostly a mountain steep slope terrain, and the operation environment is difficult to realize mechanization. In order to promote the development of agricultural economy in China, improve the mechanization degree of orchard operation, reduce the cost of labor force, improve the efficiency of orchard operation and ensure the safety of operating personnel, an orchard operation machine with an automatic leveling function is urgently needed to be developed, the orchard operation machine can adapt to various complex terrains and efficiently finish high-altitude operations such as picking, trimming and the like, and the operation machine can realize multiple functions of walking, carrying, trimming, picking, unloading and the like in a park.
Some existing orchard operation platforms can meet basic operation requirements of an orchard, for example, a Chinese patent with application number of 201910242351.6 discloses an automatic orchard yield measuring device, position information of a picking platform during each picking operation is recorded through a Beidou positioning device, fruit increment information during each picking operation is obtained through a sensor, corresponding position information and fruit increment information are corresponded, an orchard yield color graph of orchard yield distribution is established, and the whole structure is compact and easy to operate; the Chinese patent with application number 201910271634.3 discloses a fruit picking platform, which comprises a fruit collecting device for collecting fruits, a picking mechanical arm movably arranged on the fruit collecting device and used for guiding the fruits to the fruit collecting device, and a fruit shearing device arranged on the picking mechanical arm and used for shearing fruit stalks, wherein the collecting device grabs the fruits by a negative pressure method and conveys the fruits through a pipeline, so that the working efficiency is greatly improved, and the working difficulty is reduced; the Chinese patent with application number of 201811422980.9 discloses a movable adjustable fruit picking lifting platform, which mainly comprises a frame, a collecting mechanism and a supporting wheel set, wherein the picking device is stable in structure and high in picking efficiency, has a lifting function, has strong adaptability to fruit trees with different heights, and is convenient to use, and fruits do not need to be placed on the picking platform after being picked, so that the fruits are prevented from being transported up and down one time.
However, the above inventions do not consider the level problem of the working platform, that is, how to keep the working platform level during the working process, especially how to reduce the fluctuation of the working platform in front, back, left, right, up and down directions when working on a rugged road surface, thereby ensuring the safety of the working personnel.
Disclosure of Invention
In view of the above defects in the prior art, the technical problem to be solved by the invention is how to keep the operation platform in a stable state continuously during the operation of the agricultural machinery, so as to adapt to various complex terrains, thereby ensuring the safety of operators.
In order to achieve the aim, the invention discloses a picking device with an automatic leveling function, which comprises a crawler chassis, a leveling mechanism, a lifting mechanism, a container and a man-station operating mechanism, wherein the crawler chassis is arranged on the upper surface of the leveling mechanism;
the leveling mechanism is arranged above the crawler chassis, the lifting mechanism is arranged above the leveling mechanism, the lifting mechanism is connected with the container, and one side of the container is connected with the human station operation mechanism;
leveling mechanism includes upper mounting plate, lower platform, hydro-cylinder, flange, upper junction spare, angle sensor, the upper mounting plate top with elevating system connects, the upper mounting plate below sets up the upper junction spare, and with the flexible end of hydro-cylinder is connected, the hydro-cylinder perpendicular to the upper mounting plate sets up, the stiff end of hydro-cylinder passes through the flange with the lower platform is connected, the lower platform with chassis frame fixed connection in the track chassis, angle sensor sets up the apex angle of upper mounting plate.
Furthermore, the oil cylinder is of a bolt type and is fixedly connected with the upper connecting piece through a bolt.
Furthermore, the number of the oil cylinders is 4, and the oil cylinders are symmetrically arranged on the lower platform.
Further, the upper platform and the lower platform are provided as sheet metal members.
Furthermore, the picking device also comprises a stabilizing mechanism, wherein the stabilizing mechanism is fixedly connected with the chassis frame and comprises universal wheels, square tubes and a frame connecting piece;
the frame connecting piece sets up to the U type, the chassis frame with the plane of frame connecting piece is connected, the another side lower extreme of frame connecting piece with the one end of square pipe is connected, frame connecting piece another side upper end is provided with T type connecting block, the universal wheel set up in the below of the other end of square pipe.
Further, the top of square pipe is provided with spring coupling spare, T type connecting block one end with the frame connecting piece is connected, the other end with spring coupling spare is connected, and the spring housing is established on the T type connecting block.
