CN217088706U - Ground fruit collecting device with obstacle avoidance and profiling functions for forest - Google Patents

Abstract

The utility model belongs to the technical field of forest fruit automatic acquisition machinery, a forest fruit collection fruit device falls to ground with keep away barrier profiling function is related to, by keeping away barrier mechanism, signal acquisition mechanism, profiling mechanism, collection fruit mechanism and constitute, keep away barrier mechanism and set up on the forest fruit collection vehicle, signal acquisition mechanism sets up in keeping away barrier mechanism front end, profiling mechanism sets up to the side on keeping away barrier mechanism, collection fruit mechanism sets up on profiling mechanism. The utility model has the advantages of scientific and reasonable structural design, it is applicable in the subaerial forest fruit of fluctuation and picks up, can avoid the trunk automatically, have strong adaptability, pick up the rate high, leak the low grade advantage of examining rate, be one kind have higher novelty have keep away the forest fruit collection fruit device that falls to the ground of barrier profile modeling function.

Description

Ground fruit collecting device with obstacle avoidance and profiling functions for forest

Technical Field

The utility model discloses forest fruit automatic acquisition machinery technical field, in particular to forest fruit collection fruit device falls to ground with keep away barrier profile modeling function.

Background

In recent years, the planting area of the forest fruits in China is increased rapidly, and the market demand of orchard machinery is promoted by the rapid development of the forest fruit industry. The harvesting of the forest fruits is one of important links in the whole process of orchard production, and plays an important role in promoting the development of forest fruit industry and increasing benefits. At present, there are two main types of fruit harvesting methods: the method comprises the steps of one-time combined harvesting of fruits on trees and the subsection harvesting of shaking-collecting and picking-up of the fruits on the trees. Due to the fact that planting density of orchards in China is high, surface conditions of the orchards are complex and various, and large-scale forest fruit harvesters and fruit receiving devices cannot flexibly operate in the orchards, the segmented harvesting is suitable for harvesting operations of the orchards in China. The segmented harvesting operation is to adopt a fruit collecting machine to collect the fruits which are shaken on the ground among the rows of the fruit trees or on the side surface of the operation machine, and then to carry out the picking operation through a picking machine. Therefore, the quality of the fruit collection and picking operation directly influences the quality of the fruit.

As early as the fifties and sixties of the twentieth century, foreign research scholars have conducted relevant research on forest and fruit harvesting machines, and at present, there are mature machines, such as an SEMEK self-propelled hazelnut harvester designed and manufactured by member companies of the australian medical administration association, which collects fruits through two large disc fruit collectors at the front end, picks up the fruits through a roller brush, sends the hazelnuts to a grid plate through a conveying mechanism for impurity removal, and then collects the fruits. Jack Croft Wichia invented a self-propelled hickory harvester, adopt the steel sheet to comb and brush subaerial hickory into uniform thickness, adopt dislocation opposition pick-up roll to pick up again, the hickory that is picked up falls into the shale shaker under the inertial action and clears up miscellaneous and carry, finally gets into collection fruit case through conveyer belt and conveying roller. Generally, the fruit is picked up by adopting a mode of combining a disk brush or a shovel brush in most foreign countries, the overall equipment has larger appearance, large turning radius and inflexible machine operation, and is not suitable for orchard conditions and fruit harvesting modes in China.

