A high-altitude picking device

Abstract

The present invention provides a high-altitude picking equipment, including a traveling vehicle, a mechanical arm and a picking and cutting device; the lower end of the mechanical arm is connected to the traveling vehicle through a first rotating assembly, and the picking and cutting device is connected to the upper end of the mechanical arm; the picking and cutting device includes an arc-shaped support body, an arc-shaped slide rail, a hook mechanism, a slide rail driving mechanism, a cutting mechanism and a hopper; a movable channel is formed in the arc-shaped support body, and the arc-shaped slide rail is slidably assembled in the movable channel; the hook mechanism is arranged at one end of the arc-shaped support body, the slide rail driving mechanism is arranged on the arc-shaped support body, and the slide rail driving mechanism is connected to the arc-shaped slide rail in a transmission manner; the cutting mechanism is arranged on the arc-shaped slide rail and is located at one end away from the hook mechanism; the hopper is arranged on the outer side of the arc-shaped slide rail, the hopper and the cutting mechanism are at the same end of the arc-shaped slide rail, and the hopper is located below the cutting mechanism. The advantages of the present invention are: it can realize effective and synchronous rapid cutting of the fruit bunch stalk and petiole of oil palm fruit, thereby improving the picking efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of harvesters, and in particular to a high-altitude harvesting device. Background Art

[0002] Oil palm fruit, also known as palm fruit, has a fleshy outer layer with 45% to 50% oil content, a hard palm kernel inside, and a kernel inside the kernel; the flesh can be used to make skin oil, and the kernel can be used to make palm kernel oil. Oil palm fruit grows on oil palm trees, usually growing at the top of the tree in clusters, usually with about 10-15 fruit bunches per tree, and each bunch weighs between 15-25 kilograms.

[0003] Traditionally, when picking oil palm fruits, people rely on manual tree climbing for cutting and picking. However, oil palm fruits grow at a higher position. Therefore, not only is the picking efficiency low, but people under the tree are easily injured by falling fruits, and the picking process is very dangerous. With the continuous advancement of science and technology, some equipment that can automatically pick oil palm fruits has appeared on the market, such as a new type of oil palm fruit picking machine disclosed in the Chinese utility model patent with application number CN202322583552.7, which includes a base, a telescopic support arm, and a picking component and a collecting component arranged at the outer end of the telescopic support arm; an inclined pitching support arm is arranged between the base and the lower part of the telescopic support arm; the picking component includes two semicircular fixed knife seats and a telescopic knife head located on the axial upper end face of the fixed knife seat; the two fixed knife seats are hingedly connected by a rotating shaft, and the inner side of the fixed knife seat is provided with a nail buckle; the collecting component includes a collecting bin and a slideway tube respectively fixed to the outer cylindrical surface of the two fixed knife seats, and a material drop opening is arranged on the lower end face of the collecting bin and is connected to the slideway tube; a hydraulic system is also arranged. However, in the actual picking process, the outer side of the fruit bunch is usually blocked by the petiole and the leaf tray, so the following existing picking machines have the following defects in the actual picking process: 1. Since the outer side of the fruit bunch is blocked by the petiole and the leaf tray, the telescopic knife head on the upper end face of the fixed knife seat is difficult to effectively cut the fruit bunch of the oil palm fruit when it is extended upward; 2. The inner side surface of the fixed knife seat is provided with nail buckles, which are easy to damage the trunk in the process of clamping the trunk; 3. The adjustment function of the support arm is poor. Summary of the invention

[0004] In view of the above-mentioned problems, the purpose of the present invention is to provide a high-altitude picking equipment that can achieve synchronous, rapid and effective cutting of the stalks and petioles of the oil palm fruit bunches, thereby improving the picking efficiency, while also being able to accurately adjust the position of the cutting mechanism and avoid damage to the fruit tree trunks during the picking process.

