Banana picking vehicle and banana picking method thereof
By designing a banana picking truck containing multiple special devices, the existing banana picking relies on manual operations is solved, and automated picking and collection is realized, reducing costs and labor intensity.
Patent Information
- Application Number
- CN202311242142.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-25
- Publication Date
- 2025-05-09
- Estimated Expiration
- 2043-09-25
AI Technical Summary
The existing banana picking methods rely on manual operations, which are large in labor, low in efficiency, high in cost, and are prone to harm the picking workers.
A banana picking car is designed, including a fruit stem cutting device, a lifting device, a clamping device, a mobile car, a water tank, a conveying device, a support device and a fruit shank cutting device. Through the coordinated work of these devices, automated picking and collection are realized.
It has realized the automation of banana picking, reduced manpower, reduced labor intensity and picking costs, and improved picking efficiency.
Smart Images
Figure CN117136727B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a banana picking vehicle and a banana picking method thereof. Background Art
[0002] Banana is one of the four major fruits in the world. It has a history of more than 2,000 years in China. It has high yield and wide distribution. The flesh is rich in nutrients and has good medicinal value. In addition, bananas have high economic value. In addition to supplying the domestic market in China, bananas occupy an important position in the international fruit import and export trade. At present, most parts of the country basically adopt manual picking. The specific method of manual picking is: when one person operates, he cuts a knife on the tree to make the banana tree tilt, one hand reaches into the middle of the fruit bunch to hold the fruit stem, and the other hand uses a knife to cut the fruit stem; when two people operate, one person first cuts the tree body obliquely, then cuts the fruit stem, and the other person catches the fruit bunch in time; sometimes in order to ensure that the bananas have a good appearance, more than 3 people are needed to form a group for picking. The bananas picked from the banana tree need to be transported to a designated location for processing, and each small bunch of bananas on it is cut and then placed in a salt water pool. The manual picking method is not only labor-intensive and easy to cause physical harm to the picking workers, but also inefficient and high labor costs. Summary of the invention
[0003] The purpose of the invention is to overcome the deficiencies of the prior art and to provide a banana picking vehicle and a banana picking method thereof.
[0004] To achieve the above object, the present invention adopts the following technical solutions:
[0005] The invention discloses a banana picking vehicle, which comprises a fruit stalk cutting device, a lifting device, a clamping device, a moving trolley, a water tank, a conveying device, a supporting device and a fruit stalk cutting device.
[0006] The fruit stem cutting device includes an installation frame, a disc, a connecting rod, a baffle, a power spring, a cutting blade, a worm, a worm wheel, a propeller and a bump. The lifting device is arranged on the body of the mobile trolley and drives the installation frame to rise and fall; the horizontally arranged disc is arranged in the installation frame and forms a rotating pair with the installation frame; one end of the connecting rod is hinged to the eccentric position of the upper surface of the disc, and the other end is hinged to one end of the propeller; the baffle is fixed in the installation frame, and the propeller and the baffle form a sliding pair, and the other end of the propeller is fixed to the cutting blade; the cutting blade passes through an opening provided in the installation frame and is connected to the baffle through a power spring; the worm wheel is coaxially arranged with the disc and A rotating pair is formed with the lower surface of the disc, and a circular hole is opened in the middle of the worm wheel, and a plurality of ratchet grooves are arranged equidistantly along the circumferential direction on the inner wall of the worm wheel; an integrally formed coaxial annular boss is provided on the lower surface of the disc located in the circular hole, and a hole is opened on the outer wall of the annular boss; one end of the boss is embedded in the hole to form a sliding pair with the hole, and is connected to the hole through a return spring, and the other end is embedded in one of the ratchet grooves; the worm and the mounting frame form a rotating pair, and are driven by a driving motor, and the helical teeth on the worm are meshed with the worm wheel.
[0007] The clamping device includes a second mounting frame, a clamping rod, a clamping claw and a driving device. The second mounting frame is fixed to the lower surface of the first mounting frame; one end of the two symmetrically arranged clamping rods forms a rotating pair with the second mounting frame, and the other end is fixed to two clamping claws arranged oppositely, and a pressure sensor is provided on the inner side of each clamping claw; the driving device drives the two clamping rods to rotate relative to or opposite to each other. In the initial state, one end of the connecting rod hinged to the disc is located at the position closest to the opening of the first mounting frame, and the cutting blade is located directly above the two clamping claws.
[0008] The fruit stalk cutting device includes an installation frame 3, a rotating shaft 1, a driving gear 1, a driven gear 1, a sliding rod, an arc-shaped blade, an annular frame and a rolling ball. The installation frame 3 is fixed on the vehicle body, and the upper and lower ends of the installation frame 3 are provided with opposite and coaxially arranged circular holes 2 and 3 located just below the two clamping claws; the horizontally arranged and meshing driving gear 1 and driven gear 1 are arranged in the installation frame 3, and both form a rotating pair with the installation frame 3, and the driving gear 1 is driven by the driving motor 2, the driven gear 1 is hollow in the middle, and the inner side wall of the driven gear 1 is provided with n cam grooves evenly distributed along the circumferential direction, n≥3; the annular frame is fixed to the installation frame 3. The frame body 3 is located at the position of the circular hole 3, and the outer side wall of the annular frame is provided with n guide rails that are integrally formed and evenly distributed along the circumference, and each guide rail and a sliding rod form a sliding pair along the radial direction; the straight rod section at the outer end of each sliding rod is hinged with a rolling ball, and the bent section at the inner end of each sliding rod is fixed with a circular arc blade and connected to the annular frame through a return spring 2, and each rolling ball and a cam groove form a rolling friction pair, and each circular arc blade passes through the circular hole 2. Among them, a number of infrared sensors 1 are evenly distributed along the circumference of the annular frame, and each sliding rod is provided with an infrared sensor 2.