Furthermore, the crawler chassis also comprises a crawler, a driving chain wheel, a speed reducer, a controller, a hydraulic station, a motor, a battery jar, a tensioning wheel, a connecting plate, a driven chain wheel and a bearing wheel;
the driving chain wheel is arranged at one end of the crawler chassis, the outer teeth of the driving chain wheel are meshed with the inner teeth of the crawler, the driving chain wheel is connected with one end of the speed reducer, the other end of the speed reducer is connected with one end of the motor, the battery jar is connected with the other end of the motor, the driven chain wheel is arranged at the other end of the crawler chassis, the outer teeth of the driven chain wheel are meshed with the inner teeth of the crawler, the tensioning wheel is arranged between the driving chain wheel and the driven chain wheel, the tensioning wheel is connected with the driven chain wheel through the connecting plate, and the.
Further, the speed reducer is a worm gear speed reducer.
Further, the motor is a direct current brush motor, and the voltage of the storage battery is 12V.
Further, the people station operation mechanism comprises a fence, a connecting plate, a vehicle-mounted console, a foot operation pedal and a machine tool hanging box;
the man-station operating mechanism is connected with the container through the connecting plate, the fence is welded on four sides, the vehicle-mounted console and the machine tool hanging box are further arranged on one side of the fence, and the foot operating pedal is arranged on a bottom plate of the man-station operating mechanism.
The invention has at least the following beneficial technical effects:
1. the container and the man-station operating mechanism can be leveled in a self-adaptive manner, and are matched with the crawler-type chassis walking device to adapt to complex orchard terrains and guarantee the operation safety of fruit growers;
2. the electric bicycle adopts the motor as a power source to drive the bicycle to walk, and the storage battery provides electric power for the motor, so that the electric bicycle is green and environment-friendly, and has no pollution and no noise;
3. the invention adopts a symmetrical structure design, has flexible movement and strong bearing capacity, and has the advantages of simple and compact structure, reasonable design, good processing and assembling process and the like.
Drawings
Fig. 1 is a schematic view of an overall structure of a picking device with an automatic leveling function according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a side crawler chassis in a picking device with an automatic leveling function according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a stabilizing mechanism in a picking apparatus with an automatic leveling function according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a leveling mechanism in a picking device with an automatic leveling function according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a scissor lift mechanism in a picking apparatus with an automatic leveling function according to an embodiment of the present invention;
fig. 6a is a schematic structural diagram of a human station operating mechanism in a picking device with an automatic leveling function according to an embodiment of the present invention;
fig. 6b is a front view of a working mechanism of a person standing in a picking device with automatic leveling provided by an embodiment of the invention.
Description of reference numerals:
the device comprises a crawler chassis 1, a leveling mechanism 2, a scissor type lifting mechanism 3, a container 4, a personnel station operation mechanism 5 and a stabilizing mechanism 6;
the device comprises a flange 201, an oil cylinder 202, an upper connecting piece 203, a bolt and nut assembly 204, a lower platform 205 and an upper platform 206;
the device comprises a frame 301, a lower cylinder bracket 302, a lower support shaft 303, a cylinder 304, an upper cylinder bracket 305, a cylinder support rod 306, a connecting plate 307, a container fence 308, a container bottom plate 309, a slide rail 310, a slide block 311, an electronic weighing device 312, a load bearing device mounting bracket 313, a pressure sensor 314 and an L-shaped flange 315;
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The embodiment provides a picking device with an automatic leveling function, as shown in fig. 1, comprising a crawler chassis 1, a leveling mechanism 2, a scissor-type lifting mechanism 3, a container 4, a human station work platform 5 and a stabilizing mechanism 6;
the upper portion of the crawler chassis 1 is welded with a leveling mechanism 2, a scissor-type lifting mechanism 3 and a container 4 are sequentially arranged above the leveling mechanism 2, wherein the leveling mechanism 2 is connected with the lower end of the scissor-type lifting mechanism 3, the upper end of the scissor-type lifting mechanism 3 is welded with the container 4 through a structural square tube, one side of a human station operation platform 5 is connected with the container 4, and a stabilizing mechanism 6 is further arranged at one end of the crawler chassis 1.