In recent years, China also develops the research of forest and fruit harvesting machinery, but most of the forest and fruit harvesting machinery are still in the laboratory stage, and a certain gap exists between the forest and fruit harvesting machinery and popularization and application. The typical research result is that a 4ZZ-2Y type red date harvester developed by the mechanical engineering college of the university of Stone river collects the landing red dates by adopting resin sheets arranged on a rotating shaft, and then picks up the landing red dates by utilizing bent steel teeth which are buried in the soil. The equipment has poor operation effect because the resin sheet is not installed with less freedom degree, and the bent steel teeth do not have the profiling function. People such as Von ice of Wuhan Weimingde company invent a forest fruit harvester, collect fruits falling on the ground into a line through a disk brush, pick up the collected fruits in the line by adopting a shaking type fruit picker according to the vibration and inertia principles, and fall behind the shaking type fruit picker; the fruit is taken to the conveyer belt through the rotation of the elastic tooth fruit raking device, and the harvesting operation of the fruit is completed. This equipment can sweep into debris such as a lot of leaves branches in the use to easily lead to carrying the jam or block and trip, also bring great trouble for subsequent letter sorting processing moreover. The rock river university has still developed an air-suction type red date harvester, discovers that this equipment has the condition of inhaling the jam pipeline with debris easily in the in-service use equally, and the during operation still can cause ground dust to raise because of having the air current and lead to the operational environment abominable, picks up the operation in-process moreover and needs artifical support, picks up efficiency not high. In addition, a shovel-type picking device can pick fruits by shifting the fruits ahead to enter a shovel plate. The device has higher requirement on the ground flatness, the missing picking rate is high during actual use, the picking and harvesting efficiency is lower, and in addition, the device is easy to pull in sundries such as branches, so that the device is blocked and even damaged.

Aiming at the problems of the existing fruit harvesting machines, the characteristics of orchards in China and the actual requirements of fruit industries in China on the harvesting machines, the robot for picking up fallen fruits in the forest is independently researched and developed in China and has strong applicability, integrates fruit collection, picking, conveying and storage, and the fallen fruit collection device with the obstacle avoidance and profiling function is an important component of the robot.

Disclosure of Invention

An object of the utility model is to overcome prior art not enough, provide one kind can avoid the obstacle automatically, the forest fruit picks up effectual, leak the low forest fruit collection fruit device that falls to the ground that has of examining the rate and keeps away barrier profile modeling function.

The utility model provides a its technical problem realize through following technical scheme:

the utility model provides a fall to ground forest fruit collection fruit device with keep away barrier profile modeling function which characterized in that: keep away barrier mechanism, signal acquisition mechanism, profiling mechanism, collection fruit mechanism by keeping away and constitute, keep away barrier mechanism and set up on the forest fruit collection vehicle, signal acquisition mechanism sets up in keeping away barrier mechanism front end, and profiling mechanism sets up in keeping away the last side of barrier mechanism, and collection fruit mechanism sets up on profiling mechanism.

And the obstacle avoidance mechanism consists of an obstacle avoidance rod, a rocker, a connecting piece, a slide rail, a slide block seat, a connecting rod, a long crank, a short crank and an obstacle avoidance motor, wherein the obstacle avoidance motor is fixedly arranged on the forest fruit collecting vehicle and is in transmission connection with the inner end of the long crank, the outer end of the long crank is hinged with the inner end of the rocker, the slide rail and the inner end of the short crank are hinged on the forest fruit collecting vehicle, the outer ends of the slide rail and the short crank are respectively hinged with the obstacle avoidance rod and the connecting rod, the other end of the connecting rod is hinged in the middle of the slide rail, one end of the connecting piece is hinged in the middle of the obstacle avoidance rod, the other end of the connecting rod is hinged between the outer end of the rocker and the slide block seat, the bottom surface of the slide block is fixedly arranged with the slide block seat, and the top surface is slidably arranged in the slide rail.

And the connecting piece is provided with a hinge shaft.

And the slider seat is provided with a connecting screw hole and a hinge shaft hole.

And the sliding block is provided with a connecting screw hole.

And the slide rail is internally provided with a slide groove, the upper end part of the slide rail is provided with a connecting hinge shaft, and the upper side surface of the slide rail is provided with a connecting lug.

And the signal acquisition mechanism consists of a support rod, a touch rod, a connecting plate, an air spring and a sensor, wherein the support rod is fixedly arranged on the obstacle avoidance rod, the touch rod is hinged at the upper end part of the support rod, the connecting plate is fixedly arranged at the inner side of the support rod on the rocker, and the air spring and the sensor are connected between the touch rod and the connecting plate in parallel at the inner side and the outer side.

