High-altitude picking equipment and branch picking method

Abstract

The present invention relates to the technical field of picking equipment, and in particular to a high-altitude picking equipment and a branch picking method, comprising: a connecting rod, an execution rod, a first driving device and a hammering device; the middle section of the execution rod is rotatably connected to the head end of the connecting rod, and the flipping direction of the execution rod faces the tail end of the connecting rod; the first driving device is arranged on the execution rod and connected to the head end of the connecting rod, and is used to drive the execution rod to flip; the hammering device is arranged on the top of the execution rod, and the hammering device is located on the side wall of the execution rod facing the connecting rod, and is used to hammer the execution rod. When using this equipment to pick pine cones, by connecting the execution rod to the target branch and using the impact device to impact the execution rod, the target branch is driven to vibrate, and the pine cones grown on the target branch are shaken off to the ground for collection, which greatly improves the working efficiency of the equipment, solves the defect of low working efficiency in the prior art, and has the characteristics of strong convenience of use.

Description

Technical Field

[0001] The present invention relates to the technical field of picking equipment, and in particular to a high-altitude picking equipment and a branch picking method. Background Art

[0002] In real life, when picking cones of tall trees such as red pine, larch, spruce, and larch, the traditional picking method is: the pickers climb to the top of the tree and shake the branches of the tree to shake the cones to the ground, thus completing the picking of the cones; in order to improve the efficiency of picking operations and reduce the risks of picking operations, another cone picking method is: the pickers stand on the working platform of the aerial work vehicle, and the driver drives the aerial work vehicle to lift the pickers into the air and place the pickers on the outside of the tree crown, and then the pickers use picking tools to reach into the tree crown to pick the cones.

[0003] In the prior art, a Chinese invention patent with application publication number CN108391516A proposes a high-branch picking tool, including a picking end, an operating mechanism, a net bag seat ring, a net bag, and a seat rod. The picking end is provided with a moving blade, a fixed blade and a return spring, and the fixed blade is provided with a first tail handle. The operating mechanism includes a pulley block, a pull rope and a long rod, and also includes a bracket fixed on the net bag seat ring, the bracket is hinged to the first tail handle, and the tail end of the first tail handle is provided with a retractable lock tongue that can be locked in a horizontal state and a vertical state respectively.

[0004] However, for tall trees such as red pine, larch, spruce, and larch, since their cones are light in weight and hard in hardness, using the above-mentioned high-branch picking tools to pick the cones one by one has the defect of low work efficiency compared to traditional picking methods. Summary of the invention

[0005] In view of the technical problem of low working efficiency in the prior art, the first embodiment of the present invention provides a high-altitude picking device, comprising: a connecting rod, an execution rod, a first driving device and a hammering device;

[0006] The middle section of the actuator rod is rotatably connected to the head end of the connecting rod, and the flipping direction of the actuator rod faces the tail end of the connecting rod;

[0007] The first driving device is arranged on the actuating rod, and the first driving device is connected to the head end of the connecting rod, and is used for driving the actuating rod to flip;

[0008] The hammer device is arranged at the top end of the execution rod. The hammer device is located on the side wall of the execution rod facing the connecting rod and is used for hammering the execution rod.

[0009] Furthermore, the device further comprises: a limit block, which is fixedly arranged at the bottom end of the actuator rod, and the limit block is located on the side wall of the actuator rod facing the connecting rod.

[0010] Furthermore, the device also includes: a first guide hole, a linear module, a sliding bracket, a first motor and a cutting saw blade;

[0011] The first guide hole is formed on the connecting rod, and the first guide hole is arranged along the axial direction of the connecting rod;

[0012] The sliding bracket is slidably arranged on the connecting rod;

[0013] The linear module is fixedly arranged on the connecting rod, and the execution end of the linear module passes through the first guide hole and is connected to the sliding bracket, so as to drive the sliding bracket to slide along the guide of the first guide hole;

[0014] The first motor is fixedly arranged on the sliding bracket;

[0015] The cutting saw blade is rotatably arranged on the sliding bracket, and the cutting saw blade is connected to the driving end of the first motor.

[0016] Furthermore, the device also includes: a base, a telescopic device, a driving handle and a second driving device;

[0017] The base is fixedly arranged on the working platform of the external aerial work vehicle;

[0018] The telescopic device is rotatably arranged on the base, and the execution end of the telescopic device is rotatably connected to the tail end of the connecting rod;

[0019] The driving handle is fixedly arranged on the telescopic device and is used to drive the telescopic device to rotate;

[0020] The second driving device is arranged at the execution end of the telescopic device, and is connected to the tail end of the connecting rod, and is used to drive the connecting rod to flip toward or away from the telescopic device.

