CN115589840A - Automatic banana picking vehicle with flexible holding claws - Google Patents
Automatic banana picking vehicle with flexible holding claws Download PDFInfo
- Publication number
- CN115589840A CN115589840A CN202211310980.6A CN202211310980A CN115589840A CN 115589840 A CN115589840 A CN 115589840A CN 202211310980 A CN202211310980 A CN 202211310980A CN 115589840 A CN115589840 A CN 115589840A
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- China
- Prior art keywords
- clamping
- banana
- adjusting
- frame
- walking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000018290 Musa x paradisiaca Nutrition 0.000 title claims abstract description 66
- 210000000078 claw Anatomy 0.000 title claims abstract description 15
- 240000005561 Musa balbisiana Species 0.000 title 1
- 241000234295 Musa Species 0.000 claims abstract description 69
- 230000035939 shock Effects 0.000 claims description 10
- 210000003205 muscle Anatomy 0.000 claims description 2
- 238000003306 harvesting Methods 0.000 claims 2
- 235000021015 bananas Nutrition 0.000 abstract description 4
- 238000013016 damping Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Images
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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
- A01D2090/005—Vehicles for transporting bunches of bananas
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Handcart (AREA)
Abstract
The invention relates to an automatic banana picking vehicle with flexible holding claws, which comprises: a traveling device; the clamping device is used for clamping banana clusters; the adjusting device is used for adjusting the clamping and holding device in a front-back mode, and the clamping and holding device is installed on the adjusting device; the lifting device is used for adjusting the height of the adjusting device up and down, the adjusting device is arranged on the lifting device, and the lifting device is arranged on the walking device; and the cutting device is used for cutting to enable the banana clusters to be separated from the banana trees and then clamp the banana pseudostems, and the cutting device is installed on the clamping device. According to the banana tree picking device, the walking device is used for driving the picking vehicle to be below the banana cluster, then the adjusting device drives the clamping and holding device to be below the banana cluster, the lifting device drives the clamping and holding device to a proper height to clamp and hold bananas, then the cutting device cuts the banana cluster so that the banana cluster is separated from a banana tree and then clamps and holds banana pseudostems, the picking vehicle moves to the position of the conveying chain, and the broken stems are inserted into the claw of the conveying chain.
Description
Technical Field
The invention relates to the technical field of fruit picking, in particular to an automatic banana picking vehicle with flexible holding claws.
Background
At present, manual picking is mainly adopted in the banana picking mode in China, the main reasons are that orchards in China are mainly distributed in mountainous and hilly lands and are not beneficial to using machinery, small agricultural machines are relatively short in research, the technology cannot meet the requirements, although large agricultural machines are mature in technology, the large agricultural machines cannot be applied to the orchards due to volume limitation, manual picking becomes the best choice, and the picking mode has low efficiency and is easy to damage fruits.
Disclosure of Invention
Aiming at the problems, the automatic banana picking vehicle with the flexible holding claws is high in automation degree and working efficiency, capable of effectively saving labor cost, easy for mass production and put into use, and capable of effectively saving labor cost, so that the vacancy of the market of banana picking vehicle drivers is filled.
The beneficial effect of above-mentioned scheme is:
1) According to the banana tree picking device, the walking device is used for driving the picking vehicle to be below the banana cluster, then the adjusting device drives the clamping and holding device to be below the banana cluster, the lifting device drives the clamping and holding device to be at a proper height to clamp and hold bananas, then the cutting device cuts the bananas so that the banana cluster is separated from a banana tree and then clamps and holds banana pseudostems, the picking vehicle moves to the position of the conveying chain, the lifting device lowers the broken stems of the banana cluster to the position of the hook claw of the conveying chain, and meanwhile the picking vehicle moves forwards to insert the broken stems into the hook claw, so that the banana cluster is fixed on the hook claw, and the conveying effect is achieved;
2) The clamping jaw frame composed of the elastic clamping jaw and the reinforcing bar has certain self-adaptability, so that banana clusters of different sizes are picked, and the banana clusters cannot be damaged.
