CN115462240A - Carding type idesia harvesting device - Google Patents
Carding type idesia harvesting device Download PDFInfo
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- CN115462240A CN115462240A CN202210840782.4A CN202210840782A CN115462240A CN 115462240 A CN115462240 A CN 115462240A CN 202210840782 A CN202210840782 A CN 202210840782A CN 115462240 A CN115462240 A CN 115462240A
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- 241001299699 Idesia Species 0.000 title claims abstract description 54
- 238000003306 harvesting Methods 0.000 title claims abstract description 32
- 238000009960 carding Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 31
- 238000009434 installation Methods 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 5
- 244000126211 Hericium coralloides Species 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims 2
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 14
- 208000037805 labour Diseases 0.000 description 7
- 230000001680 brushing effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
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- 230000008901 benefit Effects 0.000 description 2
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- 235000020778 linoleic acid Nutrition 0.000 description 2
- OYHQOLUKZRVURQ-IXWMQOLASA-N linoleic acid Natural products CCCCC\C=C/C\C=C\CCCCCCCC(O)=O OYHQOLUKZRVURQ-IXWMQOLASA-N 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
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- 235000019198 oils Nutrition 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
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- 241000894007 species Species 0.000 description 2
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Images
Classifications
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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
- A01D46/24—Devices for picking apples or like fruit
-
- 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
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to the technical field of fruit harvesting, and discloses a carding type idesia harvesting device which comprises a picking head, a picking arm, a supporting and collecting mechanism and a travelling mechanism, wherein the supporting and collecting mechanism is arranged on the travelling mechanism and is used for supporting the picking arm and the picking head and driving the picking arm and the picking head to rotate and also used for collecting idesia fruits; the picking arm drives the picking head to move horizontally to a specified height, so that combing and picking operation of the picking head is realized; the picking head comprises a picking head actuating mechanism and a picking head bucket mechanism, and the picking head bucket mechanism is used for storing and combing the picked fruits; the picking head actuating mechanism comprises a motor, a combing tooth power shaft and a combing unit, wherein the combing tooth power shaft is arranged on the picking head bucket mechanism and is connected with the motor; the combing units for combing and picking are sequentially arranged on the combing tooth power shaft along the axial direction. The invention can realize the mechanized harvesting of idesia polycarpa and improve the harvesting efficiency of idesia polycarpa.
Description
Technical Field
The invention relates to the technical field of fruit harvesting, in particular to a carding type idesia polycarpa harvesting device.
Background
The idesia polycarpa is an excellent woody oil tree species, is also an ecological tree and an ornamental tree, and has high oil content, good high yield and high economic benefit. The idesia polycarpa has the advantages of rapid growth, beautiful tree shape, soft wood, fragrant flowers, long fruit sequence, large fruiting amount and pearl-like shape, can be used as a novel wood tree species and an ornamental tree species, and also has development potential and conditions for becoming a new excellent woody oil tree species. The idesia oil has linoleic acid content as high as 59.5-81.5% and total unsaturated fatty acid content, and is one kind of latent high quality edible vegetable oil and excellent material for extracting and enriching linoleic acid for medicine use.
Through technical accumulation for many years, the idesia polycarpa has made progress in the aspects of cultivation, picking, processing and development and the like. The idesia polycarpa trees in the plantation are mainly planted on the hills with certain gradient, and the gradient of the hills cannot exceed 25 degrees. The manual picking mode of setting up the cat ladder is mainly adopted to current picking technique, and factor of safety is low, the operational difficulty. Along with the development of science and technology, more and more picking equipment also appears, but mainly use manual picking to give first place to in current picking equipment, need a large amount of labours and inefficiency, still cause the injury to the labour personnel easily in the labour process simultaneously.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art, and provides a carding type idesia harvesting device which can realize mechanical harvesting of idesia, improve the picking efficiency of idesia and avoid the labor cost waste in the idesia harvesting process.