[0021] Furthermore, the device also comprises: a pair of guide modules, a first traction rope, a first hook and a winding module;

[0022] A pair of guide modules are respectively arranged at the top end and the bottom end of the actuator rod;

[0023] The first traction rope is connected to a pair of guide modules;

[0024] The first hook is detachably mounted on the head end of the first traction rope;

[0025] The winding module is fixedly arranged on the outer side of the execution rod, and the winding module is connected with the first traction rope.

[0026] Further, the guide module comprises: an assembly cavity, a second guide hole, a double-headed screw, a second motor, a pair of nuts and a pair of guide members;

[0027] The assembly cavity is arranged inside the actuator rod, and the assembly cavity is arranged along the radial direction of the actuator rod;

[0028] The second guide hole is formed on the outer wall of the actuator rod, the second guide hole is arranged along the axial direction of the assembly cavity, and the second guide hole is exposed to the side wall surface of the actuator rod facing away from the connecting rod;

[0029] The double-headed screw is arranged inside the assembly cavity, the double-headed screw is arranged along the axial direction of the assembly cavity, and the two ends of the double-headed screw are respectively rotatably connected to the inner wall of the assembly cavity;

[0030] The second motor is fixedly arranged on the actuator rod, and the driving end of the second motor is connected to the double-headed screw rod to drive the double-headed screw rod to rotate;

[0031] A pair of nuts are sleeved on the double-headed screw, and the nuts are respectively threadedly connected with the threaded sections of the double-headed screw;

[0032] A pair of guide members are respectively fixedly arranged on a pair of nuts, and the pair of guide members pass through the second guide holes and protrude from the outer surface of the actuator rod.

[0033] Furthermore, the winding module comprises: an assembly bracket, an I-shaped wheel, a third motor, a second traction rope and a second hook;

[0034] The assembly bracket is fixedly arranged on the outer side of the actuator rod;

[0035] The I-shaped wheel is rotatably arranged on the assembly bracket;

[0036] The second traction rope is rolled up on the spool;

[0037] The second hook is arranged at the head end of the second traction rope, and the second hook is connected to the tail end of the first traction rope.

[0038] The second embodiment of the present invention provides a method for picking branches, which uses the above-mentioned high-altitude picking equipment to pick branches, and includes the following steps:

[0039] Hover the actuator rod to one side of the target branch;

[0040] Tie the first traction rope to the target branch;

[0041] Drive the actuator rod to move, and clamp the actuator rod between the actuator rod and the connecting rod;

[0042] Cut off the target branch;

[0043] The I-shaped wheel releases the first traction rope and the second traction rope to transfer the target branch to the ground.

[0044] Furthermore, the step of fastening the first traction rope to the target branch includes the following sub-steps:

[0045] The I-shaped wheel releases the first traction rope, so that the head end of the first traction rope hangs down to the other side of the target branch;

[0046] Separate the tail end of the first traction rope from the second hook, and pass the first hook through the inner cavity of the first traction rope to connect with the second hook;

[0047] The I-shaped wheel is driven to reel in the first traction rope, so that the tail end of the first traction rope slides toward the target branch along the guide of the first traction rope, thereby fastening the target branch.

[0048] Furthermore, in the process of the tail end of the first traction rope sliding toward the target branch along the guide of the first traction rope, when the tail end of the first traction rope slides to the position of the guide module located at the bottom end of the actuator rod, a pair of guide members of the guide module located at the bottom end of the actuator rod opens, and after the tail end of the first traction rope slides to the position of the target branch, the pair of guide members of the guide module located at the bottom end of the actuator rod closes, and the pair of guide members of the guide module located at the top end of the actuator rod opens.

[0049] The high-altitude picking device and branch picking method according to the embodiments of the present invention have the following beneficial effects:

[0050] 1. When using this device to pick pine cones, the actuator rod is connected to the target branch, and then the impact device is used to impact the actuator rod, thereby driving the target branch to vibrate, and the pine cones growing on the target branch are shaken off to the ground for collection, which greatly improves the working efficiency of the device and solves the defect of low working efficiency in the prior art.

[0051] 2. The device is provided with a first traction rope and a pair of guide modules, so that the first traction rope can be extended into the tree crown along with the actuator rod, so as to use the first traction rope to bind and fix the target branch, and after the target branch is cut off, the target branch can be lowered to the ground by the winding module and the first traction rope, so that the user can collect the target branch. Compared with a high-branch picking tool in the prior art, the device eliminates the restrictions of the net bag in a high-branch picking tool on the shape and volume of the target branch, and is more conducive to the actuator rod and the connecting rod of the device to extend into the tree crown area, without worrying about the problem of branches hanging on the net bag, thereby enhancing the convenience of use of the device.

[0052] 3. The telescopic device is rotatably arranged on the base, so that the telescopic device can drive the connecting rod and the actuator rod to deflect a certain angle along the circumference of the telescopic device, thereby enhancing the use flexibility of the device.