As shown in fig. 2 and 3, the stabilizing mechanism includes a universal wheel 101, a square tube 102, a spring connector 103, a spring 104, a frame connector 105, and a T-shaped connecting block 124;
the universal wheel 101 is fixed below one end of the square tube 102 through a mounting bracket, the other end of the square tube 102 is fixed with the chassis frame 106 through a frame connecting piece 105, and a spring connecting piece 103 is welded above the square tube 102; the frame connecting piece 105 is of a U-shaped structure, the plane of the frame connecting piece is welded on the chassis frame 106, the lower end of the other side of the frame connecting piece 105 is connected with one end of the square tube 102, a T-shaped connecting block is arranged at the upper end of the other side of the frame connecting piece 105, threads are arranged at two ends of the T-shaped connecting block 124, the T-shaped connecting block is clamped in the frame connecting piece 105 through bolts and nuts, the other end of the T-shaped connecting block is connected with the spring connecting piece 103, the spring 104 is sleeved on the T-shaped connecting block 124 and is coaxially installed with the T-. The stabilizing mechanism 6 plays a role in preventing the vehicle body from tilting backwards when the orchard operation machine ascends and descends, and the stability of the picking device is improved.
The crawler chassis comprises two groups which are arranged on two sides of the picking device, the two groups have the same structure, the left crawler chassis is taken as an example for description, and with reference to fig. 2, the crawler chassis 1 comprises a chassis frame 106, a driving chain wheel 107, a driving chain wheel shaft 108, a speed reducer 109, a motor 110, a tensioning chain wheel 111, a tensioning chain wheel shaft 112, a connecting plate 113, a storage battery 114, a controller 115, an oil pipe 116, a hydraulic station 117, a driven chain wheel 118, a driven chain wheel shaft 119, a crawler 120, a triangular connecting frame 121, a bearing wheel 122 and a bearing wheel shaft 123;
the chassis frame 106 is used for supporting the crawler belt 120 and installing and fixing components in the crawler belt chassis 1, the driving chain wheels 107 are respectively arranged on the left side and the right side and are arranged on the two sides of the driving chain wheel shaft 108, the outer teeth of the driving chain wheels 107 are meshed with the inner teeth of the crawler belt 120, the crawler belt is driven to rotate through the rotation of the driving chain wheels, and the driving chain wheel shaft 108 is installed on the chassis frame 106 through a bearing seat; the speed reducer 109 is a worm gear speed reducer, one end of the speed reducer is connected with the driving chain wheel 107, the other end of the speed reducer is connected with an output shaft of the motor 110, the speed reducer 109 is fixed on the chassis frame 106 through bolts, the speed reducer mainly plays a role in reducing speed and increasing torque, the speed reducer 109 is provided with a left speed reducer and a right speed reducer, and the two speed reducers respectively and independently control the rotation of the two driving chain wheels 107; the motor 110 is a direct current brush motor, the output shaft end of the motor is connected with the speed reducer 109 and is fixed on the chassis frame 106 through a motor mounting bracket, and the motor 110 is a small-voltage high-power motor and has larger starting current so as to provide larger output power for the crawler chassis; the two tensioning chain wheels 111 are arranged on the left and the right, the middle parts of the two tensioning chain wheels are connected through a tensioning chain wheel shaft 112, and the two tensioning chain wheels 111 positioned on one side are fixed on the chassis frame 106 through a connecting plate 113 and mainly play a role in adjusting the tensioning of the crawler; storage battery 114 is equipped with about two, for motor 110 provides the power, and storage battery 114 settles on chassis frame 106, respectively provides 12V voltage, and storage battery 114 passes through power conversion module connection director 115, and storage battery 114 is the battery, can charge and discharge repeatedly, and economic environmental protection can not produce the life hazard accident to the operation personnel.
The hydraulic station 117 is a small-sized hydraulic station, mainly composed of a hydraulic pump, a hydraulic valve and an oil pipe 116, and is arranged at the rear end of the chassis frame 106 to provide a power source for the oil cylinder; the driven chain wheel 118 is provided with a left driven chain wheel and a right driven chain wheel, the outer teeth of the driven chain wheel are meshed with the inner teeth of the crawler belt 120, the driven chain wheel 118 is driven by the crawler belt 120 to rotate, key grooves are arranged in the driven chain wheel 118 and are fixedly connected with the two sides of a driven chain wheel shaft 119 through keys, and the driven chain wheel shaft 119 is arranged on the chassis frame 106 through a bearing seat; the bearing wheels 122 also comprise two bearing wheels, the middle of the bearing wheels are fixedly connected through a bearing wheel shaft 123, the crawler chassis 1 comprises 6 bearing wheels 122, the middle of the bearing wheels are connected through the bearing wheel shaft 123 and mainly play a role in bearing the gravity of the chassis, 3 triangular connecting frames 121 are arranged, and each triangular connecting frame 121 is connected with two bearing wheels 117 on one side and is fixed on the chassis frame 101.