In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:
the invention provides a carding type idesia harvesting device which comprises a picking head, a picking arm, a supporting and collecting mechanism and a traveling mechanism, wherein the traveling mechanism drives the harvesting device to move integrally; the supporting and collecting mechanism is arranged on the travelling mechanism and is used for supporting and driving the picking arm and the picking head to rotate and collecting idesia polycarpa fruits; the picking arm is connected with the picking head and drives the picking head to move horizontally to a specified height, so that combing and picking operation of the picking head is realized;
the picking head comprises a picking head actuating mechanism and a picking head bucket mechanism, and the picking head bucket mechanism is used for storing fruits which are combed and picked by the picking head actuating mechanism; the picking head actuating mechanism comprises a motor, a combing tooth power shaft and a combing unit, wherein the combing tooth power shaft is arranged on the picking head bucket mechanism and connected with the motor; the combing units for combing and picking are sequentially arranged on the combing tooth power shaft along the axial direction.
Furthermore, picking head scraper bowl mechanism includes the dipper body, scraper bowl connection hinge, scraper bowl bottom plate, electric putter and otic placode, the top of the dipper body is connected the comb tooth power shaft, the bottom is passed through scraper bowl connection hinge swing joint scraper bowl bottom plate, the side sets up respectively electric putter and otic placode, electric putter connects the scraper bowl bottom plate.
Furthermore, the comb-brushing units are arranged on the comb-brushing tooth power shaft in parallel along the axial direction, each comb-brushing unit comprises a connecting ring and comb-brushing teeth, the connecting rings are arranged on the comb-brushing tooth power shaft, and three comb-brushing teeth are uniformly arranged on the connecting rings along the circumferential direction; the comb teeth comprise straight rods and bent rods, one ends of the straight rods are connected to the connecting rings, the other ends of the straight rods are connected with the bent rods, and the diameters of the straight rods are larger than those of the bent rods.
Furthermore, the picking arm comprises a picking arm mounting seat, a large arm auxiliary arm, a large arm main arm, a large arm movable arm connecting piece, a movable arm auxiliary arm, a movable arm main arm and a hydraulic cylinder, wherein the large arm auxiliary arm and the large arm main arm are arranged in parallel, one end of the large arm auxiliary arm and one end of the large arm main arm are connected to the picking arm mounting seat, and the other end of the large arm auxiliary arm and the large arm main arm are connected to the large arm movable arm connecting piece; the movable arm auxiliary arm and the movable arm main arm are also arranged in parallel, one end of the movable arm auxiliary arm and one end of the movable arm main arm are connected to the large arm movable arm connecting piece, and the other end of the movable arm auxiliary arm and the other end of the movable arm main arm are connected to the lug plate; and the large arm main arm and the movable arm main arm are respectively connected with a hydraulic cylinder.
Furthermore, the large arm auxiliary arm, the large arm main arm, the picking arm mounting seat and the large arm movable arm connecting piece form a large arm and are in a parallelogram structure, and the movable arm auxiliary arm, the movable arm main arm, the large arm movable arm connecting piece and the ear plate form a movable arm and are in a parallelogram structure.
Furthermore, the supporting and collecting mechanism comprises a collecting basket, a supporting lower chassis, a slewing bearing, a supporting upper chassis, a hydraulic motor and a supporting plate, wherein the supporting upper chassis and the supporting lower chassis are respectively arranged above and below the supporting plate, and the slewing bearing is arranged between the supporting upper chassis and the supporting lower chassis; the hydraulic motor is arranged on the upper supporting chassis and connected with the slewing bearing; the collecting basket and the picking arms are arranged on the upper supporting base plate, the collecting basket is connected with the supporting plate, and the lower supporting base plate is connected with the traveling mechanism.
Furthermore, support and collect mechanism still including collecting basket installation component, collect basket installation component including baffle, quick detach base and quick detach backplate before the quick detach, the quick detach pedestal mounting be in on the support chassis, baffle and quick detach backplate set up both relatively before the quick detach to the activity sets up on the quick detach base.
Further, the collecting basket mounting assembly further comprises a binding band, and the binding band is arranged between two sides of the collecting basket and the supporting plate.
Furthermore, the shovel body comprises a shovel bucket side plate, a shovel bucket inclined plate and a shovel bucket back plate, wherein the shovel bucket side plate is arranged oppositely, the shovel bucket inclined plate is connected with the shovel bucket side plate oppositely, one end of the shovel bucket bottom plate is movably connected with the shovel bucket inclined plate, and the lug plate is positioned on the shovel bucket back plate; the top of scraper bowl curb plate forms the installation convex part, is the inclined plane transition between installation convex part both sides and the scraper bowl swash plate and the scraper bowl backplate that correspond, the scraper bowl swash plate is by the inclined towards scraper bowl backplate direction slope of corresponding scraper bowl curb plate to be 120 with the contained angle between the scraper bowl bottom plate.