[0005] The present invention is implemented as follows: a high-altitude picking device, comprising a traveling vehicle, a mechanical arm and a picking and cutting device; the lower end of the mechanical arm is connected to the traveling vehicle through a first rotating component, and the picking and cutting device is connected to the upper end of the mechanical arm;

[0006] The picking and cutting device includes an arc-shaped support body, an arc-shaped slide rail, a hook mechanism, a slide rail driving mechanism, a cutting mechanism and a bucket; the upper end of the mechanical arm is connected to the arc-shaped support body, and a movable channel is formed in the arc-shaped support body along the circumferential direction, and the arc-shaped slide rail is slidably assembled in the movable channel; the hook mechanism is arranged at one end of the arc-shaped support body, and the slide rail driving mechanism is arranged on the arc-shaped support body, and the slide rail driving mechanism is transmission-connected with the arc-shaped slide rail; the cutting mechanism is arranged on the arc-shaped slide rail and is located at one end away from the hook mechanism, and the arc-shaped slide rail is driven by the slide rail driving mechanism to drive the cutting mechanism to move along the circumferential direction; the bucket is arranged on the outside of the arc-shaped slide rail, and the bucket and the cutting mechanism are at the same end of the arc-shaped slide rail, and the bucket is located below the cutting mechanism.

[0007] Furthermore, it also includes an angle adjustment mechanism provided between the upper end of the mechanical arm and the picking and cutting device;

[0008] The angle adjustment mechanism includes a first connection seat, a first drive cylinder and a second rotating assembly, wherein the second rotating assembly is arranged on one side of the first connection seat, the picking and cutting device is connected to the output end of the second rotating assembly, and the picking and cutting device is driven by the second rotating assembly to perform horizontal rotation adjustment;

[0009] An articulated bracket is provided at the upper end of the mechanical arm, and the lower part of the other side of the first connecting seat is hinged to the articulated bracket through a hinge shaft; the first driving cylinder is connected between the first connecting seat and the upper end of the mechanical arm, and the first driving cylinder is located above the hinge shaft. The picking and cutting device is driven by the first driving cylinder to swing up and down to achieve fine adjustment.

[0010] Further, the mechanical arm includes a vertical support outer tube, a vertical support inner tube, a horizontal support outer tube, a horizontal support inner tube, a second drive cylinder, a third drive cylinder and a fourth drive cylinder;

[0011] The vertical support outer tube is slidably sleeved on the outside of the vertical support inner tube, the lower end of the vertical support outer tube is connected to the output end of the first rotating assembly through a second connecting seat, the second driving cylinder is arranged inside the vertical support inner tube, and the second driving cylinder is connected to the lower end of the vertical support outer tube; one end of the horizontal support outer tube is rotatably connected to the upper end of the vertical support inner tube;

[0012] The horizontal support outer tube is slidably sleeved on the outside of the horizontal support inner tube, and the top and bottom of the horizontal support inner tube are slidably matched with the horizontal support outer tube by V-shaped protrusions and V-shaped recesses; the third drive cylinder is arranged inside the horizontal support inner tube, and the third drive cylinder is connected to one end of the horizontal support outer tube close to the vertical support inner tube; one end of the horizontal support inner tube away from the vertical support inner tube is connected to the angle adjustment mechanism; the fourth drive cylinder is connected between the vertical support outer tube and the horizontal support outer tube.

[0013] Furthermore, the cutting mechanism includes a supporting base, an inclined support, a cutting blade and a fifth driving cylinder; the supporting base is connected to the outer wall of the arc-shaped slide rail; the inclined support is connected to the upper end of the supporting base, and the inclined support is inclined from bottom to top toward the inner side of the arc-shaped slide rail; cutting teeth are distributed on both sides of the cutting blade; the cutting blade is movably mounted on the inclined support, and the cutting blade is inclined from bottom to top toward the inner side of the arc-shaped slide rail; the fifth driving cylinder is arranged on the inclined support, and the movable end of the fifth driving cylinder is connected to the cutting blade, and the cutting blade is driven to move by the fifth driving cylinder to achieve cutting.

[0014] Furthermore, both sides of the cutting blade form arc-shaped side edges, and the cutting teeth are distributed on the arc-shaped side edges;

[0015] The lower end of the cutting blade is rotatably connected to the inclined support through a first limiting pin, and a first movable slide groove is arranged through the middle part of the cutting blade along the length direction. A second limiting pin is movably arranged on the inclined support, and the second limiting pin passes through the first movable slide groove. A limiting block is provided at the free end of the second limiting pin, and the movable end of the fifth driving cylinder is connected to the second limiting pin.