[0053] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1is a perspective view from the front side according to the first embodiment of the present invention;

[0055] Figure 2 is a perspective view from the rear side according to the first embodiment of the present invention;

[0056] Figure 3 A parts diagram of a first traction rope according to a first embodiment of the present invention;

[0057] Figure 4 is a schematic diagram of the assembly of a guide module according to a first embodiment of the present invention (the actuator rod is processed in perspective);

[0058] Figure 5 FIG. 1 is a schematic diagram of the assembly of a winding module according to the first embodiment of the present invention.

[0059] Description of the accompanying drawings:

[0060] 11-connecting rod, 12-executing rod, 13-first driving device, 14-hammering device, 15-limiting block, 21-first guide hole, 22-linear module, 23-sliding bracket, 24-cutting saw blade, 31-base, 32-telescopic device, 33-driving handle, 34-second driving device, 41-guide module, 411-assembly cavity, 412-second guide hole, 413-double-headed screw, 414-second motor, 415-nut, 416-guide piece, 51-first traction rope, 511-head end of the first traction rope, 512-tail end of the first traction rope, 513-inner cavity of the first traction rope, 514-middle section of the first traction rope, 61-first hook, 62-winding module, 621-assembly bracket, 622-I-shaped wheel, 623-third motor, 624-second traction rope, 625-second hook. DETAILED DESCRIPTION

[0061] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0062] The above and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only reference directions of the accompanying drawings. Therefore, the directional terms used are used to illustrate and not to limit the present invention. In addition, in all embodiments, the same reference numerals represent the same elements.

[0063] First, combine Figures 1 to 5 The high-altitude picking equipment and the branch picking method according to the present invention are described, which are used to pick cones, flowers and branches of tall trees such as red pine, larch, spruce and larch, and have a wide range of application scenarios.

[0064] like Figure 1 , 2 As shown, a high-altitude picking device according to an embodiment of the present invention includes: a connecting rod 11, an execution rod 12, a first driving device 13 and a hammering device 14.

[0065] Specifically, Figure 1 , 2 As shown, the middle section of the actuator rod 12 is rotatably connected to the head end of the connecting rod 11, and the flipping direction of the actuator rod 12 faces the tail end of the connecting rod 11; the first driving device 13 is arranged on the actuator rod 12, and the first driving device 13 is connected to the head end of the connecting rod 11, and is used to drive the actuator rod 12 to flip; the hammering device 14 is arranged at the top end of the actuator rod 12, and the hammering device 14 is located on the side wall of the actuator rod 12 facing the connecting rod 11, and is used to hammer the actuator rod 12.

[0066] Preferably, in this embodiment, the first driving device 13 includes: a first attitude adjustment motor and a first elastic coupling, the first attitude adjustment motor is fixedly arranged at the head end of the connecting rod 11, one of the connecting ends of the first elastic coupling is fixedly connected to the driving end of the first attitude adjustment motor, and the other connecting end of the first elastic coupling is connected to the actuator rod 12, so as to drive the actuator rod 12 to flip.

[0067] Preferably, in the present embodiment, the hammer device 14 comprises: a bearing shell, a guide member 416, a telescopic rod, a driving motor, a cam, a connecting rod and a counterweight; the counterweight is fixedly arranged on the bearing shell; the guide member 416 is fixedly arranged on the bearing shell; the telescopic rod is slidably arranged on the guide member 416, and the telescopic rod can perform reciprocating telescopic motion along the guide of the guide member 416, and the head end of the telescopic rod is fixedly connected to the actuator rod 12; the driving motor is fixedly arranged on the bearing shell; the cam is fixedly arranged on the driving end of the driving motor, and the eccentric wheel can perform eccentric rotation under the drive of the driving motor; the head end of the connecting rod is hinged to the eccentric wheel, and the tail end of the connecting rod is hinged to the tail end of the telescopic rod, and under the transmission of the connecting rod, the telescopic rod performs telescopic reciprocating motion along the guide of the guide member 416, and then in the process of the telescopic reciprocating motion of the telescopic rod, the telescopic rod drives the bearing shell and the counterweight to continuously impact the actuator rod 12, causing the actuator rod 12 to vibrate.

[0068] Further, if Figure 1 , 2 As shown, the device further comprises: a limit block 15 , which is fixedly arranged at the bottom end of the actuator rod 12 , and the limit block 15 is located on the side wall of the actuator rod 12 facing the connecting rod 11 .

[0069] Further, if Figure 1 , 2As shown, the device also includes: a first guide hole 21, a linear module 22, a sliding bracket 23, a first motor (not shown in the figure) and a cutting saw blade 24; the first guide hole 21 is opened on the connecting rod 11, and the first guide hole 21 is arranged along the axial direction of the connecting rod 11; the sliding bracket 23 is slidably arranged on the connecting rod 11; the linear module 22 is fixedly arranged on the connecting rod 11, and the execution end of the linear module 22 passes through the first guide hole 21 and is connected to the sliding bracket 23, which is used to drive the sliding bracket 23 to slide along the guide of the first guide hole 21; the first motor is fixedly arranged on the sliding bracket 23; the cutting saw blade 24 is rotatably arranged on the sliding bracket 23, and the cutting saw blade 24 is connected to the driving end of the first motor.