Furthermore, the direction of the bent rods on all the comb teeth is consistent with the rotating direction of the power shaft of the comb teeth, and the bending angle of the bent rods is 90 degrees.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, through the matching effect of the picking head, the picking arm, the supporting and collecting mechanism and the walking mechanism, the mechanized picking process of the idesia polycarpa is realized, the labor cost and the time cost waste in the picking process of the idesia polycarpa are avoided, the fruit tree is not required to be directly operated by workers, the picking process of the idesia polycarpa can be completed in a remote mode, the labor cost is reduced, and the picking efficiency of the idesia polycarpa is improved on the premise of ensuring that the fruit damage meets the picking requirement; in addition, the picking head finishes combing, picking and storing of fruits through the picking head actuating mechanism and the picking head bucket mechanism, and the fruit combing and storing device is simple in overall structure, reliable in function and easy to realize.
(2) The picking head bucket mechanism stores fruits through the bucket body, and is provided with the electric push rod connected with the bucket bottom plate to control the bucket bottom plate to perform deflection movement, so that the bucket body is opened or closed, and the picking head bucket mechanism is simple and reliable in structure.
(3) According to the picking head actuating mechanism, the combing units are sequentially arranged on the combing tooth power shaft, and each combing unit is provided with the plurality of combing teeth through the connecting ring, namely the modular design is adopted, so that if the combing teeth of a single combing unit are damaged, one combing unit can be independently maintained by disassembling the picking head actuating mechanism, and therefore the maintenance cost and the maintenance time in the picking process are reduced.
(4) The picking arm adopts the double-parallelogram structure, so that the stability of the picking head when the picking arm drives the picking head to move up and down in the picking process can be effectively ensured, and the idesia polycarpa in the bucket can not be inclined and scattered out in the moving process, thereby ensuring the reliability of the picking work.
(5) The supporting and collecting mechanism drives the picking arms and the picking heads to rotate through the hydraulic motor and the slewing bearing, and is provided with the collecting basket mounting assembly, so that the collecting baskets can be conveniently and quickly mounted and dismounted, when the collecting baskets are full, the collecting baskets can be continuously collected only by replacing the upper empty baskets, and compared with the traditional picking process of striking the fruits on the ground and picking the fruits, the collecting time after picking is saved.
Drawings
In order to more clearly illustrate the solution according to the invention, a brief description of the drawings that are required for the description of the embodiments will be given below, it being clear that the drawings in the description that follows are some embodiments of the invention, and that other drawings can be derived from these drawings by a person skilled in the art without inventive effort. Wherein:
fig. 1 is an overall isometric view of the present invention carding idesia harvesting apparatus.
Fig. 2 is an overall isometric view of the picking head of the present invention.
Fig. 3 is an overall isometric view of the picking head bucket mechanism of the present invention.
Fig. 4 is an overall isometric view of the picking head actuator of the present invention.
Fig. 5 is a partial schematic view of the picking head actuator of the present invention.
Fig. 6 is an isometric view of a picker arm of the present invention.
FIG. 7 is an isometric view of the support collection mechanism of the present invention.
FIG. 8 is a partial schematic view of the support collection mechanism of the present invention.