As shown in fig. 4, the leveling mechanism 2 includes a flange 201, a cylinder 202, an upper connector 203, a bolt-nut assembly 204, a lower platform 205, and an upper platform 206;
the upper platform 206 is welded at the lower end of the frame 301 of the scissor-type lifting mechanism 3 by a rectangular metal plate, the oil cylinders 202 are totally 4, the hydraulic oil cylinders are the same in model, the telescopic ends of the oil cylinders 202 are of a pin type, the upper connecting piece 203 is in a small rectangle shape, the bolt and nut assemblies 204 are respectively fixed at the four corner positions around the upper platform, the telescopic ends of the oil cylinders 202 are fixed together with the upper connecting piece 203 by the bolt and nut assemblies 204, the fixed ends of the oil cylinders 202 are provided with flanges 201, the four corner positions are fixed at the lower platform 205 by bolts, and the lower platform 205 is welded on the chassis frame 106 by a rectangular metal plate.
In addition, the leveling mechanism 2 further comprises 3 angle sensors which can be arranged at four corners of the upper platform, the three angle sensors can be respectively distributed at 3 different corners or can be arranged at one corner of the upper platform in a centralized mode and used for detecting X, Y and angle deviation of the Z axis in three directions, the oil cylinder 202 is controlled by the hydraulic station 117, when the picking device runs to a road surface with a large gradient, angle error information is transmitted to the controller 115 through the angle sensors, the controller 115 adjusts hydraulic oil inlet amount to control the extending length of the oil cylinder 202, and the scissor type lifting mechanism 3 at the upper end and the container 4 are guaranteed to be kept in a horizontal state through the telescopic length of the oil cylinder.
As shown in fig. 5, the scissor lift mechanism 3 includes a frame 301, a lower cylinder bracket 302, a lower support shaft 303, a cylinder 304, an upper cylinder bracket 305, a cylinder support bar 306, a connection plate 307, a cargo box enclosure 308, a cargo box floor 309, a slide rail 310, a slider 311, an electronic scale 312, a mounting bracket 313, a pressure sensor 314, and an L-shaped flange 315;
frame 301 passes through structural square pipe welding in levelling mechanism 2 top, and be provided with slide rail 310 on the both sides limit parallel with picking device direction of advance, cut fork elevating system 3 and include two sets of parallel arrangement's connection plate 307, two sets of intercrossing form and cut fork elevating system 3, both ends are connected through the supporting shaft about two parallel connection plate 207, wherein, a set of back shaft is fixed in frame 301 and packing box 4 below, another set of back shaft passes through slider 311 and installs in slide rail 310, slider 311 can control about in slide rail 310, wherein, the back shaft is all shown in fig. 4, the lower supporting shaft number of a set of connection plate bottom that the connection slides and sets up is 303.
The lower oil cylinder support 302 is fixedly mounted on a bottom plate of the frame 310, an upper oil cylinder support 305 is further arranged in the middle of a group of connecting plates 307 which are arranged in a sliding mode, the fixed end of an oil cylinder 304 is connected with the lower oil cylinder support 302, the telescopic end of the oil cylinder 304 is fixed with the upper oil cylinder support 305 through a bolt, the oil cylinder 304 comprises an oil inlet hole and an oil outlet hole, the oil inlet hole is connected with the hydraulic station 117 through an oil pipe 116, the hydraulic station 117 controls the telescopic amount of the oil cylinder 304, and the oil cylinder 304 is selected to be a hydraulic; the oil cylinder support rod 306 is of a left-right double-disc type structure, two threaded holes different in size are formed in a disc of the oil cylinder support rod, a hinge is formed by a small hole and a contraction rod of the oil cylinder 304, a large hole is formed in the middle of the upper oil cylinder support 306, the upper oil cylinder support 305 is of a round bar-shaped structure, threads are arranged at two ends of the upper oil cylinder support 305 and connected with the scissor-type lifting mechanism 3 through threads, and the scissor-type lifting mechanism 3 is made to achieve a lifting function by driving the upper oil cylinder support 305 to move through stretching.