Drawings
Fig. 1 is a schematic overall structure diagram of a picking vehicle provided in an embodiment of the present invention;
fig. 2 is a schematic structural view of a walking device provided in an embodiment of the present invention;
FIG. 3 is a partially exploded view of the walking device of the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a lifting device provided in an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an adjustment device provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a clamping device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a cutting device provided in an embodiment of the present invention.
In the drawings: 100. a traveling device; 110 walking vehicle body; 111. a traveling wheel; 112. a guide wheel; 120. a steering link; 121. a first bar section; 122. a third bar section; 130. a steering lever; 140. a steering motor; 141. a steering wheel; 150. a shock absorbing plate; 160. a stopper; 170. a shock absorbing spring; 200. a clamping device; 210. a clamping frame; 220. a jaw frame; 221. a grabbing frame; 222. a ribbed rod; 223. a reinforcing bar; 230. a damper plate; 240. a damping spring; 300. an adjustment device; 310. an adjusting bracket; 320. a first slider; 321. a first polish rod; 330. a second slider; 331. a second polish rod; 340. a load-bearing floor; 400. a lifting device; 410. a lower base plate; 411. a first regulating groove; 420. a first adjusting lever; 430. a fork-shaped frame; 440. an upper base plate; 441. a second adjustment groove; 450. a second adjusting lever; 500. a cutting device; 510. cutting the base; 520. cutting the saw blade; 530. pseudostem clamping jaws.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
As shown in fig. 1 to 7, a picking cart provided in an embodiment of the present invention includes: a traveling device 100; the clamping device 200 is used for clamping banana clusters; the adjusting device 300 is used for adjusting the clamping device 200 in the front and back directions, and the clamping device 200 is arranged on the adjusting device 300; the lifting device 400 is used for adjusting the height of the adjusting device 300 up and down, the adjusting device 300 is arranged on the lifting device 400, and the lifting device 400 is arranged on the walking device 100; and a cutting means 500 for cutting to clamp the banana pseudostem after the banana cluster is separated from the banana tree, the cutting means 500 being installed on the clamping and holding means 200.
According to the banana tree picking device, the walking device 100 is used for driving the picking vehicle to be below the banana cluster, then the adjusting device 300 drives the clamping and holding device 200 to be below the banana cluster, the lifting device 400 drives the clamping and holding device 200 to be at a proper height to clamp and hold bananas, then the cutting device 500 cuts the banana cluster to enable the banana cluster to be separated from a banana tree and then clamp and hold banana pseudostems, the picking vehicle moves to the position of the conveying chain, the lifting device 400 enables the broken stems of the banana cluster to be lowered to the position of the hook claw of the conveying chain, meanwhile, the picking vehicle moves forwards to enable the broken stems to be inserted into the hook claw, and therefore the banana cluster is fixed on the hook claw, and the conveying effect is achieved.
Specifically, the walking device 100 of the present invention includes: the walking vehicle comprises a walking vehicle body 110, wherein walking wheels 111 are arranged on two sides of the rear part of the walking vehicle body 110; a first bar joint 121 and a third bar joint 122 in the steering connecting rod 120 are rotatably connected to the walking vehicle body 110, and guide wheels 112 are mounted on the first bar joint 121 and the third bar joint 122; one end of the steering rod 130 is rotatably mounted on the steering connecting rod 120, and the other end of the steering rod 130 is rotatably connected with a steering wheel 141 on a motor shaft of a steering motor 140; and a shock absorbing plate 150, wherein the shock absorbing plate 150 is clamped on the walking vehicle body 110 through a limiter 160, and the periphery of the bottom of the shock absorbing plate 150 is connected on the walking vehicle body 110 through a shock absorbing spring 170. In the invention, the walking vehicle body 110 is driven to move by the rotation of the walking wheels 111; the steering link 120 is dragged by the steering rod 130 to swing the guide wheel 112 left and right, thereby achieving steering of the traveling vehicle body 110.