Description of reference numerals: 1-picking head, 2-picking arm, 3-supporting and collecting mechanism, 4-traveling mechanism, 5-picking head actuator, 6-picking head bucket mechanism, 7-motor, 8-motor mounting plate, 9-coupler, 10-bearing block mounting plate, 11-bearing block, 12-combing tooth power shaft, 13-combing tooth set screw, 14-combing unit, 141-connecting ring, 142-combing tooth, 15-bucket body, 151-bucket side plate, 152-bucket sloping plate, 153-bucket back plate, 1501-mounting convex part, 16-bucket connecting hinge, 17-bucket bottom plate, 18-electric push down mounting seat, 19-electric push rod, 20-electric push up mounting seat, 21-electric push connecting piece, 22-ear plate, 23-picking arm mounting seat, 24-big arm auxiliary arm, 25-big arm, 26-big arm connecting piece, 27-movable arm auxiliary arm, 28-movable arm main arm, 201-first hydraulic cylinder, 202-second hydraulic cylinder, 29-picking arm, 29-quick-dismantling base front baffle, 30-basket-supporting seat, 31-quick dismantling base, 31-quick-dismantling motor base, 31-quick-dismantling base supporting plate, 35-quick-dismantling chassis supporting plate, 35-quick dismantling chassis base plate, and quick dismantling chassis supporting plate.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terms used in the specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention, for example, the terms "length", "width", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positions based on the orientation or position shown in the drawings, are merely for convenience of description, and are not to be construed as limiting the present technical solution.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order. In the description and claims of the present invention and in the description of the above figures, when an element is referred to as being "fixed" or "mounted" or "disposed" or "connected" to another element, it can be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, the invention provides a carding type idesia harvesting device, which comprises a picking head 1, a picking arm 2, a supporting and collecting mechanism 3 and a travelling mechanism 4, wherein the travelling mechanism 4 is connected with the supporting and collecting mechanism 3, the supporting and collecting mechanism 3 is connected with the picking arm 2, the picking arm 2 is connected with the picking head 1, and the whole structure adopts a modular design and is convenient to install and maintain.
The walking mechanism 4 drives the harvesting device to move integrally, and the supporting and collecting mechanism 3 supports the picking head 1 and the picking arm 2 and drives the picking head 1 and the picking arm 2 to rotate and is also used for collecting idesia polycarpa fruits. Picking arm 2 drives picking head 1 translation to appointed height, realizes that picking head 1 carries out carding type picking operation to the idesia polycarpa fruit.
As shown in fig. 2, the picking head 1 comprises a picking head actuator 5 and a picking head bucket mechanism 6, the picking head actuator 5 is used for completing the combing and picking task of the idesia polycarpa fruits, and the combed idesia polycarpa fruits are stored in the picking head bucket mechanism 6.
As shown in fig. 3, the picking head bucket mechanism 6 includes a bucket body 15, a bucket connecting hinge 16, a bucket bottom plate 17, an electric push down mounting seat 18, an electric push rod 19, an electric push up mounting seat 20, an electric push connecting piece 21 and an ear plate 22, the bucket body 15 includes a bucket side plate 151, a bucket sloping plate 152 and a bucket back plate 153, the bucket side plate 151, the bucket sloping plate 152 and the bucket back plate 153 are oppositely disposed, one end of the bucket bottom plate 17 is movably connected with the bucket sloping plate 152, that is, the two are connected by the bucket connecting hinge 16 and combined with the bucket side plate 151 and the bucket back plate 153 into a box for accommodating fruits.
The side of the bucket side plate 151 is provided with an electric push connecting piece 21, one end of the electric push rod 19 is arranged on the electric push connecting piece 21 through an electric push upper mounting seat 20, and the other end of the electric push upper mounting seat is connected with an electric push lower mounting seat 18 arranged on the bucket bottom plate 17. The shovel back plate 153 is also provided with an ear plate 22, and the ear plate 22 is connected with the picking arm 2, so that the stability of the shovel body 15 can be ensured in the moving process.
Specifically, the side surfaces of the bucket side plates 151 are respectively provided with an electric push rod 19 which moves synchronously, and the bucket bottom plate 17 is driven to rotate stably between 0 degrees and 30 degrees around the bucket connecting hinge 16, and meanwhile, the self-locking function is realized when fruits are contained, and the self-locking function cannot be realized due to the stress of the bucket bottom plate 17. Through electric putter 19's flexible, drive scraper bowl bottom plate 17 and carry out deflection motion, control promptly the state of opening and shutting of the dipper body 15 to this storage of accomplishing the idesia and the function of pouring out of idesia fruit makes the fruit can fall into reliably in supporting collection mechanism 3.
As shown in fig. 4 and 5, the picking head actuator 5 includes a motor 7, a motor mounting plate 8, a coupling 9, a combing tooth power shaft 12, a combing unit 14, a bearing seat mounting plate 10 and a bearing seat 11.