[0016] Furthermore, the inclined support includes a lower support plate, a first guide slider and an upper support plate; the lower support plate is fixedly connected to the upper end of the support base, the upper surface of the lower support plate forms a first guide slot along the horizontal direction, and at least one end of the first guide slot extends to the end of the lower support plate; the first guide slider is slidably assembled in the first guide slot, the fifth drive cylinder is arranged at the bottom of the lower support plate, and the movable end of the fifth drive cylinder is connected to one end of the first guide slider; the upper support plate is locked above the lower support plate, and the upper support plate is provided with a second movable slot at a position corresponding to the first guide slot, and the second limit pin passes through the second movable slot and is connected to the free end of the first guide slider.

[0017] Furthermore, the slide rail driving mechanism includes a driving motor, a driving sprocket and a transmission chain; the driving motor is mounted on the arc-shaped support body, and the driving sprocket is connected to the output end of the driving motor; the transmission chain is arranged on the outer side wall of the arc-shaped slide rail, and the transmission chain is meshed with the driving sprocket;

[0018] The top and bottom surfaces of the arc-shaped slide rail are formed with second guide grooves, and a second guide slider is slidably arranged in each of the second guide grooves, and the second guide slider is connected to the arc-shaped support body; the top and bottom of the movable channel are rotatably provided with a plurality of abutting rollers that abut against the inner and outer walls of the arc-shaped slide rail.

[0019] Furthermore, the hook mechanism includes an arc-shaped upper hook plate, an arc-shaped lower hook plate, a connecting piece and a sixth driving cylinder; the inner side of the arc-shaped upper hook plate near one end of the arc-shaped supporting body is rotatably connected to the top of the arc-shaped supporting body, and the inner side of the arc-shaped lower hook plate near one end of the arc-shaped supporting body is rotatably connected to the bottom of the arc-shaped supporting body, and the inner sides of the arc-shaped upper hook plate and the arc-shaped lower hook plate are provided with arc-shaped notches at intervals, so that a tooth portion is formed between two adjacent arc-shaped notches, and a spacing is left between the free ends of the arc-shaped upper hook plate and the arc-shaped lower hook plate and the free end of the arc-shaped supporting body; the arc-shaped upper hook plate and the arc-shaped lower hook plate are connected by connecting pieces on both sides near one end of the arc-shaped supporting body and at one end away from the arc-shaped supporting body; the sixth driving cylinder is arranged on the outside of the arc-shaped supporting body, and the movable end of the sixth driving cylinder is rotatably connected to the arc-shaped upper hook plate and the arc-shaped lower hook plate.

[0020] Furthermore, the first rotating assembly is arranged in the middle of the rear end of the traveling vehicle, and the traveling vehicle is provided with a cab on one side of the mechanical arm; the front end of the traveling vehicle is provided with an auxiliary bracket for supporting the mechanical arm.

[0021] Furthermore, it also includes a control terminal, which is arranged in the cab; the angle adjustment mechanism and the picking and cutting device are both provided with a shooting mechanism, which is connected to the control terminal.

[0022] By adopting the technical solution of the present invention, at least the following beneficial effects are achieved:

[0023] 1. The entire high-altitude picking equipment is designed to include a traveling vehicle, a picking and cutting device, a first rotating assembly arranged on the traveling vehicle, and a mechanical arm connected between the picking and cutting device and the first rotating assembly. In specific work, the traveling vehicle, the first rotating assembly, the mechanical arm and the picking and cutting device can cooperate to realize accurate and rapid picking of the fruit bunches of the oil palm tree. Therefore, compared with the traditional manual picking method, it can not only greatly improve the picking efficiency, but also improve the picking safety and reduce the fatigue of the workers.

[0024] 2. The picking and cutting device is designed to include an arc-shaped support body, an arc-shaped slide rail slidably arranged in the arc-shaped support body and capable of moving in a circular direction, a slide rail driving mechanism for driving the arc-shaped slide rail to move, a hook mechanism arranged at one end of the arc-shaped support body, a cutting mechanism arranged on the arc-shaped slide rail and located at an end away from the hook mechanism, and a hopper arranged below the cutting mechanism; so that when it is used, the arc-shaped support body and the hook mechanism can cooperate to hold the trunk of the fruit tree, and the slide rail driving mechanism can be used to drive the cutting mechanism to move accurately in a circular direction to the position of the fruit bunch, so that the cutting mechanism can accurately and effectively perform synchronous and rapid cutting of the fruit bunch stalk and petiole of the oil palm fruit, and the hopper can be used to store the cut fruit bunches, so that picking is safer and the fruit bunches can be prevented from being damaged or scattered due to falling.