[0070] Further, if Figure 1 , 2 As shown, the device also includes: a base 31, a telescopic device 32, a driving handle 33 and a second driving device 34; the base 31 is fixedly arranged on the working platform of the external aerial work vehicle; the telescopic device 32 is rotatably arranged on the base 31, and the execution end of the telescopic device 32 is rotatably connected to the tail end of the connecting rod 11; the driving handle 33 is fixedly arranged on the telescopic device 32, and is used to drive the telescopic device 32 to rotate; the second driving device 34 is arranged at the execution end of the telescopic device 32, and the second driving device 34 is connected to the tail end of the connecting rod 11, and is used to drive the connecting rod 11 to flip toward or away from the telescopic device 32.

[0071] Preferably, in this embodiment, the second driving device 34 includes: a second attitude adjustment motor and a second elastic coupling; the second attitude adjustment motor is fixedly arranged at the execution end of the telescopic device 32; one of the connecting ends of the second elastic coupling is fixedly connected to the driving end of the second attitude adjustment motor, and the other connecting end of the second elastic coupling is connected to the tail end of the connecting rod 11, so as to drive the connecting rod 11 to flip.

[0072] Further, if Figures 1 to 3 As shown, the device also includes: a pair of guide modules 41, a first traction rope 51, a first hook 61 and a winding module 62; the pair of guide modules 41 are respectively arranged at the top end of the actuator rod 12 and the bottom end of the actuator rod 12; the first traction rope 51 is connected to the pair of guide modules 41, and preferably, the first traction rope 51 is annular in structure; the first hook 61 is detachably mounted on the head end 511 of the first traction rope; the winding module 62 is fixedly arranged on the outside of the actuator rod 12, and the winding module 62 is connected to the first traction rope 51.

[0073] Further, if Figures 1 to 4As shown, the guide module 41 includes: an assembly cavity 411, a second guide hole 412, a double-headed screw 413, a second motor 414, a pair of nuts 415 and a pair of guide members 416; the assembly cavity 411 is arranged inside the actuator rod 12, and the assembly cavity 411 is arranged along the radial direction of the actuator rod 12; the second guide hole 412 is opened on the outer wall of the actuator rod 12, and the second guide hole 412 is arranged along the axial direction of the assembly cavity 411, and the second guide hole 412 is exposed to the side wall surface of the actuator rod 12 on the side facing away from the connecting rod 11; the double-headed screw 413 is arranged inside the assembly cavity 411, and the double-headed screw 413 is arranged along the axial direction of the assembly cavity 411 The two ends of the double-headed screw 413 are rotatably connected to the inner wall of the assembly cavity 411 respectively; the second motor 414 is fixedly arranged on the actuator rod 12, and the driving end of the second motor 414 is connected to the double-headed screw 413, which is used to drive the double-headed screw 413 to rotate; a pair of nuts 415 are sleeved on the double-headed screw 413, and the nuts 415 are threadedly connected to the threaded sections of the double-headed screw 413 respectively; a pair of guide members 416 are fixedly arranged on the pair of nuts 415, and the pair of guide members 416 pass through the second guide hole 412 and protrude from the outer surface of the actuator rod 12, and the middle section 514 of the first traction rope passes through the gap between the pair of guide members 416.

[0074] In this embodiment, when the guide module 41 controls its pair of guide members 416 to open, the second motor 414 drives the double-headed screw 413 to rotate forward, and the double-headed screw 413 drives the pair of nuts 415 to move away from each other, thereby driving the pair of guide members 416 to move away from each other, so that a gap is generated between the bottom ends of the pair of guide members 416; when the guide module 41 controls the pair of guide members 416 to close, the second motor 414 drives the double-headed screw 413 to rotate reversely, and the double-headed screw 413 drives the pair of nuts 415 to move toward each other, thereby driving the pair of guide members 416 to move toward each other, thereby eliminating the gap between the bottom ends of the pair of guide members 416.

[0075] Further, if Figures 1 to 3 As shown in Figure 5, the winding module 62 includes: an assembly bracket 621, an I-shaped wheel 622, a third motor 623, a second traction rope 624 and a second hook 625; the assembly bracket 621 is fixedly arranged on the telescopic device 32, and the assembly bracket 621 is located on the outside of the actuator 12; the I-shaped wheel 622 is rotatably arranged on the assembly bracket 621; the second traction rope 624 is wound on the I-shaped wheel 622; the second hook 625 is arranged at the head end of the second traction rope 624, and the second hook 625 is connected to the tail end 512 of the first traction rope.