The comb tooth power shaft 12 is arranged on a bucket side plate 151 of the bucket body 15, and one end of the comb tooth power shaft is connected with the motor 7 through a coupler 9, so that power transmission is realized. The motor 7 is installed on a bucket side plate 151 of the picking head bucket mechanism 6 through a motor installation plate 8, and the other end of the combing tooth power shaft 12 is connected with the bucket side plate 151 through a bearing seat 11 and a bearing seat installation plate 10, so that the picking head actuating mechanism 5 is supported. The comb-brushing units 14 are uniformly arranged on the comb-brushing tooth power shaft 12, and each comb-brushing unit 14 is fixed on the comb-brushing tooth power shaft 12 through a comb-brushing tooth fastening screw 13, so that the reliable connection can be ensured.
Further, the combing unit 14 includes a connecting ring 141 and combing teeth 142, and three combing teeth 142 are uniformly arranged on the connecting ring 141 along the circumferential direction. The comb-brush teeth 142 include a straight rod and a bent rod, one end of the straight rod is connected to the connection ring 141, the other end of the straight rod is connected to the bent rod, and the diameter of the straight rod is larger than that of the bent rod. The bent rods of all the comb teeth 142 are oriented in the same direction as the rotation direction of the comb teeth power shaft 12, and preferably, the bent rods are bent at an angle of 90 °.
Specifically, the number of the comb-and-brush teeth 142 can be increased or decreased according to actual needs, but one or two comb-and-brush units 14 are too long in idle running, so that the harvesting efficiency of the whole device is affected, and more than three comb-and-brush teeth are inconvenient to process and high in cost, so that the comb-and-brush teeth 142 are prevented from being damaged, the replacement frequency is reduced, and therefore the comb-and-brush teeth 142 are three, so that the cost can be saved and the comb-and-brush units 14 are convenient to install on the premise of ensuring the working stability.
Specifically, the bending angles of the bent rods of the brushing teeth 142 in each brushing unit 14 are consistent, and the bending directions are also consistent, so that the brushing efficiency can be ensured, and the bending angles are consistent with the rotating direction of the brushing tooth power shaft 12, so that the brushing teeth 142 can hook branches into the interior of the bucket body 15 conveniently, and fruits can be brushed reliably.
In this embodiment, the combing picking mode is applied to the picking operation of the idesia polycarpa fruits, the picking head actuator 5 drives the combing unit 14 with the combing width of 300mm to rotate through the motor 7, and the combing fruits can be collected into the bucket body 15 with the maximum capacity of 15L under the action of the combing teeth 142. Because the comb teeth 142 are in a structural shape of firstly thinning and then thickening, namely the diameter of the bent rod is smaller than that of the straight rod, the thin tooth part, namely the bent rod, can smoothly guide branches to enter between the adjacent comb teeth 142 in the picking process, the thick tooth part, namely the straight rod, can ensure the overall strength of the comb teeth 142, so that fruits can be combed, and meanwhile, the thinning and thickening teeth also ensure the processing simplicity.
Furthermore, the top end of the bucket side plate 151 forms an installation convex part 1501, and two sides of the installation convex part 1501 and the corresponding bucket sloping plate 152 and the bucket back plate 153 are in slope transition, so that the combing unit 14 of the picking head actuating mechanism 5 is convenient to install. The slope of scraper bowl swash plate 152 is to the 153 direction slope of scraper bowl backplate by corresponding scraper bowl curb plate 151 side, and is preferred, contained angle between scraper bowl swash plate 152 and the scraper bowl bottom plate 17 is 120, the brush tooth 142 is arranged in between relative scraper bowl curb plate 151, and the tip protrusion scraper bowl swash plate 152 of its crotch can collude the branch better and carry out the fruit brush. Simultaneously can increase the capacity of the dipper body 15 through setting up the scraper bowl swash plate 152, and make the lower extreme of the dipper body 15 forms the binding off, makes things convenient for the fruit in the dipper body 15 to fall into and supports collection mechanism 3 in, also can be in foreign matter such as branch gets into the dipper body 15, and the effect of combing unit 14 is gone out in the same direction as easily and is avoided taking place to block up.