[0009] The supporting device is arranged between the annular frame and each circular arc blade, and includes a screw, a nut block, a supporting rod, a guide rail frame, a supporting ball and an annular frame. The annular frame is coaxially arranged with the annular frame, and forms a rotating pair with the annular frame, and the annular frame is hinged with n guide rail frames arranged equidistantly along the circumference; the supporting rods are provided with n supporting rods evenly distributed along the circumference, each supporting rod and a guide rail frame form a sliding pair, and one end of each supporting rod is hinged with the installation frame three, and the other end is hinged with a supporting ball, and each supporting rod is provided with a pressure sensor two at the position where the corresponding supporting ball is hinged; the nut block is hinged with the integrally formed connecting plate on the annular frame, and forms a spiral pair with the screw, and the screw and the installation frame three form a rotating pair, and are driven by the driving motor three. The conveying device is arranged on the installation frame three, and the conveying belt with the conveying mechanism in the conveying device is located outside each arc-shaped blade; the water tank is arranged on the body of the mobile car and is located below the output end of the conveying mechanism, and an opening two is opened below the circular hole three on the body.
[0010] Preferably, the mobile vehicle comprises a vehicle body and wheels, the wheels are hinged at the four corners of the vehicle body, and the wheels are driven by hub motors; the mounting frame three is fixed to the vehicle body through a support frame.
[0011] Preferably, the lifting device includes a rack, a driving gear, a lifting frame, a rotating shaft 2 and a driving motor 4. The lifting frame is fixed on the vehicle body, and two vertical and spaced racks form a sliding pair in the vertical direction with the lifting frame. The horizontally arranged rotating shaft 2 forms a rotating pair with the lifting frame, and driving gears are fixed at both ends of the rotating shaft 2. Each driving gear is meshed with a rack. The housing of the driving motor 4 is fixed on the lifting frame, and the output shaft of the driving motor 4 is connected to the rotating shaft 2 through a gear pair; the mounting frame 1 is fixed on the two racks.
[0012] More preferably, the gear pair includes a driven gear 2 and a driving gear 2, the driven gear 2 is fixed on the rotating shaft 2, the driving gear 2 is fixed to the output shaft of the driving motor 4 through the fixed shaft 1, and is meshed with the driven gear 2.
[0013] Preferably, the propulsion member includes a push rod and a connecting rod, both ends of the push rod are fixed to one end of two connecting rods arranged horizontally and in parallel; the middle part of the push rod is hinged to the connecting rod, the middle parts of the two connecting rods pass through two circular holes opened on the baffle, and form sliding pairs with the two circular holes respectively, the other ends of the two connecting rods are fixed to the cutting blades, and power springs are mounted at the positions between the cutting blades and the baffle on the two connecting rods, and both ends of the power springs are fixed to the baffle and the cutting blade.
[0014] More preferably, a buffer spring is sleeved on the connecting rod at a position between the baffle plate and the push rod, and two ends of the buffer spring are fixed to the baffle plate and the convex plate integrally formed on the connecting rod.
[0015] Preferably, the disk forms a rotating pair with the mounting frame 1 through the fixed shaft 2.
[0016] Preferably, the driving device includes a fixed shaft three, a driving gear three, a driven gear three, a fixed shaft four, a driven gear four, a fixed shaft five and a driven gear five. The fixed shaft three, the fixed shaft four and the fixed shaft five are all vertically arranged in the mounting frame two, and all form a rotating pair with the mounting frame two, and the driven gear three and the driven gear four are both fixed on the fixed shaft four, the driving gear three is fixed on the fixed shaft three and meshes with the driven gear three, the driven gear five is fixed on the fixed shaft five and meshes with the driven gear four, and the fixed shaft three is driven by a driving motor five; one end of the two clamping rods is fixed to the fixed shaft four and the fixed shaft five, and the other end passes through two openings three opened on the mounting frame two and is fixed to the two clamping claws.
[0017] The present invention provides a banana picking method using a banana picking vehicle, which is specifically as follows:
[0018] Step 1: The mobile trolley moves to the position of the banana bunch to be picked, and then the lifting device drives the installation frame to drive the clamping device to rise until the two clamping claws rise to the position where there are no banana fruits on the upper end of the fruit stalk of the banana bunch to be picked.
[0019] Step 2: The controller controls the driving motor to drive the worm to drive the worm wheel to rotate forward. At the same time, a ratchet groove on the inner wall of the worm wheel clamps the protrusion, so that the worm wheel drives the disc to rotate forward through the protrusion. The disc pulls the propeller and the cutting blade backward through the connecting rod, and the power spring is compressed until the cutting blade leaves the top of the two clamping claws and does not block the two clamping claws.
[0020] Step 3: The mobile trolley continues to move until the stalks of the banana bunch to be picked are located between the two clamping claws. Then the driving device drives the two clamping rods to drive the two clamping claws to move toward each other and clamp the stalks of the banana bunch to be picked until the clamping force of the two clamping claws on the stalks of the banana bunch to be picked detected by each pressure sensor reaches within a preset pressure range.
[0021] Step 4: The controller controls the driving motor 1 to drive the worm to drive the worm wheel to continue to rotate forward, and the worm wheel drives the disc to continue to rotate forward through the protrusion, and the disc pulls the propulsion member and the cutting blade to continue to move backward through the connecting rod, and the power spring is continuously compressed until the end of the connecting rod hinged to the disc passes the position farthest from the opening 1 of the mounting frame 1; then, due to the restoring force of the power spring, the power spring pushes the cutting blade to move forward quickly to cut the stalks of the banana bunch to be picked, and at the same time, the cutting blade pulls the disc to continue to rotate forward through the propulsion member and the connecting rod. The worm wheel is stationary, and the disc drives the protrusion to disengage from a corresponding ratchet groove on the worm wheel and drives the protrusion to rotate forwardly. In the process of the disc driving the protrusion to rotate forwardly, when the protrusion contacts one of the ratchet teeth, the ratchet pushes the protrusion to move inward along the channel, and the return spring 1 is compressed. When the protrusion disengages from the ratchet tooth, due to the restoring force of the return spring 1, the return spring 1 pushes the protrusion to embed into the next ratchet groove adjacent to the ratchet tooth until the cutting blade returns to the initial position and cuts off the fruit stalks of the picked banana bunch, and the protrusion is re-embedded in another ratchet groove.