And the profiling mechanism consists of a rear upright post, a front upright post and a profiling frame, wherein the rear upright post is fixedly arranged at the tail end of the obstacle avoidance rod, the rear side of the profiling frame is rotatably arranged on the rear upright post, and the front side of the profiling frame is rotatably arranged on the front upright post.

And, the profile modeling frame, including profile modeling upper bracket, profile modeling undercarriage, the profile modeling upper bracket is at last, the relative parallel arrangement of profile modeling undercarriage under on rear column, front column, comprises sleeve, profile modeling horizontal pole, profile modeling vertical pole, profile modeling connecting piece, the sleeve parallel arrangement is in rear column, front column tip, profile modeling horizontal pole parallel rotation sets up in the sleeve, the parallel symmetry of profile modeling vertical pole sets up in both ends about the profile modeling horizontal pole, the profile modeling connecting piece is connected between profile modeling horizontal pole, profile modeling vertical pole.

And the fruit collecting mechanism consists of a telescopic rod, a support rod, a motor support, a fruit collecting motor, a disc hairbrush and a universal wheel, wherein the upper end of the telescopic rod is hinged on the front upright post, the upper end of the support rod is fixedly arranged on the front upright post, the lower ends of the telescopic rod and the support rod are jointly provided with the motor support, the fruit collecting motor is fixedly arranged on the motor support and is in transmission connection with the disc hairbrush, and the universal wheel is arranged at the bottom of the disc hairbrush.

The utility model discloses an advantage and beneficial effect do:

1. the utility model discloses be provided with profiling mechanism, applicable in the subaerial forest fruit of rolling is picked up.

2. The utility model discloses be provided with signal acquisition mechanism and keep away barrier mechanism, pick up the forest fruit in-process and can avoid the trunk automatically, make the forest fruit that falls to the ground between the fruit tree plant spacing pick up, avoid omitting, improve the forest fruit greatly and pick up the effect.

3. The utility model has the advantages of scientific and reasonable structural design, it is applicable in the subaerial forest fruit of fluctuation and picks up, can avoid the trunk automatically, have strong adaptability, pick up the rate high, leak the low grade advantage of examining rate, be one kind have higher novelty have keep away the forest fruit collection fruit device that falls to the ground of barrier profile modeling function.

Drawings

Fig. 1 is a schematic structural view (perspective view) of the present invention;

fig. 2 is a schematic structural view (perspective view) of an obstacle avoidance mechanism and a signal acquisition mechanism;

FIG. 3 is a schematic structural view (perspective view) of a profiling mechanism;

FIG. 4 is a schematic structural view (perspective view) of a fruit collecting mechanism;

FIG. 5 is a schematic view (perspective view) of the connector configuration;

FIG. 6 is a schematic view of a slider base structure;

FIG. 7 is a schematic view of a slider structure;

FIG. 8 is a schematic view of a slide rail structure;

fig. 9 is a view from direction a-a of fig. 8.

Reference is made to the accompanying drawings in which:

1-fruit collecting mechanism, 2-signal collecting mechanism, 3-profiling mechanism, 4-obstacle avoiding mechanism, 5-feeler lever, 6-obstacle avoiding lever, 7-connecting plate, 8-air spring, 9-sensor, 10-supporting lever, 11-connecting piece, 12-sliding rail, 13-sliding block, 14-sliding block seat, 15-connecting rod, 16-rocker, 17-long crank, 18-short crank, 19-obstacle avoiding motor, 20-front column, 21U-shaped bolt, 22-profiling cross bar, 23-rear column, 24-sleeve, 25-profiling connecting piece, 26-profiling longitudinal bar, 27-telescopic bar, 28-supporting lever, 29-disk brush, 30-motor support, 31-fruit collecting motor, 32-universal wheel, 33-hinge shaft, 34-connecting screw hole, 35-hinge shaft hole, 36-connecting screw hole, 37-connecting lug, 38-connecting hinge shaft and 39-sliding groove.