As shown in fig. 6, the picking arm 2 comprises a picking arm mounting base 23, a large arm auxiliary arm 24, a large arm main arm 25, a large arm movable arm connecting piece 26, a movable arm auxiliary arm 27, a movable arm main arm 28 and a hydraulic cylinder.
The picking arm mounting seat 23 connects the picking mechanism 2 with the supporting and collecting mechanism 3, the large arm auxiliary arm 24 and the large arm main arm 25 are arranged in parallel, one end of the two arms is connected to the picking arm mounting seat 23, and the other end of the two arms is connected to the large arm movable arm connecting piece 26. The boom sub-arm 27 and the boom main arm 28 are also arranged in parallel, and one end of each is connected to the boom link 26, and the other end is connected to the ear plate 22 of the picker bucket mechanism 6. The large arm main arm 25 and the movable arm main arm 28 are both connected to a hydraulic cylinder.
Further, the large arm auxiliary arm 24, the large arm main arm 25, the picking arm mounting seat 23 and the large arm movable arm connecting piece 26 form a large arm and are in a parallelogram structure, the movable arm auxiliary arm 27, the movable arm main arm 28, the large arm movable arm connecting piece 26 and the ear plate 22 form a movable arm and are in a parallelogram structure, the two parallelogram structures ensure that the picking head 1 is always parallel to the supporting and collecting mechanism 3 in the moving process, the stability of moving the picking head 1 in the picking process of the idesia polycarpa tree is ensured, and the idesia polycarpa in the shovel body 15 cannot tilt out.
In this embodiment, a first hydraulic cylinder 201 is disposed between the main arm 25 and the picking arm mounting base 23, and a second hydraulic cylinder 202 is disposed between the main arm 28 and the boom connecting member 26, so that the whole picking arm 2 is driven to unfold under the action of the two hydraulic cylinders.
As shown in fig. 7 and 8, the supporting and collecting mechanism 3 includes a collecting basket 31, a supporting lower chassis 301, a pivoting support 302, a supporting upper chassis 303, a hydraulic motor 304, and a supporting plate 35, wherein the supporting upper chassis 303 and the supporting lower chassis 301 are respectively disposed above and below the supporting plate 35, and the pivoting support 302 is disposed therebetween. The hydraulic motor 304 is disposed on the supporting upper chassis 303 and is connected to the slewing bearing 302. Collecting basket 31 and picking arm mounting seat 23 of picking arm 2 are arranged on supporting upper chassis 303, collecting basket 31 is connected with supporting plate 35, and supporting lower chassis 301 is connected with travelling mechanism 4.
Further, support and collect mechanism 3 and still include collection basket installation component, collection basket installation component includes baffle 29, quick detach base 30, collection basket 31, bandage 32, quick detach backplate 33 before the quick detach, quick detach base 30 is installed support on the chassis 303, baffle 29 and quick detach backplate 33 both set up relatively before the quick detach to the activity sets up on the quick detach base 30, the position of collecting basket 31 is conveniently adjusted and is pressed from both sides tightly. Binding bands 32 are provided between both sides of the collecting basket 31 and the support plate 35, and the left and right positions of the collecting basket 31 are fixed by the binding bands 32.
In this embodiment, the width of the collecting basket 31 suitable for the quick-release base 30 can be 300-400 mm, and the length can be adjusted between 400-840 mm, and the collecting basket can be adapted to collecting baskets with different sizes by movably arranging the quick-release front baffle 29 and the quick-release rear baffle 33, and the mounting and dismounting of the collecting basket can be completed quickly. Through hydraulic motor 304 and slewing bearing 302 combined action between them, drive and support chassis 303 and backup pad 35 both and carry out rotary motion to drive and collect basket 31 and pick arm 2 and carry out rotary motion, make things convenient for picking head 1 to pick the effect, improve the work efficiency of whole device.
In this embodiment, running gear 4 adopts hydraulic pressure crawler-type chassis, has avoided the continuation of journey problem that electronic chassis can meet in outdoor long-time operation, has reduced the trafficability characteristic that has increased the vehicle to the pressure on ground simultaneously, also can give the more sufficient power of harvesting device and climb the domatic of 25 mountain regions complicacies.