[0022] Step 5: The lifting device drives the mounting frame 1 to drive the clamping device and the cut banana bunches to be picked to descend, and the lower end of the fruit stems of the banana bunches to be picked enters between the arc-shaped blades until the infrared sensors 1 detect that the fruit stems of the banana bunches to be picked enter the annular frame. Then the controller controls the output shaft of the driving motor 3 to rotate forward, and the output shaft of the driving motor 3 drives the screw to drive the nut block to pull the annular frame to rotate forward. The annular frame drives the supporting rods to rotate inward through the guide rail frames, and drives the supporting rods to slide along the corresponding guide rail frames, thereby driving the supporting balls to connect with the fruit stems of the banana bunches to be picked. At the same time, the controller controls the driving motor 2 to drive the driving gear 1 to drive the driven gear 1 to rotate forward, and each rolling ball rolls along the corresponding cam groove on the driven gear 1. The driven gear 1 pushes each sliding rod through each rolling ball to drive each arc-shaped blade to move inward, and each return spring 2 is compressed until the distance between each infrared sensor and the fruit stem of the banana bunch to be picked is within the preset distance range, and each arc-shaped blade is close to the fruit stem of the banana bunch to be picked.
[0023] Step 6, the lifting device drives the installation frame 1 to drive the clamping device and the cut banana bunch to be picked to continue to slowly descend; since the diameter of the banana bunch to be picked tends to increase gradually from bottom to top, the controller then controls the driving motor 2 to drive the driving gear 1 to drive the driven gear 1 to reverse according to the distance between the infrared sensor 1 and the fruit stem of the banana bunch to be picked, and the restoring force of each return spring 2 pushes each sliding rod and each arc-shaped blade to move inward or outward, so that the distance between the infrared sensor 1 and the fruit stem of the banana bunch to be picked is always within the preset distance range; at the same time, the controller controls the output shaft of the driving motor 3 to reverse according to the pressing force detected by the pressure sensor 2, and the output shaft of the driving motor 3 drives the screw to drive the nut block to pull the annular frame to reverse, and the annular frame drives each supporting rod to rotate outward through each guide rail frame, so that the pressing force detected by each pressure sensor 2 is kept within the preset pressure range 2. As the banana bunches to be picked descend, the arc-shaped blades cut off the banana fruits and stalks on the banana bunches to be picked, and the cut banana fruits fall onto the conveyor belt with the conveyor mechanism in the conveyor device, and are transported to the water tank through the conveyor belt conveyor mechanism until all the banana fruits on the banana bunches to be picked are cut off.
[0024] Step 7: After the cutting of the bananas on the banana bunch to be picked is completed, the controller controls the second drive motor to drive the driving gear one to drive the driven gear one to continue to reverse, thereby driving each sliding rod and each arc-shaped blade to continue to move outward until each arc-shaped blade returns to the initial position; at the same time, the controller controls the third output shaft of the drive motor to continue to reverse, and the third output shaft of the drive motor drives the screw to drive the nut block to pull the annular frame to continue to reverse, and the annular frame drives each supporting rod to continue to rotate outward through each guide rail frame, and each supporting ball is out of contact with the banana bunch fruit stem until each supporting rod returns to the initial position; then the driving device drives the two clamping rods to drive the two clamping claws to be moved to the original position, loosening the banana bunch fruit stem, and the banana bunch fruit stem passes through the second opening on the vehicle body under the action of its own gravity and falls to the ground, thereby completing the picking of the banana fruits on the banana bunch to be picked.
[0025] The beneficial effects of the present invention are as follows:
[0026] The present invention clamps the upper end of the fruit stem of the banana bunch to be picked by a clamping device, cuts the fruit stem of the banana bunch to be picked by a fruit stem cutting device, supports the lower end of the fruit stem of the banana bunch to be picked by a supporting device, prevents the fruit stem of the banana bunch to be picked from shaking when it descends, and keeps it stable, and cuts the banana fruits on the banana bunch to be picked by the cooperation of the lifting device, the supporting device and the fruit stem cutting device, and finally transports the banana fruits to the water tank by a conveying device to collect the banana fruits. The present invention replaces manual labor to pick and collect banana fruits, reduces manpower, reduces labor intensity, and reduces picking costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;
[0028] Figure 2 is a side view of the present invention;
[0029] Figure 3 It is a structural schematic diagram of the fruit stem cutting device in the present invention;
[0030] Figure 4 This is a bottom view of the fruit stem cutting device of the present invention after removing the mounting frame 1;
[0031] Figure 5 It is a side view of the fruit stem cutting device of the present invention after removing the mounting frame 1;
[0032] Figure 6 It is a schematic diagram of the structure of the clamping device in the present invention;
[0033] Figure 7 It is a structural schematic diagram of the lifting device and the vehicle body in the present invention;
[0034] Figure 8It is a structural schematic diagram of the fruit stalk cutting device in the present invention;
[0035] Fig. 9 It is a structural schematic diagram of the fruit stalk cutting device and the supporting device in the present invention;
[0036] Fig.10 for Fig. 9 A magnified view of part A;
[0037] Fig.11 The present invention is a schematic diagram of the structure of the fruit stalk cutting device, the supporting device, the water tank, the conveying device and the vehicle body. DETAILED DESCRIPTION
[0038] The present invention is further described below in conjunction with the accompanying drawings.
[0039] like Figure 1 and Figure 2 As shown, a banana picking vehicle of the present invention comprises a fruit stem cutting device 1, a lifting device 2, a clamping device 4, a water tank 5, a conveying device 6, a supporting device 7, a fruit stem cutting device 8 and a mobile vehicle.