[0076] When the user uses the present device to pick pine cones, first, the driver drives the aerial work vehicle to drive its working platform to rise, and lifts the user to the outside of the crown of the target pine tree; next, the user controls the telescopic device 32 to start, and lifts the connecting rod 11 and the executing rod 12 to the height of the target branch, and then, the second driving device 34 is started, driving the connecting rod 11 to flip outward, and then driving the executing rod 12 to move to the outside of the target branch, after which the telescopic device 32, the first driving device 13 and the second driving device 34 operate synchronously, so as to clamp and fix the target branch in the triangular area between the connecting rod 11, the executing rod 12 and the limit block 15; finally, the hammering device 14 is started, and the hammering device 14 continuously hammers the top of the executing rod 12, so that the executing rod 12 and the connecting rod 11 vibrate synchronously, and then drives the target branch to vibrate, so as to vibrate the pine cones growing on the target branch to the ground, and after the user returns to the ground, the pine cones dropped on the ground are collected to complete the whole process of picking pine cones.

[0077] In this embodiment, after the user hovers the actuator rod 12 to the outside of the target branch, the user can further adjust the position of the actuator rod 12 so that the side wall surface of the actuator rod 12 facing away from the connecting rod 11 abuts against the branch. After the hammer device 14 drives the actuator rod 12 to vibrate, the user can adjust the position and inclination direction of the actuator rod 12 to further adjust the vibration direction of the target branch. When the branch vibrates, it can shake toward the area with larger space in the crown, thereby reducing the resistance of the branch from other branches during the shaking process.

[0078] When the user uses the present device to pick branches, first, the driver drives the aerial work vehicle to drive its work platform to rise, and lifts the user to the outside of the crown of the target pine tree; next, the user controls the telescopic device 32 to start, and lifts the connecting rod 11 and the execution rod 12 to the height of the target branch, and then the second driving device 34 is started, driving the connecting rod 11 to flip outward, and then driving the execution rod 12 to move to one side of the target branch; next, the third motor 623 drives the I-shaped wheel 622 to rotate forward by a certain angle, so that the I-shaped wheel 622 releases a part of the length of the first traction rope 51, so that the first hook 61 detachably mounted on the head end 511 of the first traction rope is blown to the other side of the target branch, and then, The user uses a bent rod to hook the first hook 61 and pulls it toward the working platform of the aerial work vehicle. During this process, the user passes the first hook 61 detachably mounted on the head end 511 of the first traction rope through the inner cavity 513 of the first traction rope, so that the first traction rope 51 wraps around the target branch. After the first hook 61 passes through the inner cavity 513 of the first traction rope, the user hooks the first hook 61 to the second hook 625 and removes the tail end 512 of the first traction rope from the second hook 625. Next, the third motor 623 drives the I-shaped wheel 622 to rotate in the opposite direction by a certain angle, so that the I-shaped wheel 622 reels the first traction rope 51 for a distance, tightens the first traction rope 51, and makes the tail end 512 of the first traction rope The first traction rope 51 slides along the guide of the first traction rope 51 toward the target branch; in the process of sliding the first traction rope 51 toward the target branch along the guide of the first traction rope 51, the tail end 512 of the first traction rope will pass through the guide module 41 at the bottom end of the actuator rod 12. When the tail end 512 of the first traction rope passes through the guide module 41 at the bottom end of the actuator rod 12, the guide module 41 at the bottom end of the actuator rod 12 controls its pair of guide members 416 to open, and the first traction rope 51 passing between the pair of guide members 416 of the guide module 41 at the bottom end of the actuator rod 12 is disengaged, so that the tail end 512 of the first traction rope can slide toward the target branch through the guide module 41 at the bottom end of the actuator rod 12. After the tail end 512 of the first traction rope is able to pass through the guide module 41 located at the bottom end of the actuator rod 12, the first drive device 13 drives the actuator rod 12 to flip a certain angle, so that the middle section 514 of the first traction rope re-enters the cavity between the pair of guide members 416 located at the bottom end of the actuator rod 12, and then, the guide module 41 located at the bottom end of the actuator rod 12 controls its pair of guide members 416 to close, so that the first traction rope 51 still maintains the state of passing through the pair of guide members 416 located at the bottom end of the actuator rod 12; thereafter, the guide module 41 located at the top end of the actuator rod 12 controls its pair of guide members 416 to open, so that the first traction rope 51 escapes from the cavity between the pair of guide members 416 located at the top end of the actuator rod 12.