The invention provides a carding type idesia mountain land harvesting device, which comprises the following specific working processes:
before picking, collecting basket 31 is mounted on quick-release base 30, collecting basket 31 is clamped by moving quick-release front baffle 29 and quick-release rear baffle 33, and collecting basket 31 and supporting plate 35 are bound by binding band 32.
During picking, the walking mechanism 4 works to drive the whole picking device to move in front of the idesia tree, the first hydraulic cylinder 201 and the second hydraulic cylinder 202 work to drive the big arm main arm 25 and the movable arm main arm 28 to move, so that the whole picking arm 2 is unfolded, and the picking head 1 is driven to rotate to a proper picking position under the action of the supporting and collecting mechanism 3. The picking head actuating mechanism 5 starts to work by opening the motor 7, the motor 7 drives the combing tooth power shaft 12 to rotate, then the combing unit 14 is driven to rotate, picking is completed on the branches of the idesia polycarpa through the combing teeth 142, and the idesia polycarpa fruits fall into the inner cavity of the shovel body 15.
When picking of one idesia tree is completed, the motor 7 is turned off to stop the picking head actuating mechanism 5, the supporting and collecting mechanism 3 is rotated back to be right, and the picking arms 2 are folded and reset at the same time, so that the picking heads 1 are right above the collecting basket 31. The forward rotation electric push rod 19 pushes the bucket bottom plate 17 to open the bottom surface of the bucket body 15, the idesia polycarpa is poured out and falls into the collecting basket 31, and the reverse rotation electric push rod 19 resets the bucket bottom plate 17 to start the next working cycle. When the collecting basket 31 is full, the collecting basket can start working immediately only by replacing a new collecting basket, so that the working time is reduced, and the working efficiency is improved.
The carding type idesia polycarpa harvesting device provided by the invention can improve the harvesting efficiency and the harvesting quality of idesia polycarpa, avoid the waste of labor cost and time cost caused by manual harvesting, and can realize operation in 25-degree mountainous regions and complete the harvesting task of 1.6-3.5 m idesia polycarpa trees.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such modifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a carding formula idesia harvesting device which characterized in that: the picking device comprises a picking head, a picking arm, a supporting and collecting mechanism and a traveling mechanism, wherein the traveling mechanism drives the picking device to integrally move; the supporting and collecting mechanism is arranged on the travelling mechanism and is used for supporting and driving the picking arm and the picking head to rotate and collecting idesia polycarpa fruits; the picking arm is connected with the picking head and drives the picking head to move horizontally to a specified height, so that combing and picking operation of the picking head is realized;
the picking head comprises a picking head actuating mechanism and a picking head bucket mechanism, and the picking head bucket mechanism is used for storing fruits picked by combing through the picking head actuating mechanism; the picking head actuating mechanism comprises a motor, a combing tooth power shaft and a combing unit, wherein the combing tooth power shaft is arranged on the picking head bucket mechanism and is connected with the motor; the combing units for combing and picking are sequentially arranged on the combing tooth power shaft along the axial direction.
2. The carding idesia harvesting device of claim 1, wherein: picking head scraper bowl mechanism includes the dipper body, scraper bowl connection hinge, scraper bowl bottom plate, electric putter and otic placode, the top of the dipper body is connected comb tooth power shaft, and the bottom is through scraper bowl connection hinge swing joint the scraper bowl bottom plate, the side sets up respectively with the back electric putter and otic placode, electric putter connects the scraper bowl bottom plate.
3. The comb idesia recovery device of claim 1 or 2, wherein: the comb-brushing units are arranged on the comb-brushing tooth power shaft in parallel along the axial direction, each comb-brushing unit comprises a connecting ring and comb-brushing teeth, the connecting rings are arranged on the comb-brushing tooth power shaft, and the three comb-brushing teeth are uniformly arranged on the connecting rings along the circumferential direction; the comb teeth comprise straight rods and bent rods, one ends of the straight rods are connected to the connecting rings, the other ends of the straight rods are connected with the bent rods, and the diameters of the straight rods are larger than those of the bent rods.