[0040] like Figure 3 , Figure 4 and Figure 5 As shown, the fruit stem cutting device 1 includes a mounting frame 10, a disc 11, a connecting rod 13, a baffle 15, a power spring 16, a cutting blade 17, a worm 19, a worm wheel 20, a propeller 21 and a protrusion 22. The lifting device 2 is arranged on the body 3 of the mobile vehicle, and drives the mounting frame 10 to rise and fall; the horizontally arranged disc 11 is arranged in the mounting frame 10, and forms a rotating pair with the mounting frame 10; one end of the connecting rod 13 is hinged to the eccentric position of the upper surface of the disc 11, and the other end is hinged to one end of the propeller 21; the baffle 15 is fixed in the mounting frame 10, and the propeller 21 and the baffle 15 form a sliding pair, and the other end of the propeller 21 is fixed to the cutting blade 17; the cutting blade 17 passes through an opening 1 opened in the mounting frame 10, and is connected to the baffle 15 through the power spring 16; the worm wheel 20 and the disc 11 is coaxially arranged and forms a revolving pair with the lower surface of the disc 11, and a circular hole 1 is opened in the middle of the worm wheel 20, and a plurality of ratchet grooves arranged equidistantly along the circumferential direction are opened on the inner side wall of the worm wheel 20; the lower surface of the disc 11 is provided with an integrally formed and coaxially arranged annular boss located in the circular hole 1, and a channel is opened on the outer side wall of the annular boss; one end of the protrusion 22 is embedded in the channel to form a sliding pair with the channel, and is connected to the channel through a return spring 1, and the other end is embedded in one of the ratchet grooves; the worm 19 forms a revolving pair with the mounting frame 10, and is driven by a driving motor 18, and the helical teeth on the worm 19 are meshed with the worm wheel 20.
[0041] like Figure 6As shown, the clamping device 4 includes a mounting frame 25, a clamping rod 31, a clamping claw 32 and a driving device. The mounting frame 25 is fixed to the lower surface of the mounting frame 10; one end of the two symmetrically arranged clamping rods 31 each forms a rotating pair with the mounting frame 25, and the other end is fixed to two clamping claws 32 arranged oppositely, and a pressure sensor 1 is provided on the inner side of each clamping claw 32; the driving device drives the two clamping rods 31 to rotate relative to or opposite to each other. In the initial state, the end of the connecting rod 13 hinged to the disc is located at the closest position to the opening 1 of the mounting frame 1, and the cutting blade is located directly above the two clamping claws.
[0042] like Figure 8 As shown, the fruit stem cutting device 8 includes a mounting frame 3 49, a rotating shaft 1 50, a driving gear 1 51, a driven gear 1 52, a sliding rod 45, an arc-shaped blade 44, an annular frame 47 and a rolling ball 46. The mounting frame 3 49 is fixed on the vehicle body 3, and the upper and lower ends of the mounting frame 3 49 are provided with a second circular hole and a third circular hole which are arranged oppositely and coaxially at a position just below the two clamping claws; the horizontally arranged and meshing driving gear 1 51 and the driven gear 1 52 are arranged in the mounting frame 3 49, and both form a rotating pair with the mounting frame 3 49, and the driving gear 1 51 is driven by the driving motor 2 48, the driven gear 1 52 is hollow in the middle, and the inner side wall of the driven gear 1 52 is provided with three cam grooves evenly distributed along the circumferential direction; the annular frame 47 is fixed to the mounting frame 3 49 is located at the position of the circular hole three, and the outer side wall of the ring frame 47 is provided with three guide rails that are integrally formed and evenly distributed along the circumferential direction, each guide rail and a sliding rod 45 form a sliding pair along the radial direction; the straight rod section at the outer end of each sliding rod 45 is hinged with a rolling ball 46, and the bent section at the inner end of each sliding rod 45 is fixed with a circular arc blade 44, and connected to the ring frame 47 through a return spring 2, and each rolling ball 46 forms a rolling friction pair with a cam groove, and each circular arc blade 44 passes through the circular hole 2. Among them, the ring frame 47 is provided with a plurality of infrared sensors 1 evenly distributed along the circumferential direction, and each sliding rod 45 is provided with an infrared sensor 2, and the infrared sensor 1 and the infrared sensor 2 are both used to detect the distance between themselves and the fruit stems of the banana bunch to be picked.
[0043] like Fig. 9 and 10As shown, the supporting device 7 is arranged between the annular frame 47 and each arc-shaped blade 44, and the supporting device 7 includes a screw 54, a nut block 55, a supporting rod 58, a guide frame 57, a supporting ball 56 and an annular frame 59. The annular frame 59 is coaxially arranged with the annular frame 47, and forms a rotation pair with the annular frame 47, and the annular frame 59 is hinged with three guide frames 57 arranged equidistantly along the circumferential direction; the supporting rod 58 is provided with three circumferentially evenly distributed, each supporting rod 58 and a guide frame 57 form a sliding pair, and one end of each supporting rod 58 is hinged with the installation frame 3 49, and the other end is hinged with a supporting ball 56, and a pressure sensor 2 is provided at the position where each supporting rod 58 is hinged with the corresponding supporting ball 56; the nut block 55 is hinged with the connecting plate integrally formed on the annular frame 59, and forms a spiral pair with the screw 54, and the screw 54 and the installation frame 3 49 form a rotation pair, and are driven by the driving motor 3 53.
[0044] like Fig.11 As shown, the conveying device 6 is arranged on the mounting frame three 49, and the conveyor belt with the conveying mechanism in the conveying device 6 is located on the outside of each arc-shaped blade 44; the water tank 5 is arranged on the body 3 of the mobile vehicle and is located below the output end of the conveying mechanism, and an opening two is opened below the circular hole three on the body.
[0045] As a preferred embodiment, the mobile vehicle includes a vehicle body 3 and wheels 9. The wheels 9 are hinged at the four corners of the vehicle body 3 and driven by a hub motor. The mounting frame 49 is fixed to the vehicle body 3 through a support frame 60.
[0046] As a preferred embodiment, Figure 7 As shown, the lifting device includes a rack 38, a driving gear 39, a lifting frame 41, a rotating shaft 42 and a driving motor 43. The lifting frame 41 is fixed on the vehicle body 3. The two vertical and spaced racks 38 form a sliding pair in the vertical direction with the lifting frame 41. The horizontally arranged rotating shaft 42 forms a rotating pair with the lifting frame 41, and driving gears 39 are fixed at both ends of the rotating shaft 42. Each driving gear 39 is meshed with a rack 38. The shell of the driving motor 43 is fixed on the lifting frame 41, and the output shaft of the driving motor 43 is connected to the rotating shaft 42 through a gear pair; the mounting frame 10 is fixed on the two racks 38.