[0079] Next, the telescopic device 32 and the second driving device 34 drive the connecting rod 11 and the executing rod 12 to move synchronously with the first driving device 13, and clamp the target branch in the triangular area between the connecting rod 11, the executing rod 12 and the limit block 15. At the same time, the third motor 623 drives the I-wheel 622 to rotate in coordination, so that before the connecting rod 11, the executing rod 12 and the limit block 15 clamp the target branch, the I-wheel 622 tightens the first traction rope 51, and then fastens the tail end 512 of the first traction rope to the target branch; then, the first motor drives the cutting saw blade 24 to rotate, and at the same time, the linear module 22 drives the sliding bracket 23 to move along the guide of the first guide hole 21 toward the triangular area surrounded by the connecting rod 11, the executing rod 12 and the limit block 15, and finally achieves the purpose of cutting off the target branch located in the triangular area.

[0080] After the target branch is cut off, the user controls the telescopic device 32 to rotate a certain angle along its circumference by controlling the driving handle 33. In coordination with this, the driver drives the aerial work vehicle to move one end distance, so that the connecting rod 11, the driving rod and the limit block 15 bring the target branch away from the crown area of ​​the pine tree. After that, the third motor 623 drives the I-wheel 622 to rotate in the opposite direction, so that the I-wheel 622 releases the first traction rope 51 and the second traction rope 624, thereby lowering the target branch to the ground, thereby completing the whole process of collecting the target branch of the pine tree.

[0081] like Figures 1 to 5 As shown, the second embodiment of the present invention proposes a branch picking method, which uses the above-mentioned high-altitude picking equipment to pick branches, and includes the following steps:

[0082] Step S1: The execution rod 12 is suspended on one side of a target branch.

[0083] The specific execution steps of step S1 are as follows: first, the driver drives the aerial work vehicle to drive its work platform to rise, and lifts the user to the outside of the crown of the target pine tree; next, the user controls the telescopic device 32 to start, and lifts the connecting rod 11 and the execution rod 12 to the height of the target branch, and then, the second driving device 34 is started, driving the connecting rod 11 to flip outward, and then driving the execution rod 12 to move to one side of the target branch.

[0084] Step S2: Tighten the first traction rope 51 to the target branch.

[0085] Further, if Figures 1 to 5 As shown, the step of fastening the first traction rope 51 to the target branch includes the following sub-steps:

[0086] Step S21: The I-shaped wheel 622 releases the first traction rope 51, so that the head end 511 of the first traction rope hangs down to the other side of the target branch.

[0087] The specific execution steps of step S21 are as follows: the third motor 623 drives the I-shaped wheel 622 to rotate forward by a certain angle, so that the I-shaped wheel 622 releases a portion of the first traction rope 51, so that the first hook 61 detachably installed at the head end 511 of the first traction rope is blown to the other side of the target branch.

[0088] Step S22: Separate the tail end 512 of the first traction rope from the second hook 625 , and pass the first hook 61 through the inner cavity 513 of the first traction rope to connect with the second hook 625 .

[0089] The specific execution steps of step S22 are as follows: the user uses a bent rod to hook the first hook 61 and pulls it toward the working platform of the aerial work vehicle. During this process, the user passes the first hook 61 detachably mounted on the head end 511 of the first traction rope through the inner cavity 513 of the first traction rope, so that the first traction rope 51 wraps around the target branch. After the first hook 61 passes through the inner cavity 513 of the first traction rope, the user hooks the first hook 61 onto the second hook 625 and removes the tail end 512 of the first traction rope from the second hook 625.

[0090] Step S23: driving the I-shaped wheel 622 to reel in the first traction rope 51, so that the tail end 512 of the first traction rope slides toward the target branch along the guide of the first traction rope 51, thereby fastening the target branch.

[0091] Further, in the process of the tail end 512 of the first traction rope sliding toward the target branch along the guide of the first traction rope 51, when the tail end 512 of the first traction rope slides to the position of the guide module 41 located at the bottom end of the actuator rod 12, the pair of guide members 416 of the guide module 41 located at the bottom end of the actuator rod 12 opens, and after the tail end 512 of the first traction rope slides to the position of the target branch, the pair of guide members 416 of the guide module 41 located at the bottom end of the actuator rod 12 closes, and the pair of guide members 416 of the guide module 41 located at the top end of the actuator rod 12 opens.

