A kind of banana picking device and picking method

Abstract

The invention discloses a banana picking device, comprising a frame, a cutting tool, a gripping hand slider and a gripping hand opening and closing driving mechanism. The block is slidably connected to the clamping rod, the clamping hand opening and closing driving mechanism drives the clamping hand to open or close, and the clamping hand opening and closing driving mechanism is hinged with the slider; a banana picking method includes the following steps: driving a walking trolley to reach Under the banana tree; the hydraulic support feet support the walking trolley horizontally; the scissor lift mechanism is raised to the side of the banana fruit bunch; the gripping hand extends and clamps the fruit stalk; the cutting tool cuts the fruit stalk; The fork lift mechanism is lowered; the scissor lift mechanism is lowered, the gripping hands are reset, the bananas are removed, the hydraulic support feet are reset, and the picking is completed; the invention solves the problem of difficulty in opening the gripping hands, the gripping force is lasting, and the clamping Stable and reliable, the gripping hand is smooth and sensitive, and the work 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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