Detailed Description

The present invention will be described in further detail with reference to specific examples, which are provided for illustrative purposes only, and are not intended to be limiting, and the scope of the present invention should not be limited thereby.

The utility model provides a fall to ground forest fruit collection fruit device with keep away barrier profiling function, by control center, keep away barrier mechanism 4, signal acquisition mechanism 2, profiling mechanism 3, collection fruit mechanism 1 and constitute, control center sets up on forest fruit collection vehicle, keeps away barrier mechanism and sets up on forest fruit collection vehicle, and signal acquisition mechanism sets up in keeping away barrier mechanism front end, and profiling mechanism sets up in keeping away the side on the barrier mechanism, and collection fruit mechanism sets up on profiling mechanism.

The obstacle avoidance mechanism comprises an obstacle avoidance rod 6, a rocker 16, a connecting piece 11, a slide rail 12, a slide block 13, a slide block seat 14, a connecting rod 15, a long crank 17, a short crank 18 and an obstacle avoidance motor 19, wherein the obstacle avoidance motor is fixedly arranged on the forest fruit collecting vehicle and is in transmission connection with the inner end of the long crank, the outer end of the long crank is hinged with the inner end of the rocker (relative to the forest fruit collecting vehicle, the inner end and the outer end of the slide rail and the inner end of the short crank are hinged on the forest fruit collecting vehicle, the outer end of the slide rail and the outer end of the short crank are respectively hinged and connected with the obstacle avoidance rod and the connecting rod, the other end of the connecting rod is hinged in the middle of the slide rail, one end of the connecting piece is hinged in the middle of the obstacle avoidance rod, the other end of the slide rail is hinged between the outer end of the rocker and the slide block seat, the bottom surface of the slide block is fixedly arranged in the slide rail. The obstacle avoidance motor is a stepping motor, and an output shaft is fixedly installed at the inner end of the long crank.

And a connecting member having a hinge shaft 33 formed thereon.

The slider seat is provided with a connecting screw hole 34 and a hinge shaft hole 35.

The slider is provided with a connecting screw hole 36.

The slide rail is provided with a slide groove 39 therein, a connecting hinge shaft 38 at the upper end thereof, and a connecting lug 37 at the upper side thereof.

The signal acquisition mechanism comprises a support rod 10, a feeler lever 5, a connecting plate 7, an air spring 8 and a sensor 9, wherein the support rod is fixedly arranged on the obstacle avoidance rod, the feeler lever is hinged at the upper end part of the support rod, the connecting plate is fixedly arranged at the inner side of the support rod on a rocker, and the air spring and the sensor are connected between the feeler lever and the connecting plate in parallel at the outer side.

The profiling mechanism consists of a rear upright 23, a front upright 20 and a profiling frame, wherein the rear upright is fixedly arranged at the tail end of the obstacle avoidance rod through a U-shaped bolt 21, the rear side of the profiling frame is rotatably arranged on the rear upright, and the front side of the profiling frame is rotatably arranged on the front upright.

The profiling frame comprises a profiling upper frame and a profiling lower frame, wherein the profiling upper frame is arranged on a rear upright post and a front upright post in a relatively parallel manner, the profiling lower frame is arranged on the rear upright post and the front upright post in a lower manner, and each profiling upper frame and the profiling lower frame are respectively composed of a sleeve 24, a profiling cross rod 22, a profiling longitudinal rod 26 and a profiling connecting piece 25, the sleeves are arranged at the end parts of the rear upright post and the front upright post in a parallel manner, the profiling cross rods are arranged in the sleeves in a parallel rotating manner, the profiling longitudinal rods are arranged at the left end and the right end of the profiling cross rod in a parallel and symmetrical manner, and the profiling connecting pieces are connected between the profiling cross rods and the profiling longitudinal rods.