[0092] The specific execution steps of step S23 are as follows: the third motor 623 drives the I-shaped wheel 622 to rotate in the opposite direction by a certain angle, so that the I-shaped wheel 622 reels the first traction rope 51 for a distance, tightens the first traction rope 51, and causes the tail end 512 of the first traction rope to slide along the guide of the first traction rope 51 toward the target tree branch; in the process of the first traction rope 51 end sliding along the guide of the first traction rope 51 toward the target tree branch, the tail end 512 of the first traction rope will pass through the position of the guide module 41 located at the bottom end of the actuator rod 12. When the tail end 512 of the first traction rope passes through the position of the guide module 41 located at the bottom end of the actuator rod 12, the guide module 41 located at the bottom end of the actuator rod 12 controls its pair of guide members 416 to open, and the first traction rope 51 passing between the pair of guide members 416 of the guide module 41 located at the bottom end of the actuator rod 12 is disengaged, so that the tail end 512 of the first traction rope It can slide toward the target branch through the guide module 41 located at the bottom end of the actuator rod 12. After the tail end 512 of the first traction rope can pass through the guide module 41 located at the bottom end of the actuator rod 12, the first driving device 13 drives the actuator rod 12 to flip a certain angle, so that the middle section 514 of the first traction rope re-enters the cavity between the pair of guide members 416 located at the bottom end of the actuator rod 12, and then, the guide module 41 located at the bottom end of the actuator rod 12 controls its pair of guide members 416 to close, so that the first traction rope 51 still maintains the state of passing through the pair of guide members 416 located at the bottom end of the actuator rod 12; thereafter, the guide module 41 located at the top end of the actuator rod 12 controls its pair of guide members 416 to open, so that the first traction rope 51 escapes from the cavity between the pair of guide members 416 located at the top end of the actuator rod 12, thereby releasing the first traction rope 51.

[0093] Step S3: driving the actuating rod 12 to move, and clamping and fixing the actuating rod 12 between the actuating rod 12 and the connecting rod 11 .

[0094] The specific execution steps of step S3 are as follows: the telescopic device 32, the second driving device 34 and the first driving device 13 drive the connecting rod 11 and the executing rod 12 to move synchronously, and clamp the target branch in the triangular area between the connecting rod 11, the executing rod 12 and the limit block 15. At the same time, the third motor 623 drives the I-shaped wheel 622 to rotate in coordination, and before the connecting rod 11, the executing rod 12 and the limit block 15 clamp the target branch, the I-shaped wheel 622 tightens the first traction rope 51, and then fastens the tail end 512 of the first traction rope to the target branch.

[0095] Step S4: Cut off the target branch.

[0096] The specific execution steps of step S4 are as follows: the first motor drives the cutting saw blade 24 to rotate. At the same time, the linear module 22 drives the sliding bracket 23 to move along the guide direction of the first guide hole 21 toward the triangular area surrounded by the connecting rod 11, the actuator rod 12 and the limit block 15 to achieve the purpose of cutting off the target branch located in the triangular area.

[0097] Step S5: The I-shaped wheel 622 releases the first traction rope 51 and the second traction rope 624 to transfer the target branch to the ground.

[0098] The specific execution steps of step S5 are as follows: the user controls the telescopic device 32 to rotate a certain angle along its circumferential direction by controlling the driving handle 33, and the driver drives the aerial work vehicle to move one end distance in coordination with it, so that the connecting rod 11, the driving rod and the limit block 15 bring the target branch away from the crown area of ​​the pine tree. After that, the third motor 623 drives the I-wheel 622 to rotate in the opposite direction, so that the I-wheel 622 releases the first traction rope 51 and the second traction rope 624, thereby lowering the target branch to the ground.

[0099] Above, refer to Figures 1 to 5 The high-altitude picking device and the branch picking method according to the embodiments of the present invention are described, which have the following beneficial effects:

[0100] 1. When using this device to pick pine cones, the actuator rod is connected to the target branch, and then the impact device is used to impact the actuator rod, thereby driving the target branch to vibrate, and the pine cones growing on the target branch are shaken off to the ground for collection, which greatly improves the working efficiency of the device and solves the defect of low working efficiency in the prior art.

[0101] 2. The device is provided with a first traction rope and a pair of guide modules, so that the first traction rope can be extended into the tree crown along with the actuator rod, so as to use the first traction rope to bind and fix the target branch, and after the target branch is cut off, the target branch can be lowered to the ground by the winding module and the first traction rope, so that the user can collect the target branch. Compared with a high-branch picking tool in the prior art, the device eliminates the restrictions of the net bag in a high-branch picking tool on the shape and volume of the target branch, and is more conducive to the actuator rod and the connecting rod of the device to extend into the tree crown area, without worrying about the problem of branches hanging on the net bag, thereby enhancing the convenience of use of the device.

[0102] 3. The telescopic device is rotatably arranged on the base, so that the telescopic device can drive the connecting rod and the actuator rod to deflect a certain angle along the circumference of the telescopic device, thereby enhancing the use flexibility of the device.