[0047] More preferably, the gear pair includes a driven gear 40 and a driving gear 37 , the driven gear 40 is fixed on a rotating shaft 42 , the driving gear 37 is fixed to the output shaft of a driving motor 43 through a fixed shaft 36 , and meshes with the driven gear 40 .
[0048] As a preferred embodiment, the propulsion member 21 includes a push rod 23 and a connecting rod 24, and both ends of the push rod 23 are fixed to one end of two connecting rods 24 arranged horizontally and in parallel; the middle part of the push rod 23 is hinged to the connecting rod 13, and the middle parts of the two connecting rods 24 pass through two circular holes opened on the baffle 15, forming sliding pairs with the two circular holes respectively, and the other ends of the two connecting rods 24 are fixed to the cutting blade 17, and power springs 16 are both mounted at the position between the cutting blade 17 and the baffle 15 on the two connecting rods 24, and both ends of the power spring 16 are fixed to the baffle 15 and the cutting blade 17.
[0049] More preferably, the disk 11 forms a rotating pair with the mounting frame 10 through the fixed shaft 2 12 .
[0050] More preferably, a buffer spring 14 is sleeved on the connecting rod 24 at a position between the baffle plate 15 and the push rod 23 , and both ends of the buffer spring 14 are fixed to the baffle plate 15 and the convex plates integrally formed on the connecting rod 24 .
[0051] As a preferred embodiment, the driving device includes a fixed shaft three 27, a driving gear three 28, a driven gear three 29, a fixed shaft four 30, a driven gear four 33, a fixed shaft five 34 and a driven gear five 35. The fixed shaft three 27, the fixed shaft four 30 and the fixed shaft five 34 are all vertically arranged in the mounting frame two 25, and all form a rotating pair with the mounting frame two 25, and the driven gear three 29 and the driven gear four 33 are both fixed on the fixed shaft four 30, the driving gear three 28 is fixed on the fixed shaft three 27 and meshes with the driven gear three 29, the driven gear five 35 is fixed on the fixed shaft five 34 and meshes with the driven gear four 33, and the fixed shaft three 27 is driven by the driving motor five 26; one end of the two clamping rods 31 is fixed to the fixed shaft four 30 and the fixed shaft five 34, and the other end passes through two openings three opened on the mounting frame two 25 and is fixed to the two clamping claws 32.
[0052] Among them, the belt conveying mechanism is driven by drive motor six, drive motor one 18, drive motor two 48, drive motor three 53, hub motor, drive motor four 43, drive motor five 26 and drive motor six are all controlled by the controller, and the signal output ends of pressure sensor one, pressure sensor two, infrared sensor one and infrared sensor two are all connected to the controller.
[0053] The present invention provides a banana picking method using a banana picking vehicle, which is specifically as follows:
[0054] Step 1: The mobile trolley moves to the position of the banana bunch to be picked, and then the lifting device 2 drives the mounting frame 10 to drive the clamping device 4 to rise until the two clamping claws 33 rise to the position where there are no banana fruits on the upper end of the fruit stem of the banana bunch to be picked.
[0055] Step 2, the controller controls the driving motor 18 to drive the worm 19 to drive the worm wheel 20 to rotate forward. At the same time, a ratchet groove on the inner wall of the worm wheel 20 clamps the protrusion 22, so that the worm wheel 20 drives the disc 11 to rotate forward through the protrusion 22. The disc 11 pulls the propeller 21 and the cutting blade 17 backward through the connecting rod 13, and the power spring 16 is compressed until the cutting blade 17 leaves the top of the two clamping claws 33 and does not block the two clamping claws 33.
[0056] Step 3: The mobile trolley continues to move until the stalk of the banana bunch to be picked is located between the two clamping claws 33, and then the driving device drives the two clamping rods 31 to drive the two clamping claws 33 to move toward each other and clamp the stalk of the banana bunch to be picked until the clamping force of the two clamping claws 33 on the stalk of the banana bunch to be picked detected by each pressure sensor 1 reaches within the preset pressure range 1.
[0057] Step 4: The controller controls the driving motor 18 to drive the worm 19 to drive the worm wheel 20 to continue to rotate forward, and the worm wheel 20 drives the disc 11 to continue to rotate forward through the protrusion 22. The disc 11 pulls the propeller 21 and the cutting blade 17 to continue to move backward through the connecting rod 13, and the power spring 16 is continuously compressed until the end of the connecting rod 13 hinged to the disc 11 passes the position farthest from the opening of the mounting frame 1; then, due to the restoring force of the power spring 16, the power spring 16 pushes the cutting blade 17 to move forward quickly to cut the stems of the banana bunch to be picked, and at the same time, the cutting blade 17 pulls the disc through the propeller 21 and the connecting rod 13 11 continues to rotate forward, the worm wheel 20 is stationary, the disc 11 drives the protrusion 22 to disengage from a corresponding ratchet groove on the worm wheel 20, and drives the protrusion 22 to rotate forward together, and in the process of the disc 11 driving the protrusion 22 to rotate forward, when the protrusion 22 contacts one of the ratchet teeth, the ratchet pushes the protrusion 22 to move inward along the channel, the return spring 1 is compressed, and when the protrusion 22 disengages from the ratchet tooth, due to the restoring force of the return spring 1, the return spring 1 pushes the protrusion 22 to embed into the next ratchet groove adjacent to the ratchet tooth, until the cutting blade 17 returns to the initial position and cuts off the fruit stem of the picked banana bunch, and the protrusion 22 is re-embedded in another ratchet groove.