The fruit collecting mechanism comprises a telescopic rod 27, a supporting rod 28, a motor support 30, a fruit collecting motor 31, a disc hairbrush 29 and a universal wheel 32, wherein the upper end of the telescopic rod is hinged to the front upright post, the upper end of the supporting rod is fixedly arranged on the front upright post, the lower ends of the telescopic rod and the supporting rod are provided with the motor support together, the fruit collecting motor is fixedly arranged on the motor support and is in transmission connection with the disc hairbrush, and the universal wheel is arranged at the bottom of the disc hairbrush.

The utility model discloses a theory of operation:

utilize the utility model relates to a forest fruit collection fruit device that falls to ground with keep away barrier profile modeling function collects the fruit in real time, need will keep away short crank, slide rail in the barrier mechanism and keep away the barrier motor and install on the forest fruit collection vehicle, adjust the telescopic link and make the disc brush adjust to suitable position. Then, a motor of the collecting mechanism is started, the forest fruit collecting vehicle is started, the forest fruit collecting mechanism is located between the row spacing of the fruit trees, the forest fruit collecting vehicle travels between the row spacing of the fallen forest fruits, the forest fruit collecting mechanism is driven by the obstacle avoidance rod to move forwards synchronously, and under the rotating action of the disc brush, the fruits falling on the ground are hit into a container specially arranged below the frame of the forest fruit collecting vehicle. When meeting ground height fluctuation and changing, the universal wheel can change along with the height fluctuation and take place the corresponding change of position in the vertical direction on ground, and the front column is followed oscilaltion under telescopic link, bracing piece effect this moment, and the profile modeling horizontal pole takes place relative rotation in the sleeve, can keep the settlement state of disc brush and ground contact throughout, has improved the stability and the fruit rate of collection fruit device. When fruit collection between the first plant spacing is finished, the contact rod contacts with a fruit tree trunk in front, the reaction force of the trunk enables the contact rod to rotate around the front end of the obstacle avoidance rod, the length of a displacement sensor at the tail end of the contact rod changes, the air spring is stretched, when the contact rod rotates to a certain angle, namely the length of the displacement sensor changes, the sensor transmits a signal to the control center, the control center controls and starts an obstacle avoidance motor, the obstacle avoidance motor drives a long crank to deflect rightwards, the long crank rotates to drive a rocker, a sliding rail, a connecting piece and the obstacle avoidance rod to rotate, at the moment, the long crank drives the rocker to retract backwards while moving rightwards, the connecting piece hinged to the rocker and a sliding block seat and a sliding block arranged on the connecting piece are driven to move backwards when retracting backwards, the connecting piece moves backwards to drive the obstacle avoidance rod to deflect backwards, and therefore the fruit collection mechanism can enable the fruit tree trunk to pass around the front; after bypassing the place ahead trunk, the feeler lever does not have the reaction force of fruit tree trunk this moment, and the air spring reconversion to the pulling feeler lever carries out the antiport reconversion, and the sensor is with signal transmission to control center this moment, and control center control is kept away barrier motor antiport, makes the slide rail with keep away barrier pole reconversion, gets into next plant spacing, continues to carry out the collection fruit operation.

Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and appended claims, and therefore, the scope of the invention is not limited to the disclosure of the embodiments and drawings.

Claims (10)

1. The utility model provides a fall to ground forest fruit collection fruit device with keep away barrier profile modeling function which characterized in that: keep away barrier mechanism, signal acquisition mechanism, profiling mechanism, collection fruit mechanism by keeping away and constitute, keep away barrier mechanism and set up on the forest fruit collection vehicle, signal acquisition mechanism sets up in keeping away barrier mechanism front end, and profiling mechanism sets up in keeping away the last side of barrier mechanism, and collection fruit mechanism sets up on profiling mechanism.