Specifically, the lifting device 400 of the present invention includes: the lower base plate 410 is arranged on the walking device 100, the side plates on two sides of the lower base plate 410 are provided with first adjusting grooves 411, and first adjusting rods 420 penetrate through the first adjusting grooves 411; the bottom rear side of the fork-shaped frame 430 is rotatably mounted on the lower base plate 410, and the bottom front side of the fork-shaped frame 430 is rotatably mounted on the first adjusting rod 420; and an upper base plate 440, wherein second adjusting grooves 441 are formed on the base plates on both sides of the bottom of the upper base plate 440, a second adjusting rod 450 is inserted into the second adjusting grooves 441, the upper rear side of the forked frame 430 is rotatably mounted on the upper base plate 440, and the upper front side of the forked frame 430 is rotatably mounted on the second adjusting rod 450. In the present invention, the forked frame 430 is deformed when the first adjustment lever 420 is adjusted forward or backward, thereby adjusting the height of the clamping device 200 up or down.
Specifically, the adjusting device 300 of the present invention includes: the adjusting frame 310 is installed on the upper bottom plate 440, the adjusting frame 310 is provided with two first sliding blocks 320 at intervals in the front and rear directions, the adjusting frame 310 is provided with two second sliding blocks 330 at intervals in the left and right directions, two first polish rods 321 are installed between the two first sliding blocks 320, and two second polish rods 331 are installed between the two second sliding blocks 330; and the first polish rod 321 and the second polish rod 331 penetrate through the adjusting block, and a bearing bottom plate 340 is arranged on the adjusting block. In the invention, the polish rod is driven by the slide block to correspondingly adjust the bearing bottom plate 340 to a corresponding position.
Specifically, the clamping device 200 of the present invention includes: the clamping and holding frame 210, the clamping and holding frame 210 is arranged on the bearing bottom plate 340; and two clamping jaw frame 220, clamping jaw frame 220 includes two are upper and lower interval settings snatch the frame 221, a plurality of interval install snatch the elastic clamping jaw 222 (can be made by the sponge) between the frame and wear to locate and snatch the frame 221 and elastic clamping jaw 222 on add muscle pole 230 (can be made by nylon), clamping jaw frame 220 rotates through snatching the frame 221 and installs on pressing from both sides armful frame 210. The clamping jaw frame 220 consisting of the elastic clamping jaw 222 and the reinforcing bar 223 has certain self-adaptability, so that banana clusters of different sizes are picked, and the banana clusters cannot be damaged. In order to reduce the number of corresponding driving motors, the two gripper brackets 220 of the present invention may be driven to engage with each other, so that one gripper bracket 220 is driven to drive the other gripper bracket 220. On this basis, in order to further avoid the banana clusters from being damaged, the damping plate 230 is further installed between the two jaw frames 220 in the banana tree cutting device, the damping plate 230 is installed on the bearing bottom plate 340 through the damping spring 240, when the adjusting device 300 and the lifting device 400 act and enable the damping plate 230 to support the banana clusters, the jaw frames 220 clamp and hold the banana clusters again, and then the cutting device 500 acts again to cut the banana clusters from the banana trees.