4. The comb idesia harvesting apparatus of claim 2, wherein: the picking arm comprises a picking arm mounting seat, a large arm auxiliary arm, a large arm main arm, a large arm movable arm connecting piece, a movable arm auxiliary arm, a movable arm main arm and a hydraulic cylinder, wherein the large arm auxiliary arm and the large arm main arm are arranged in parallel, one end of the large arm auxiliary arm and one end of the large arm main arm are connected to the picking arm mounting seat, and the other end of the large arm auxiliary arm and the large arm main arm are connected to the large arm movable arm connecting piece; the movable arm auxiliary arm and the movable arm main arm are also arranged in parallel, one end of the movable arm auxiliary arm and one end of the movable arm main arm are connected to the large arm movable arm connecting piece, and the other end of the movable arm auxiliary arm and the other end of the movable arm main arm are connected to the lug plate; and the large arm main arm and the movable arm main arm are respectively connected with a hydraulic cylinder.
5. The comb idesia harvesting apparatus of claim 4, wherein: the movable arm auxiliary arm, the movable arm main arm, the large arm movable arm connecting piece and the ear plate part form a movable arm and are of a parallelogram structure.
6. The comb idesia recovery device of claim 1 or 5, wherein: the supporting and collecting mechanism comprises a collecting basket, a supporting lower chassis, a slewing bearing, a supporting upper chassis, a hydraulic motor and a supporting plate, wherein the supporting upper chassis and the supporting lower chassis are respectively arranged above and below the supporting plate, and the slewing bearing is arranged between the supporting upper chassis and the supporting lower chassis; the hydraulic motor is arranged on the upper supporting chassis and connected with the slewing bearing; the collecting basket and the picking arms are arranged on the upper supporting base plate, the collecting basket is connected with the supporting plate, and the lower supporting base plate is connected with the traveling mechanism.
7. The carding idesia harvesting device of claim 6, wherein: the supporting and collecting mechanism further comprises a collecting basket mounting assembly, the collecting basket mounting assembly comprises a quick-release front baffle, a quick-release base and a quick-release rear baffle, the quick-release base is mounted on the supporting upper chassis, the quick-release front baffle and the quick-release rear baffle are arranged oppositely and movably on the quick-release base.
8. The comb idesia harvesting apparatus of claim 7, wherein: the collecting basket mounting assembly further comprises a binding band, and the binding band is arranged between two sides of the collecting basket and the supporting plate.
9. The comb idesia harvesting apparatus of claim 2, wherein: the shovel body comprises opposite shovel bucket side plates, a shovel bucket inclined plate and a shovel bucket back plate, wherein the shovel bucket inclined plate and the shovel bucket back plate are connected with the opposite shovel bucket side plates; the top of the bucket side plate forms an installation convex part, the two sides of the installation convex part and the corresponding bucket inclined plate and the bucket back plate are in inclined surface transition, the bucket inclined plate inclines towards the direction of the bucket back plate from the side surface of the corresponding bucket side plate, and the included angle between the bucket inclined plate and the bucket bottom plate is 120 degrees.
10. The carding idesia harvesting device of claim 3, wherein: the directions of the bent rods on all the comb teeth are consistent and consistent with the rotating direction of the power shaft of the comb teeth, and the bending angle of the bent rods is 90 degrees.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210840782.4A CN115462240A (en) | 2022-07-18 | 2022-07-18 | Carding type idesia harvesting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210840782.4A CN115462240A (en) | 2022-07-18 | 2022-07-18 | Carding type idesia harvesting device |
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| CN115462240A true CN115462240A (en) | 2022-12-13 |
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| CN202210840782.4A Pending CN115462240A (en) | 2022-07-18 | 2022-07-18 | Carding type idesia harvesting device |
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| CN216577124U (en) * | 2021-10-22 | 2022-05-24 | 昆山朝业精密刀具有限公司 | Automatic slotting device for grinding wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04166013A (en) * | 1990-10-26 | 1992-06-11 | Iseki & Co Ltd | Visual device for harvester of fruit, vegetables or the like |
| CN2839370Y (en) * | 2005-10-20 | 2006-11-22 | 崔海峰 | The rubbish dump skip |
| CN204168782U (en) * | 2014-09-02 | 2015-02-25 | 天津市嘉泰苗木种植专业合作社 | A kind of comb type camellia oleifera Abel fruit picker |
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| CN216577124U (en) * | 2021-10-22 | 2022-05-24 | 昆山朝业精密刀具有限公司 | Automatic slotting device for grinding wheel |
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