[0058] Step 5: The lifting device 2 drives the mounting frame 10 to drive the clamping device 4 and the cut banana bunch to be picked to slowly descend, and the lower end of the banana stem to be picked enters between the arc-shaped blades 44 until the infrared sensors detect that the banana stem to be picked enters the annular frame 47. Then the controller controls the output shaft of the driving motor 3 53 to rotate forward, and the output shaft of the driving motor 3 53 drives the screw 54 to drive the nut block 55 to pull the annular frame 59 to rotate forward. The annular frame 59 drives the supporting rods 58 to rotate inward through the guide rail frames 57, and drives the supporting rods 58 to slide along the corresponding guide rail frames 57, thereby driving the supporting balls 56 to contact with the banana bunch to be picked. The banana bunches are in contact with the fruit stems until each pressure sensor detects that the pressing force of each supporting ball 56 on the fruit stems of the banana bunches to be picked reaches within a preset pressure range 2; at the same time, the controller controls the driving motor 2 48 to drive the driving gear 1 51 to drive the driven gear 1 52 to rotate forward, and each rolling ball 46 rolls along the corresponding cam groove on the driven gear 1 52, and the driven gear 1 52 pushes each sliding rod 45 through each rolling ball 46 to drive each arc-shaped blade 44 to move inward, and each return spring 2 is compressed until the distance detected by each infrared sensor to the fruit stems of the banana bunches to be picked is within the preset distance range, and each arc-shaped blade 44 is close to the fruit stems of the banana bunches to be picked.
[0059] Step 6, the lifting device 2 drives the mounting frame 10 to drive the clamping device 4 and the cut banana bunch to be picked to continue to slowly descend; since the diameter of the banana bunch to be picked tends to increase gradually from bottom to top, the controller then controls the driving motor 2 48 to drive the driving gear 1 51 to drive the driven gear 1 52 to reverse according to the distance between the banana bunch to be picked and the fruit stem detected by each infrared sensor 1, and the restoring force of each return spring 2 pushes each sliding rod 5 and each arc-shaped blade 44 to move inward or outward, so that the distance between the banana bunch to be picked and the fruit stem detected by each infrared sensor 1 is always within the preset distance range; at the same time, the controller controls the output shaft of the driving motor 3 53 to reverse according to the pressing force detected by the pressure sensor 2, and the output shaft of the driving motor 3 53 drives the screw 54 to drive the nut block 55 to pull the annular frame 59 to reverse, and the annular frame 59 drives each supporting rod 58 to rotate outward through each guide rail frame 57, so that the pressing force detected by each pressure sensor 2 is kept within the preset pressure range 2. As the bunch of bananas to be picked slowly descends, each arc-shaped blade 44 cuts off the banana fruits and the fruit stems on the bunch of bananas to be picked, thereby cutting the banana fruits on the bunch of bananas to be picked. The cut banana fruits fall onto the conveyor belt with a conveyor mechanism in the conveyor device 6 and are transported to the water tank 5 through the conveyor mechanism to collect the banana fruits until all the banana fruits on the bunch of bananas to be picked are cut.
[0060] Step 7: After the bananas on the bunch of bananas to be picked are cut, the controller controls the drive motor 2 48 to drive the driving gear 1 51 to drive the driven gear 1 52 to continue to reverse, thereby driving each sliding rod 45 and each arc-shaped blade 44 to continue to move outward until each arc-shaped blade 44 returns to its initial position; at the same time, the controller controls the output shaft of the drive motor 3 53 to continue to reverse, and the output shaft of the drive motor 3 53 drives the screw rod 54 to drive the nut block 55 to pull the annular frame 59 to continue to reverse, and the annular frame 59 drives each supporting rod 58 to continue to rotate outward through each guide rail frame 57, and each The supporting sphere 56 is out of contact with the banana bunch stalk until each supporting rod 58 returns to the initial position; then the driving device drives the two clamping rods 31 to drive the two clamping claws 33 to be moved to the original position, and the banana bunch stalk is released. The banana bunch stalk passes through the second opening on the vehicle body under the action of its own gravity and falls to the ground (during the moving vehicle moving forward, the banana bunch stalk will gradually separate from the moving vehicle from the second opening. If a small amount of banana bunch stalks have not separated from the moving vehicle, they can also be taken away manually to avoid affecting the movement of the moving vehicle), thereby completing the picking of the banana fruits on the banana bunch to be picked.
Claims
1. A banana picking vehicle, comprising a stalk cutting device, a lifting device, a clamping device and a mobile vehicle, characterized in that: It also includes a water tank, a conveying device, a supporting device and a fruit stalk cutting device; the fruit stalk cutting device includes a mounting frame, a disc, a connecting rod, a baffle, a power spring, a cutting blade, a worm, a worm gear, a propeller and a bump; the lifting device is arranged on the body of the mobile trolley and drives the mounting frame to rise and fall; the horizontally arranged disc is arranged in the mounting frame and forms a rotating pair with the mounting frame; one end of the connecting rod is hinged to the eccentric position of the upper surface of the disc, and the other end is hinged to one end of the propeller; the baffle is fixed in the mounting frame, and the propeller and the baffle form a sliding pair, and the other end of the propeller is fixed to the cutting blade; the cutting blade passes through the mounting frame An opening is provided on the upper surface of the disc, and is connected to the baffle through a power spring; the worm wheel is coaxially arranged with the disc, and forms a rotating pair with the lower surface of the disc, and a circular hole is provided in the middle of the worm wheel, and a plurality of ratchet grooves are provided on the inner side wall of the worm wheel and are arranged equidistantly along the circumference; an integrally formed coaxial annular boss is provided on the lower surface of the disc located in the circular hole, and a hole is provided on the outer side wall of the annular boss; one end of the boss is embedded in the hole, forming a sliding pair with the hole, and is connected to the hole through a return spring, and the other end is embedded in one of the ratchet grooves; the worm and the mounting frame form a rotating pair, and are driven by a driving motor, and the helical teeth on the worm mesh with the worm wheel; The clamping device comprises a second mounting frame, a clamping rod, a clamping claw and a driving device; the second mounting frame is fixed to the lower surface of the first mounting frame; one end of the two symmetrically arranged clamping rods each forms a rotating pair with the second mounting