[0025] 3. By adopting the structural design of the angle adjustment mechanism and the mechanical arm of the present invention, during the specific working process, the angle adjustment mechanism, the mechanical arm and the picking and cutting device can be driven to rotate as a whole through the first rotating component, and the angle adjustment mechanism and the picking and cutting device can be driven to rise to a certain height through the cooperation of the vertical support outer tube, the vertical support inner tube and the second driving cylinder. The angle adjustment mechanism and the picking and cutting device can be driven to move horizontally through the cooperation of the horizontal support outer tube, the horizontal support inner tube and the third driving cylinder, and the angle adjustment mechanism and the picking and cutting device can be further lifted up to the required height through the fourth driving cylinder; at the same time, the picking and cutting device can be driven to perform horizontal rotation adjustment through the second rotating component, and the picking and cutting device can be driven to swing up and down to achieve fine adjustment through the first driving cylinder; therefore, by adopting the technical solution of the present invention, it is possible to well achieve precise adjustment of the picking and cutting device, so that the picking and cutting device can accurately and quickly move to the target picking position of the fruit tree for picking.

[0026] 4. The lower end of the cutting blade is rotatably connected to the inclined support through a first limiting pin, and a first movable slide groove is set in the middle part of the cutting blade along the length direction; a first guide slide groove is formed in the horizontal direction on the lower support plate of the inclined support, and a first guide slider is slidably set in the first guide slide groove, one end of the first guide slider is connected to the fifth driving cylinder, and a second limiting pin is set at the other end of the first guide slider, and the second limiting pin passes through the second movable slide groove and the first movable slide groove in sequence; during specific work, the fifth driving cylinder can be used to drive the first guide slider to link the cutting blade to swing back and forth, so that the cutting blade can synchronously, quickly and effectively cut the petiole and the stem of the fruit bunch; at the same time, cutting saw teeth are distributed on both sides of the cutting blade, so that both sides of the cutting blade can realize the cutting function, which is more convenient to use.

[0027] 5. The hook mechanism is designed to include an arc-shaped upper hook plate and an arc-shaped lower hook plate, and the arc-shaped upper hook plate and the arc-shaped lower hook plate are connected by connecting parts on both sides close to one end of the arc-shaped support body and at one end away from the arc-shaped support body, so that the arc-shaped upper hook plate and the arc-shaped lower hook plate can be reliably combined into one, and a space for the arc-shaped slide rail to move can be well formed between the arc-shaped upper hook plate and the arc-shaped lower hook plate; at the same time, a tooth portion is formed at the inner side edge spacing of the arc-shaped upper hook plate and the arc-shaped lower hook plate, and the free end of the tooth portion is an arc-shaped edge, so that during use, the trunk of the fruit tree can be reliably held and damage to the trunk of the fruit tree can be avoided; in addition, a spacing is left between the free ends of the arc-shaped upper hook plate and the arc-shaped lower hook plate and the free end of the arc-shaped support body, which is conducive to better and faster control of the arc-shaped support body to embrace the trunk of the fruit tree, and can also facilitate the arc-shaped slide rail to drive the cutting mechanism to move, thereby reducing the interference of the hook mechanism with the cutting mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0029] Figure 1 It is one of the three-dimensional structural diagrams of a high-altitude picking device of the present invention;

[0030] Figure 2 This is the second three-dimensional structural diagram of a high-altitude picking device of the present invention;

[0031] Figure 3 This is one of the connection structure diagrams of the mechanical arm, the picking and cutting device and the angle adjustment mechanism of the present invention;

[0032] Figure 4 It is the internal structure diagram of the mechanical arm of the present invention;

[0033] Figure 5 This is the second connection structure diagram of the mechanical arm, the picking and cutting device and the angle adjustment mechanism of the present invention;

[0034] Figure 6 yes Figure 3 A magnified view of the middle A area;

[0035] Figure 7 It is a three-dimensional structural diagram of the picking and cutting device of the present invention;

[0036] Figure 8 It is a structural diagram of the arc-shaped support body of the present invention;

[0037] Fig. 9 It is a structural diagram of the picking and cutting device of the present invention after removing the arc-shaped supporting body;

[0038] Fig.10 It is a structural diagram of the hook mechanism of the present invention;

[0039] Fig.11 It is the overall structural diagram of the cutting mechanism of the present invention;

[0040] Fig.12 It is an exploded view of the cutting mechanism of the present invention.