2. The ground fruit collecting device with obstacle avoidance and profiling functions as claimed in claim 1, wherein: the obstacle avoidance mechanism comprises an obstacle avoidance rod, a rocker, a connecting piece, a slide rail, a slide block seat, a connecting rod, a long crank, a short crank and an obstacle avoidance motor, wherein the obstacle avoidance motor is fixedly arranged on the forest fruit collection vehicle and is in transmission connection with the inner end of the long crank, the outer end of the long crank is hinged with the inner end of the rocker, the slide rail and the inner end of the short crank are hinged on the forest fruit collection vehicle, the outer end of the slide rail and the inner end of the short crank are hinged and connected with the obstacle avoidance rod and the connecting rod respectively, the other end of the connecting rod is hinged in the middle of the slide rail, one end of the connecting piece is hinged in the middle of the obstacle avoidance rod, the other end of the connecting rod is hinged between the outer end of the rocker and the slide block seat, the bottom surface of the slide block is fixedly arranged with the slide block seat, and the top surface of the slide block is arranged in the slide rail.

3. The ground fruit collecting device with obstacle avoidance and profiling functions as claimed in claim 2, wherein: the connecting piece is provided with a hinge shaft.

4. The ground fruit collecting device with obstacle avoidance and profiling functions as claimed in claim 2, wherein: the slider seat is provided with a connecting screw hole and a hinge shaft hole.

5. The ground fruit collecting device with obstacle avoidance and profiling functions as claimed in claim 2, wherein: and the sliding block is provided with a connecting screw hole.

6. The ground fruit collecting device with obstacle avoidance and profiling functions as claimed in claim 2, wherein: the slide rail is internally provided with a slide groove, the upper end part of the slide rail is provided with a connecting hinge shaft, and the upper side surface of the slide rail is provided with a connecting lug.

7. The ground fruit collecting device with obstacle avoidance and profiling functions as claimed in claim 1, wherein: the signal acquisition mechanism comprises a support rod, a contact rod, a connecting plate, an air spring and a sensor, wherein the support rod is fixedly arranged on the obstacle avoidance rod, the contact rod is hinged to the upper end of the support rod, the connecting plate is fixedly arranged on the inner side of the support rod on the rocker, and the air spring and the sensor are connected between the contact rod and the connecting plate in parallel outside.

8. The ground fruit collecting device with obstacle avoidance and profiling functions as claimed in claim 1, wherein: the profiling mechanism consists of a rear upright post, a front upright post and a profiling frame, wherein the rear upright post is fixedly arranged at the tail end of the obstacle avoidance rod, the rear side of the profiling frame is rotatably arranged on the rear upright post, and the front side of the profiling frame is rotatably arranged on the front upright post.

9. The fruit collecting device of ground forest with obstacle avoidance and profiling functions as claimed in claim 8, wherein: the profiling frame comprises a profiling upper frame and a profiling lower frame, wherein the profiling upper frame is arranged on a rear upright post and a front upright post in a relatively parallel mode under the upper profiling lower frame, the profiling upper frame and the profiling lower frame are formed by sleeves, profiling transverse rods, profiling longitudinal rods and profiling connecting pieces, the sleeves are arranged at the end portions of the rear upright post and the front upright post in a parallel mode, the profiling transverse rods are arranged in the sleeves in a parallel rotating mode, the profiling longitudinal rods are arranged at the left end and the right end of the profiling transverse rod in a parallel symmetrical mode, and the profiling connecting pieces are connected between the profiling transverse rods and the profiling longitudinal rods.

10. The ground fruit collecting device with obstacle avoidance and profiling functions as claimed in claim 1, wherein the device comprises: the fruit collecting mechanism is composed of a telescopic rod, a supporting rod, a motor support, a fruit collecting motor, a disc hairbrush and a universal wheel, wherein the upper end of the telescopic rod is hinged to the front upright post, the upper end of the supporting rod is fixedly arranged on the front upright post, the lower ends of the telescopic rod and the supporting rod are jointly provided with the motor support, the fruit collecting motor is fixedly arranged on the motor support and is in transmission connection with the disc hairbrush, and the universal wheel is arranged at the bottom of the disc hairbrush.

Images