[0103] It should be noted that, in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0104] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A high-altitude picking device, characterized in that: It includes: a connecting rod, an execution rod, a first driving device, a hammering device, a pair of guide modules, a first traction rope, a first hook and a winding module; The middle section of the actuator rod is rotatably connected to the head end of the connecting rod, and the flipping direction of the actuator rod faces the tail end of the connecting rod; The first driving device is arranged on the actuating rod, and the first driving device is connected to the head end of the connecting rod, and is used for driving the actuating rod to flip; The hammer device is arranged at the top end of the actuator rod, and the hammer device is located on the side wall of the actuator rod facing the connecting rod, and is used to hammer the actuator rod; The pair of guide modules are respectively arranged at the top end of the actuator rod and the bottom end of the actuator rod; The first traction rope is connected to the pair of guide modules; The first hook is detachably mounted on the head end of the first traction rope; The winding module is fixedly arranged on the outer side of the actuator rod, and the winding module is connected to the first traction rope; The guide module comprises: an assembly cavity, a second guide hole, a double-headed screw, a second motor, a pair of nuts and a pair of guide members; The assembly cavity is arranged inside the actuator rod, and the assembly cavity is arranged along the radial direction of the actuator rod; The second guide hole is formed on the outer wall of the actuator rod, the second guide hole is arranged along the axial direction of the assembly cavity, and the second guide hole is exposed to the side wall surface of the actuator rod facing away from the connecting rod; The double-headed screw is arranged inside the assembly cavity, the double-headed screw is arranged along the axial direction of the assembly cavity, and the two ends of the double-headed screw are respectively rotatably connected to the inner wall of the assembly cavity; The second motor is fixedly arranged on the actuator rod, and the driving end of the second motor is connected to the double-headed screw rod to drive the double-headed screw rod to rotate; The pair of nuts are sleeved on the double-headed screw, and the nuts are respectively threadedly connected with the threaded sections of the double-headed screw; The pair of guide members are fixedly arranged on the pair of nuts respectively, and the pair of guide members pass through the second guide holes and protrude from the outer surface of the actuator rod.

2. The high-altitude picking equipment according to claim 1, characterized in that: It also includes: a limit block, which is fixedly arranged at the bottom end of the execution rod, and the limit block is located on the side wall of the execution rod facing the connecting rod.

3. The high-altitude picking equipment according to claim 1, characterized in that: It also includes: a first guide hole, a linear module, a sliding bracket, a first motor and a cutting saw blade; The first guide hole is formed on the connecting rod, and the first guide hole is arranged along the axial direction of the connecting rod; The sliding bracket is slidably arranged on the connecting rod; The linear module is fixedly arranged on the connecting rod, and the execution end of the linear module passes through the first guide hole and is connected to the sliding bracket, so as to drive the sliding bracket to slide along the guide of the first guide hole; The first motor is fixedly arranged on the sliding bracket; The cutting saw blade is rotatably arranged on the sliding bracket, and the cutting saw blade is connected to the driving end of the first motor.

4. The high-altitude picking equipment according to claim 1, characterized in that: It also includes: a base, a telescopic device, a driving handle and a second driving device; The base is fixedly arranged on the working platform of the external aerial work vehicle; The telescopic device is rotatably arranged on the base, and the execution end of the telescopic device is rotatably connected to the tail end of the connecting rod; The driving handle is fixedly arranged on the telescopic device and is used to drive the telescopic device to rotate; The second driving device is arranged at the execution end of the telescopic device, and is connected to the tail end of the connecting rod, and is used to drive the connecting rod to flip toward or away from the telescopic device.

5. The high-altitude picking equipment according to claim 1, characterized in that: The winding module comprises: an assembly bracket, an I-shaped wheel, a third motor, a second traction rope and a second hook; The assembly bracket is fixedly arranged on the outer side of the actuator rod; The I-shaped wheel is rotatably arranged on the assembly bracket; The second traction rope is wound on the spool; The second hook is arranged at the head end of the second traction rope, and the second hook is connected to the tail end of the first traction rope.

6. A method for picking branches, using the high-altitude picking equipment as claimed in claim 5, characterized in that: The following steps are included: Suspending the execution rod on one side of the target branch; tying the first traction rope to the target branch; Driving the actuator rod to move, clamping and fixing the actuator rod between the actuator rod and the connecting rod; cutting off the target branch; The I-shaped wheel releases the first traction rope and the second traction rope to transfer the target branch to the ground.

7. The branch picking method according to claim 6, characterized in that: The step of fastening the first traction rope to the target branch includes the following sub-steps: The I-shaped wheel releases the first traction rope, so that the head end of the first traction rope hangs down to the other side of the target branch; Separate the tail end of the first traction rope from the second hook, and pass the first hook through the inner cavity of the first traction rope to connect with the second hook; The I-shaped wheel is driven to reel in the first traction rope, so that the tail end of the first traction rope slides toward the target branch along the guide of the first traction rope, thereby fastening the target branch.

8. The branch picking method according to claim 7, characterized in that: In the process that the tail end of the first traction rope slides toward the target branch along the guide of the first traction rope, when the tail end of the first traction rope slides to the position of the guide module located at the bottom end of the actuator rod, the pair of guide members of the guide module located at the bottom end of the actuator rod opens; after the tail end of the first traction rope slides to the position of the target branch, the pair of guide members of the guide module located at the bottom end of the actuator rod closes, and the pair of guide members of the guide module located at the top end of the actuator rod opens.

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