frame, and the other end is fixed to two clamping claws arranged oppositely, and a pressure sensor is provided on the inner side of each clamping claw; the driving device drives the two clamping rods to rotate relative to or opposite to each other; in the initial state, one end of the connecting rod hinged to the disc is located at the position closest to the opening of the first mounting frame, and the cutting blade is located directly above the two clamping claws; The fruit stalk cutting device comprises a mounting frame body 3, a rotating shaft 1, a driving gear 1, a driven gear 1, a sliding rod, an arc-shaped blade, an annular frame and a rolling ball; the mounting frame body 3 is fixed on the vehicle body, and the upper and lower ends of the mounting frame body 3 are provided with a second circular hole and a third circular hole which are arranged oppositely and coaxially at a position just below the two clamping claws; the horizontally arranged and meshing driving gear 1 and the driven gear 1 are arranged in the mounting frame body 3, and both form a rotating pair with the mounting frame body 3, and the driving gear 1 is driven by the driving motor 2, the driven gear 1 is hollow in the middle, and the inner side wall of the driven gear 1 is provided with n cam grooves evenly distributed along the circumferential direction, and n≥3; the annular frame The outer wall of the annular frame is fixed at the position of the circular hole three in the installation frame three, and the outer wall of the annular frame is provided with n guide rails which are integrally formed and evenly distributed along the circumferential direction, and each guide rail and a sliding rod form a sliding pair along the radial direction; the straight rod section at the outer end of each sliding rod is hinged with a rolling ball, and the bent section at the inner end of each sliding rod is fixed with a circular arc blade, and connected to the annular frame through a return spring two, and each rolling ball and a cam groove form a rolling friction pair, and each circular arc blade passes through the circular hole two; wherein, a plurality of infrared sensors evenly distributed along the circumferential direction on the annular frame are provided with one, and each sliding rod is provided with one infrared sensor two; The supporting device is arranged between the annular frame and each arc-shaped blade, and the supporting device includes a screw, a nut block, a supporting rod, a guide rail frame, a supporting ball and an annular frame; the annular frame is coaxially arranged with the annular frame and forms a rotating pair with the annular frame, and the annular frame is hinged with n guide rail frames arranged equidistantly along the circumferential direction; the supporting rod is provided with n supporting rods evenly distributed along the circumferential direction, each supporting rod and a guide rail frame form a sliding pair, and one end of each supporting rod is three-hinged with the mounting frame, and the other end is hinged with a supporting ball, and each supporting rod A pressure sensor 2 is provided at a position where it is hinged with the corresponding supporting sphere; the nut block is hinged with the connecting plate integrally formed on the annular frame, and forms a spiral pair with the screw, and the screw and the mounting frame 3 form a rotating pair, and are driven by a driving motor 3; the conveying device is arranged on the mounting frame 3, and the conveyor belt with the conveying mechanism in the conveying device is located on the outside of each arc-shaped blade; the water tank is arranged on the body of the mobile trolley, and is located below the output end of the belt conveying mechanism, and an opening 2 is opened below the circular hole 3 on the body.
2. A banana picking vehicle according to claim 1, characterized in that: The mobile car comprises a car body and wheels. The four corners of the car body are all hinged with wheels, and the wheels are driven by hub motors. The mounting frame three is fixed on the car body through a supporting frame.
3. A banana picking vehicle according to claim 1, characterized in that: The lifting device includes a rack, a driving gear, a lifting frame, a rotating shaft 2 and a driving motor 4. The lifting frame is fixed on the vehicle body. Two vertical and spaced racks form a sliding pair in the vertical direction with the lifting frame. The horizontally arranged rotating shaft 2 forms a rotating pair with the lifting frame. Both ends of the rotating shaft 2 are fixed with driving gears, and each driving gear is meshed with a rack. The housing of the driving motor 4 is fixed on the lifting frame, and the output shaft of the driving motor 4 is connected to the rotating shaft 2 through a gear pair. The mounting frame 1 is fixed on the two racks.
4. A banana picking vehicle according to claim 3, characterized in that: The gear pair comprises a driven gear 2 and a driving gear 2, wherein the driven gear 2 is fixed on a rotating shaft 2, and the driving gear 2 is fixed to an output shaft of a driving motor 4 through a fixed shaft 1 and meshes with the driven gear 2.
5. The banana picking vehicle according to claim 1, characterized in that: The propulsion member includes a push rod and a connecting rod, the two ends of the push rod are fixed to one end of two connecting rods arranged horizontally and in parallel; the middle part of the push rod is hinged to the connecting rod, the middle parts of the two connecting rods pass through two circular holes opened on the baffle plate, and form sliding pairs with the two circular holes respectively, the other ends of the two connecting rods are fixed to the cutting blades, and power springs are sleeved at the positions of the two connecting rods between the cutting blades and the baffle plate, and the two ends of the power springs are fixed to the baffle plate and the cutting blade.
6. A banana picking vehicle according to claim 5, characterized in that: A buffer spring is sleeved at a position between the baffle plate and the push rod on the connecting rod, and two ends of the buffer spring are fixed to the baffle plate and the convex plate integrally formed on the connecting rod.
7. The banana picking vehicle according to claim 1, characterized in that: The disc forms a rotating pair with the mounting frame through the second fixed shaft.
8. The banana picking vehicle according to claim 1, characterized in that: The driving device includes a fixed shaft three, a driving gear three, a driven gear three, a fixed shaft four, a driven gear four, a fixed shaft five and a driven gear five. The fixed shaft three, the fixed shaft four and the fixed shaft five are all vertically arranged in the installation frame two, and all form a rotating pair with the installation frame two, and the driven gear three and the driven gear four are both fixed on the fixed shaft four, the driving gear three is fixed on the fixed shaft three and meshes with the driven gear three, the driven gear five is fixed on the fixed shaft five and meshes with the driven gear four, and the fixed shaft three is driven by the driving motor five; one end of the two clamping rods is fixed to the fixed shaft four and the fixed shaft five, and the other end passes through two openings three opened on the installation frame two and is fixed to the two clamping claws.