Specifically, the cutting device 500 of the present invention includes: the cutting seat 510, the cutting seat 510 is installed on the clamping and holding frame 210, and the cutting seat 510 can slide along the front and back of the clamping and holding frame 210; a cutting blade 520, wherein the cutting blade 520 is rotatably arranged on the cutting seat 510; and two pseudostem clamping jaws 530, the pseudostem clamping jaws 530 being rotatably installed at the bottom of the front end of the cutting block 510. In the present invention, when the holding device 200 holds the banana cluster and the cutting base 510 moves forward, the cutting blade 520 rotates and cuts the banana cluster from the banana tree, and then the pseudostem holding jaw 530 rotates and holds the banana pseudostem. To reduce the number of corresponding drive motors, the two pseudostem gripping jaws 530 of the present invention may be geared to each other to move one pseudostem gripping jaw 530 towards the other pseudostem gripping jaw 530 by driving the other pseudostem gripping jaw 530.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a car is picked to automatic banana with flexible embracing claw which characterized in that includes:
a traveling device;
the clamping device is used for clamping banana clusters;
the adjusting device is used for adjusting the clamping and holding device in a front-back mode, and the clamping and holding device is installed on the adjusting device;
the lifting device is used for adjusting the height of the adjusting device up and down, the adjusting device is arranged on the lifting device, and the lifting device is arranged on the walking device; and
and the cutting device is used for cutting so that the banana clusters are clamped and embraced on the banana tree after being separated from the banana tree, and the cutting device is installed on the clamping and embracing device.
2. The automatic banana harvesting vehicle with flexible clasps as claimed in claim 1, wherein the walking means comprises:
the walking vehicle comprises a walking vehicle body, wherein walking wheels are arranged on two sides of the rear part of the walking vehicle body;
the first rod section and the third rod section in the steering connecting rod are rotatably connected to the walking vehicle body, and guide wheels are arranged on the first rod section and the third rod section;
one end of the steering rod is rotatably arranged on the steering connecting rod, and the other end of the steering rod is rotatably connected with a steering wheel on a motor shaft of a steering motor; and
the shock-absorbing plate is clamped on the walking vehicle body through a limiter, and the periphery of the bottom of the shock-absorbing plate is connected to the walking vehicle body through shock-absorbing springs.
3. The automatic banana picking vehicle with flexible clasps as claimed in claim 1, wherein the lifting device comprises:
the lower bottom plate is arranged on the walking device, first adjusting grooves are formed in side plates on two sides of the lower bottom plate, and first adjusting rods penetrate through the first adjusting grooves;
the rear side of the bottom of the forked frame is rotatably arranged on the lower bottom plate, and the front side of the bottom of the forked frame is rotatably arranged on the first adjusting rod; and
the upper bottom plate, set up the second adjustment tank on the both sides bottom plate of upper bottom plate bottom, wear to be equipped with the second regulation pole in the second adjustment tank, the upper portion rear side rotation of forked frame install in on the upper bottom plate, the upper portion front side rotation of forked frame install in on the second regulation pole.
4. The automatic banana picking vehicle with flexible clasps as claimed in claim 3, wherein the adjustment means comprises:
the adjusting frame is arranged on the upper base plate, a first sliding block and a second sliding block are arranged on the adjusting frame, a first polish rod is arranged on the first sliding block, and a second polish rod is arranged on the second sliding block; and
the first polished rod and the second polished rod penetrate through the adjusting block, and a bearing bottom plate is installed on the adjusting block.
5. The automatic banana picking vehicle with flexible clasps as claimed in claim 4, wherein the clamp clasping device comprises:
the clamping and holding frame is arranged on the bearing bottom plate; and
two clamping jaw frames, the clamping jaw frame include two be about the interval set up snatch the frame, a plurality of interval install in snatch the elastic clamping jaw between the frame and wear to locate snatch the frame with the last muscle pole that adds of elastic clamping jaw, the clamping jaw frame pass through it rotates install in to snatch on the frame the clamp embraces the frame.
6. The automatic banana harvesting vehicle with flexible clasps as claimed in claim 5, wherein the two gripper brackets can be driven in mesh with each other.
7. The automatic banana picking vehicle with flexible embracing claws according to claim 5 or 6, wherein the clamping and embracing device further comprises a shock absorbing plate, the shock absorbing plate is positioned between the two clamping claw frames, and the shock absorbing plate is mounted on the bearing bottom plate through a shock absorbing spring.