[0041] Description of reference numerals:

[0042] High-altitude picking equipment 100;

[0043] Traveling vehicle 1, cab 11, auxiliary support 12;

[0044] Robotic arm 2, articulated bracket 20, vertical support outer tube 21, vertical support inner tube 22, horizontal support outer tube 23, V-shaped concave portion 231, horizontal support inner tube 24, V-shaped convex portion 241, second drive cylinder 25, third drive cylinder 26, fourth drive cylinder 27, second connecting seat 28;

[0045] Picking and cutting device 3, arc-shaped supporting body 31, movable channel 311, top roller 312, arc-shaped slide rail 32, second guide slide groove 321, second guide slide block 322, hook mechanism 33, arc-shaped upper hook plate 331, arc-shaped lower hook plate 332, connecting piece 333, sixth driving cylinder 334, arc-shaped notch 3351, latching tooth portion 3352, slide rail driving mechanism 34, driving motor 341, driving sprocket 342, transmission chain 343, cutting Cutting mechanism 35, supporting base 351, tilting support 352, lower supporting plate 3521, first guide slide block 3522, upper supporting plate 3523, first guide slide groove 352a, second movable slide groove 352b, cutting blade 353, cutting saw teeth 3531, arc-shaped side edge 3532, first movable slide groove 3533, fifth driving cylinder 354, first limiting pin 355, second limiting pin 356, limiting block 3561, hopper 36;

[0046] A first rotating assembly 4;

[0047] Angle adjustment mechanism 5, first connecting seat 51, hinge shaft 511, first driving cylinder 52, second rotating assembly 53;

[0048] Shooting mechanism 6. DETAILED DESCRIPTION

[0049] In order to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0050] It should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing these embodiments and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. In addition, the terms "first", "second", etc., etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0051] See also Figures 1 to 12 As shown, the present invention provides a high-altitude picking device 100, which includes a traveling vehicle 1, a mechanical arm 2 and a picking and cutting device 3; the lower end of the mechanical arm 2 is connected to the traveling vehicle 1 through a first rotating component 4, and the picking and cutting device 3 is connected to the upper end of the mechanical arm 2; when working, the traveling vehicle 1 can drive the entire high-altitude picking device 100 to move along the road to a desired position, and the first rotating component 4 can be used to drive the mechanical arm 2 and the picking and cutting device 3 to rotate together, and the mechanical arm 2 can be used to drive the picking and cutting device 3 to move to a target picking position of the fruit tree, and at the same time, the picking and cutting device 3 can be controlled to hold the trunk of the fruit tree and synchronously and quickly cut and pick the stalk and petiole of the fruit bunch.

[0052] The picking and cutting device 3 includes an arc-shaped support body 31, an arc-shaped slide rail 32, a hook mechanism 33, a slide rail driving mechanism 34, a cutting mechanism 35 and a hopper 36; the upper end of the mechanical arm 2 is connected to the arc-shaped support body 31, and a movable channel 311 is formed in the arc-shaped support body 31 along the circumferential direction. The arc-shaped slide rail 32 is slidably assembled in the movable channel 311, that is, the arc-shaped slide rail 32 can move along the circumferential direction relative to the arc-shaped support body 31; the arc-shaped support body 31 is the supporting structure of the entire picking and cutting device 3, and the arc-shaped support body 31 adopts an arc-shaped structure design, so that the arc-shaped support body 31 can embrace the outer side of the fruit tree trunk during the picking process;