The container 4 is a rectangular mechanism and comprises a container bottom plate 309 and an integrally arranged container fence 308, and the container 4 is welded with the scissor type lifting mechanism 3 and used for storing picked fruits and the like; the front side plate of the cargo box 4 is provided with a pressure sensor 314 and an electronic weigher 312, the pressure sensor 314 and the electronic weigher 312 are arranged on the cargo box fence 308 through a mounting bracket 313, the weight of the fruit in the cargo box 4 is detected through the pressure sensor 314, and weight information is displayed on the electronic weigher 312; an L-shaped flange 315 is welded to the cargo box enclosure 308 beneath the front side panel for attachment to the personnel station work mechanism 5.
As shown in fig. 6a-6b, the human station working mechanism 5 comprises a fence 401, a sheet metal part 402, a connecting plate 403, an implement hanging box 404, a rotating hinge 405, a vehicle-mounted console 406 and a foot-operated pedal 407;
the man-station operating mechanism 5 is fixedly connected with the L-shaped flange 315 through a connecting plate 403, the periphery of the man-station operating mechanism 5 is welded with the fence 401, the rear side fence is provided with a rotating hinge 405, so that the side fence can be opened and closed conveniently, and the side surface of the fence 401 is welded with a sheet metal part 402 to play a role in protecting operating personnel; one side of the fence 401 is fixedly connected with a vehicle-mounted console 406 through bolts, the vehicle-mounted console 406 is provided with a lifting button, a descending button, a steering button and an emergency stop button, wherein the lifting button and the descending button are the same button, the front pressing state is the lifting function, the rear pressing state is the descending function, the lifting function of the scissor type lifting mechanism 3 is respectively realized, the steering button is an 8-direction operating handle, the steering function of the crawler chassis 1 is controlled by controlling the rotating speeds of two motors through the steering of the operating handle, an operator presses the emergency stop button when the operating environment is in a dangerous condition, and the picking device can realize the emergency descending and restore to the original state; the machine tool hanging box 404 is fixedly connected to one side of the fence 401 through bolts and used for placing operation machines and tools used by an operator, and a plurality of power plug interfaces are arranged on the machine tool hanging box 404 and used for enabling the hanging machine tool to be charged;
a control panel is arranged in the vehicle-mounted console 406, the vehicle-mounted console 406 transmits control information to the single chip microcomputer through 485 communication, the single chip microcomputer transmits received signals to the controller 115, and the controller 115 controls the rotating speed of the motor 110 to realize the functions of adjusting the running speed and walking and steering;
the bottom plate of the human station operation platform 5 is provided with two foot operation pedals 407 which are marked as a first pedal and a second pedal, the first pedal controls the lifting of the scissor type lifting mechanism 3, and the second pedal is used for emergency stop operation machinery when encountering high-altitude dangerous operation.
The crawler chassis provided by the invention also comprises a control system, wherein the control system comprises a controller 115 and a driver, the driver is used for driving the motor 110, the output end of the controller 115 is connected with the input end of the driver in parallel, the output end of the driver is connected with the motor 110, and the motor 110 is controlled by receiving a pulse signal sent by the controller 115; the vehicle-mounted console 406 or the foot operation pedal 407 transmits information to the single chip microcomputer, the single chip microcomputer transmits received signals to the electric controller of the hydraulic station 117, the electric controller controls the operation of the hydraulic station 117, and the telescopic movement of the oil cylinder is controlled by controlling the inlet and outlet amount of hydraulic oil in the oil tank.
The operation process of the invention is as follows: when the picking device enters into an orchard for operation, firstly, according to the heights of different fruit trees, when an operator presses a lifting button of a lower loading controller 406, the oil cylinder 304 is driven to extend and move, the oil cylinder 304 pushes the scissor type lifting mechanism 3 to ascend, so that the operator station operation platform 5 and the container 4 are driven to ascend together, when the operator ascends to a specified height, the operator can carry out high-altitude operation such as pruning, picking and pesticide spraying on the platform, when the orchard operation machine runs to a road surface with a larger gradient, angle error information is transmitted to the controller 115 through the angle sensor, the controller 115 adjusts the oil feeding amount of hydraulic pressure to control the extending length of the oil cylinder 202, the upper platform 206, the whole lifting mechanism 3 and the container 4 are kept in a horizontal state through controlling the telescopic length of the oil cylinder 202, and the picking device is well suitable for similar terrains such as hilly mountainous areas and the like in the orchard currently in China, the personal safety of the fruit grower in the complex terrain operation is ensured; when the picking device walks, the driving wheels of each crawler chassis are independently controlled by respective motors, so that the flexibility of the picking device during walking is greatly improved.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A picking device with an automatic leveling function is characterized by comprising a crawler chassis, a leveling mechanism, a lifting mechanism, a container and a person station operating mechanism;
the leveling mechanism is arranged above the crawler chassis, the lifting mechanism is arranged above the leveling mechanism, the lifting mechanism is connected with the container, and one side of the container is connected with the human station operation mechanism;
leveling mechanism includes upper mounting plate, lower platform, hydro-cylinder, flange, upper junction spare, angle sensor, the upper mounting plate top with elevating system connects, the upper mounting plate below sets up the upper junction spare, and with the flexible end of hydro-cylinder is connected, the hydro-cylinder perpendicular to the upper mounting plate sets up, the stiff end of hydro-cylinder passes through the flange with the lower platform is connected, the lower platform with chassis frame fixed connection in the track chassis, angle sensor sets up the apex angle of upper mounting plate.