8. The automatic banana picking vehicle with flexible clasps as claimed in claim 6, wherein the cutting device comprises:
the cutting seat is arranged on the clamping and holding frame and can slide along the front and the back of the clamping and holding frame;
the cutting saw blade is rotatably arranged on the cutting seat; and
the two pseudostem clamping jaws are rotatably arranged at the bottom of the front end of the cutting seat.
9. The automatic banana picking vehicle with flexible clasps of claim 8 wherein the two pseudostem clamping jaws can be geared to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211310980.6A CN115589840A (en) | 2022-10-25 | 2022-10-25 | Automatic banana picking vehicle with flexible holding claws |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211310980.6A CN115589840A (en) | 2022-10-25 | 2022-10-25 | Automatic banana picking vehicle with flexible holding claws |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115589840A true CN115589840A (en) | 2023-01-13 |
Family
ID=84848746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211310980.6A Pending CN115589840A (en) | 2022-10-25 | 2022-10-25 | Automatic banana picking vehicle with flexible holding claws |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115589840A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2005201804A1 (en) * | 2004-04-29 | 2005-11-17 | Australian Banana Harvesting Company Pty Ltd | Method and Apparatus for Harvesting Bananas |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN104541635A (en) * | 2015-01-30 | 2015-04-29 | 农业部南京农业机械化研究所 | Balancing chassis structure of high-ground-clearance plant protection machine |
| CN106612941A (en) * | 2016-09-18 | 2017-05-10 | 广西大学 | Vertical screw lifting multi-degree-of-freedom banana picking trolley |
| CN110012728A (en) * | 2019-05-07 | 2019-07-16 | 仲恺农业工程学院 | Auxiliary device is picked to banana |
| CN111247963A (en) * | 2020-03-27 | 2020-06-09 | 华南农业大学 | Banana intelligence system of gathering |
| CN111247955A (en) * | 2020-03-27 | 2020-06-09 | 华南农业大学 | A fruit ear profile modeling asks to connect device for harmless harvesting of banana |
| CN111742709A (en) * | 2020-04-23 | 2020-10-09 | 华南农业大学 | Banana picking device and method based on depth vision |
| CN112930860A (en) * | 2021-01-26 | 2021-06-11 | 华南农业大学 | Semi-automatic banana picking harvester |
| CN113348801A (en) * | 2021-06-08 | 2021-09-07 | 杭州职业技术学院 | Agricultural mechanical chassis damping mechanism capable of being automatically adjusted |
-
2022
- 2022-10-25 CN CN202211310980.6A patent/CN115589840A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2005201804A1 (en) * | 2004-04-29 | 2005-11-17 | Australian Banana Harvesting Company Pty Ltd | Method and Apparatus for Harvesting Bananas |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN104541635A (en) * | 2015-01-30 | 2015-04-29 | 农业部南京农业机械化研究所 | Balancing chassis structure of high-ground-clearance plant protection machine |
| CN106612941A (en) * | 2016-09-18 | 2017-05-10 | 广西大学 | Vertical screw lifting multi-degree-of-freedom banana picking trolley |
| CN110012728A (en) * | 2019-05-07 | 2019-07-16 | 仲恺农业工程学院 | Auxiliary device is picked to banana |
| CN111247963A (en) * | 2020-03-27 | 2020-06-09 | 华南农业大学 | Banana intelligence system of gathering |
| CN111247955A (en) * | 2020-03-27 | 2020-06-09 | 华南农业大学 | A fruit ear profile modeling asks to connect device for harmless harvesting of banana |
| CN111742709A (en) * | 2020-04-23 | 2020-10-09 | 华南农业大学 | Banana picking device and method based on depth vision |
| CN112930860A (en) * | 2021-01-26 | 2021-06-11 | 华南农业大学 | Semi-automatic banana picking harvester |
| CN113348801A (en) * | 2021-06-08 | 2021-09-07 | 杭州职业技术学院 | Agricultural mechanical chassis damping mechanism capable of being automatically adjusted |
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