9. A banana picking method using a banana picking vehicle according to any one of claims 1 to 8, characterized in that: The details are as follows: Step 1: The mobile trolley moves to the position of the banana bunch to be picked, and then the lifting device drives the mounting frame to drive the clamping device to rise until the two clamping claws rise to the position where there are no banana fruits on the upper end of the fruit stem of the banana bunch to be picked; Step 2: The controller controls the driving motor 1 to drive the worm to drive the worm wheel to rotate forward. At the same time, a ratchet groove on the inner wall of the worm wheel clamps the protrusion, so that the worm wheel drives the disc to rotate forward through the protrusion. The disc pulls the propulsion member and the cutting blade backward through the connecting rod, and the power spring is compressed until the cutting blade leaves the top of the two clamping claws and does not block the two clamping claws. Step 3, the mobile trolley continues to move until the stem of the banana bunch to be picked is located between the two clamping claws, and then the driving device drives the two clamping rods to drive the two clamping claws to move toward each other and clamp the stem of the banana bunch to be picked until the clamping force of the two clamping claws on the stem of the banana bunch to be picked detected by each pressure sensor 1 reaches within the preset pressure range 1; Step 4: The controller controls the driving motor 1 to drive the worm to drive the worm wheel to continue to rotate forward, and the worm wheel drives the disc to continue to rotate forward through the protrusion, and the disc pulls the propulsion member and the cutting blade to continue to move backward through the connecting rod, and the power spring is continuously compressed until the end of the connecting rod hinged to the disc passes the position farthest from the opening 1 of the mounting frame 1; then, due to the restoring force of the power spring, the power spring pushes the cutting blade to move forward quickly to cut the stems of the banana bunch to be picked, and at the same time, the cutting blade pulls the disc to continue to rotate forward through the propulsion member and the connecting rod. The worm wheel is stationary, the disc drives the protrusion to disengage from a corresponding ratchet groove on the worm wheel, and drives the protrusion to rotate forward together. In the process of the disc driving the protrusion to rotate forward, when the protrusion contacts one of the ratchets, the ratchet pushes the protrusion to move inward along the hole, and the return spring 1 is compressed. When the protrusion disengages from the ratchet, due to the restoring force of the return spring 1, the return spring 1 pushes the protrusion to embed into the next ratchet groove adjacent to the ratchet, until the cutting blade returns to the initial position, and the fruit stems of the picked banana bunch are cut off, and the protrusion is re-embedded in another ratchet groove; Step 5: The lifting device drives the mounting frame 1 to drive the clamping device and the cut banana bunches to be picked to slowly descend, and the lower end of the fruit stems of the banana bunches to be picked enters between the arc-shaped blades until the infrared sensors 1 detect that the fruit stems of the banana bunches to be picked enter the annular frame. Then the controller controls the output shaft of the driving motor 3 to rotate forward, and the output shaft of the driving motor 3 drives the screw to drive the nut block to pull the annular frame to rotate forward. The annular frame drives the supporting rods to rotate inward through the guide rail frames, and drives the supporting rods to slide along the corresponding guide rail frames, thereby driving the supporting balls and the fruit stems of the banana bunches to be picked. The second pressure sensor detects that the pressing force of each supporting ball on the fruit stem of the banana bunch to be picked reaches within the preset pressure range 2; at the same time, the controller controls the driving motor 2 to drive the driving gear 1 to drive the driven gear 1 to rotate forward, and each rolling ball rolls along the corresponding cam groove on the driven gear 1. The driven gear 1 pushes each sliding rod through each rolling ball to drive each arc-shaped blade to move inward, and each return spring 2 is compressed until the distance between each infrared sensor and the fruit stem of the banana bunch to be picked is within the preset distance range, and each arc-shaped blade is close to the fruit stem of the banana bunch to be picked; Step 6: The lifting device drives the mounting frame 1 to drive the clamping device and the cut banana bunch to be picked to continue to descend; since the diameter of the banana bunch to be picked tends to increase gradually from bottom to top, the controller then controls the driving motor 2 to drive the driving gear 1 to drive the driven gear 1 to reverse according to the distance between the infrared sensor 1 and the fruit stem of the banana bunch to be picked, and the restoring force of each return spring 2 pushes each sliding rod and each arc-shaped blade to move inward or outward, so that the distance between the infrared sensor 1 and the fruit stem of the banana bunch to be picked is always within the preset distance range; at the same time, the controller controls the driving motor 2 to drive the driving gear 1 to reverse according to the distance between the infrared sensor 1 and the fruit stem of the banana bunch to be picked. The second detected pressing force controls the third output shaft of the driving motor to reverse, and the third output shaft of the driving motor drives the screw to drive the nut block to pull the annular frame to reverse, and the annular frame drives each supporting rod to rotate outward through each guide rail frame, so that the pressing force detected by each pressure sensor second is maintained within the preset pressure range second; as the banana bunch to be picked descends, each arc-shaped blade cuts off the banana fruits and fruit stems on the banana bunch to be picked, and the cut banana fruits fall onto the conveyor belt with the conveying mechanism in the conveying device, and are transported to the water tank through the conveyor belt conveying mechanism until all the banana fruits on the banana bunch to be picked are cut off; Step 7: After the cutting of the bananas on the banana bunch to be picked is completed, the controller controls the second drive motor to drive the driving gear one to drive the driven gear one to continue to reverse, thereby driving each sliding rod and each arc-shaped blade to continue to move outward until each arc-shaped blade returns to the initial position; at the same time, the controller controls the third output shaft of the drive motor to continue to reverse, and the third output shaft of the drive motor drives the screw to drive the nut block to pull the annular frame to continue to reverse, and the annular frame drives each supporting rod to continue to rotate outward through each guide rail frame, and each supporting ball is out of contact with the banana bunch fruit stem until each supporting rod returns to the initial position; then the driving device drives the two clamping rods to drive the two clamping claws to be moved to the original position, loosening the banana bunch fruit stem, and the banana bunch fruit stem passes through the second opening on the vehicle body under the action of its own gravity and falls to the ground, thereby completing the picking of the banana fruits on the banana bunch to be picked.
Citation Information
Patent Citations
Visual positioning comb-falling picking method and device for large bunches of bananas
CN114711029A
AU4376900A