2. The harvesting device with self-leveling function according to claim 1, wherein the cylinder is of a pin type and is fixedly connected to the upper connecting member by a bolt.
3. The harvesting device with self-leveling function according to claim 1, wherein the number of the oil cylinders is 4, and the oil cylinders are symmetrically arranged on the lower platform.
4. A harvesting apparatus having self-leveling capability according to claim 1 wherein the upper platform and the lower platform are provided as sheet metal pieces.
5. The picking device with automatic leveling function according to claim 1, wherein the picking device further comprises a stabilizing mechanism, wherein the stabilizing mechanism is fixedly connected with the chassis frame and comprises universal wheels, square tubes and frame connecting pieces;
the frame connecting piece sets up to the U type, the chassis frame with the plane of frame connecting piece is connected, the another side lower extreme of frame connecting piece with the one end of square pipe is connected, frame connecting piece another side upper end is provided with T type connecting block, the universal wheel set up in the below of the other end of square pipe.
6. The picking device with the automatic leveling function according to claim 5, wherein a spring connecting piece is arranged above the square tube, one end of the T-shaped connecting piece is connected with the frame connecting piece, the other end of the T-shaped connecting piece is connected with the spring connecting piece, and a spring is sleeved on the T-shaped connecting piece.
7. The harvesting apparatus with automatic leveling function according to claim 1, wherein the crawler chassis further comprises a crawler, a driving sprocket, a reducer, a controller, a hydraulic station, a motor, a battery, a tensioning wheel, a connecting plate, a driven sprocket, a bearing wheel;
the driving chain wheel is arranged at one end of the crawler chassis, the outer teeth of the driving chain wheel are meshed with the inner teeth of the crawler, the driving chain wheel is connected with one end of the speed reducer, the other end of the speed reducer is connected with one end of the motor, the battery jar is connected with the other end of the motor, the driven chain wheel is arranged at the other end of the crawler chassis, the outer teeth of the driven chain wheel are meshed with the inner teeth of the crawler, the tensioning wheel is arranged between the driving chain wheel and the driven chain wheel, the tensioning wheel is connected with the driven chain wheel through the connecting plate, and the.
8. A harvesting device having self-leveling capability as claimed in claim 7 wherein the reducer is a worm gear reducer.
9. A harvesting device with automatic leveling function according to claim 7, characterized in that the motor is a DC brush motor and the voltage of the battery is 12V.
10. The harvesting apparatus with self-leveling function according to claim 1, wherein the station work mechanism comprises a fence, a connecting plate, a vehicle console, a foot-operated pedal, a tool-hanger box;
the man-station operating mechanism is connected with the container through the connecting plate, the fence is welded on four sides, the vehicle-mounted console and the machine tool hanging box are further arranged on one side of the fence, and the foot operating pedal is arranged on a bottom plate of the man-station operating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010029124.8A CN111201890A (en) | 2020-01-12 | 2020-01-12 | Picking device with automatic leveling function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010029124.8A CN111201890A (en) | 2020-01-12 | 2020-01-12 | Picking device with automatic leveling function |
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| CN111201890A true CN111201890A (en) | 2020-05-29 |
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| CN202010029124.8A Pending CN111201890A (en) | 2020-01-12 | 2020-01-12 | Picking device with automatic leveling function |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112783178A (en) * | 2021-02-01 | 2021-05-11 | 青海宛东生态环境开发有限公司 | Intelligent control trolley based on agricultural plant protection and control system thereof |
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