Banana picking device and picking method

Abstract

The invention discloses a banana picking device, which comprises a rack, a cutter, clamping manipulator sliding blocks and a clamping manipulator opening and closing driving mechanism. A clamping manipulator comprises clamping rods. One ends of the clamping rods are hinged on the rack. The sliding blocks are slideably connected onto the clamping rods. The clamping manipulator opening and closing mechanism drives the clamping manipulator to open or close. The clamping manipulator opening and closing driving mechanism is hinged with the sliding blocks. The invention additionally discloses a banana picking method, which comprises the steps of propelling a walking trolley to a position under a banana tree; horizontally supporting the walking trolley through hydraulic supporting legs; lifting a scissor-type lifting mechanism to a position beside a banana fruit string; stretching the clamping manipulator to clamp a fruit stem; cutting off the fruit stem by using the cutter; after the fruit stem is cut off, lowering the scissor-type lifting mechanism; and after the scissor-type lifting mechanism is lowered down, restoring the clamping manipulator, taking down bananas and restoring the hydraulic supporting legs to complete the picking. The banana picking device and the banana picking method have the advantages that the problem that the clamping manipulator is difficult to open is solved, the clamping force lasts long, the clamping stability and reliability are high, the clamping manipulator can be opened and closed smoothly and sensitively, and the working efficiency is improved.

Description

technical field [0001] The invention relates to an agricultural picking device and a picking method, in particular to a banana picking device and a picking method. Background technique [0002] Banana is identified by the Food and Agriculture Organization of the United Nations as the fourth largest food product after rice, wheat, and corn, and its trading volume is the first in the world's fruit trading volume. At present, banana picking is still in the manual operation stage: for short fruit clusters, one hand needs to hold the fruit clusters, and the other hand cuts off the fruit handle with a knife; for taller fruit clusters, one person needs to cut the trunk Cutting obliquely, another person supports the fruit bunch with objects such as a ladder, slowly lowers the height of the fruit bunch, and then cuts off the fruit stalk. This primitive picking mode not only has high labor intensity, low picking efficiency and high cost, it is easy to bring harm to picking personnel,...

AI Technical Summary

Problems solved by technology

This primitive picking mode not only has high labor intensity, low picking efficiency and high cost, it is easy to bring harm to picking personnel, and it is very easy to cause scratches, extrusion and collision of banana fruits, resulting in fruit quality damage, which greatly affects its economic benefits

[0003] Publication number: CN201167486Y patent document discloses a string-shaped fruit picking manipulator. During the long-term use of the picking manipulator, the inventor found the following problems: 1. When using it, it was found that the manipulator had to be stretched under the action of a spring, and the motor It needs a very large torque to open, which is basically not possible with small DC motors; 2. After long-term use, the spring elasticity is gradually insufficient, resulting in insufficient clamping force; 3. Vibration or vibration due to the operation of various mechanisms Vibration caused by other reasons may cause the touch support rod to move, causing the clamping rod to close the manipulator early when it is not in place, affecting picking

When the second situation above occurs, it is often necessary to replace the spring; when the third situation occurs, the motor needs to be reversed so that the touch lever touches the baffle, so that the manipulator is stretched again. A situation where the motor requires very high torque

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