[0053] The hook mechanism 33 is arranged at one end of the arc-shaped support body 31. When the arc-shaped support body 31 embraces the trunk of the fruit tree, the hook mechanism 33 can be controlled to hook the trunk of the fruit tree inwardly. The slide rail driving mechanism 34 is arranged on the arc-shaped support body 31. The slide rail driving mechanism 34 is transmission-connected with the arc-shaped slide rail 32, so that the slide rail driving mechanism 34 can drive the arc-shaped slide rail 32 to move; the cutting mechanism 35 is arranged on the arc-shaped slide rail 32 and is located at one end away from the hook mechanism 33, so that the cutting mechanism 35 and the hook mechanism 33 will not affect each other. The arc-shaped slide rail 32 drives the cutting mechanism 35 to move in a circular direction through the slide rail driving mechanism 34, so that the cutting mechanism 35 can accurately move to the position of the fruit bunch, thereby facilitating the cutting mechanism 35 to accurately cut the fruit bunch; the hopper 36 is arranged on the outside of the arc-shaped slide rail 32, and the hopper 36 and the cutting mechanism 35 are at the same end of the arc-shaped slide rail 32, and the hopper 36 is located below the cutting mechanism 35, so that when the cutting mechanism 35 cuts off the fruit bunch, the fruit bunch can fall down into the hopper 36.

[0054] In some embodiments of the present invention, the high-altitude picking equipment 100 further includes an angle adjustment mechanism 5 provided between the upper end of the mechanical arm 2 and the picking and cutting device 3, so as to utilize the angle adjustment mechanism 5 to more accurately adjust the position of the picking and cutting device 3.

[0055] As a specific implementation of the present invention, please focus on Figure 6 As shown, the angle adjustment mechanism 5 includes a first connecting seat 51, a first driving cylinder 52 and a second rotating component 53, the second rotating component 53 is arranged on one side of the first connecting seat 51, the picking and cutting device 3 is connected to the output end of the second rotating component 53, and the picking and cutting device 3 is driven by the second rotating component 53 to perform horizontal rotation adjustment; in the specific implementation of the present invention, the second rotating component 53 can adopt a double-output shaft motor, and the double-output shaft motor is vertically installed on one side of the first connecting seat 51, and the upper and lower ends of the double-output shaft motor are connected to the middle part of the outer side of the picking and cutting device 3.

[0056] An articulated bracket 20 is provided at the upper end of the robotic arm 2, and the lower part of the other side of the first connecting seat 51 is hinged to the articulated bracket 20 through a hinge shaft 511, so that the first connecting seat 51 can swing up and down relative to the articulated bracket 20; the first driving cylinder 52 is connected between the first connecting seat 51 and the upper end of the robotic arm 2, and the first driving cylinder 52 is located above the hinge shaft 511. The picking and cutting device 3 is driven to swing up and down to achieve fine adjustment through the first driving cylinder 52, wherein the first driving cylinder 52 can specifically be an oil cylinder.

[0057] In some embodiments of the present invention, please refer to Figure 3-Figure 5As shown, the robot arm 2 includes a vertical support outer tube 21, a vertical support inner tube 22, a horizontal support outer tube 23, a horizontal support inner tube 24, a second drive cylinder 25, a third drive cylinder 26 and a fourth drive cylinder 27, wherein the second drive cylinder 25, the third drive cylinder 26 and the fourth drive cylinder 27 can all be oil cylinders;

[0058] The vertical support outer tube 21 is slidably sleeved on the outside of the vertical support inner tube 22, and the lower end of the vertical support outer tube 21 is connected to the output end of the first rotating component 4 through a second connecting seat 28. The first rotating component 4 can be specifically implemented by a rotating motor; the second driving cylinder 25 is arranged inside the vertical support inner tube 22, and the second driving cylinder 25 is connected to the lower end of the vertical support outer tube 21, so that the second driving cylinder 25 can drive the vertical support inner tube 22 to perform lifting and lowering movements; one end of the horizontal support outer tube 23 is rotatably connected to the upper end of the vertical support inner tube 22, that is, the horizontal support outer tube 23 can rotate relative to the vertical support inner tube 22; when the present invention is implemented specifically, the vertical support outer tube 21 and the vertical support inner tube 22 can both adopt square tubes.

[0059] The horizontal support outer tube 23 is slidably sleeved on the outside of the horizontal support inner tube 24, and the top and bottom of the horizontal support inner tube 24 are slidably matched with the horizontal support outer tube 23 by using V-shaped protrusions 241 and V-shaped recesses 231. Specifically, a V-shaped protrusion 241 is formed on the outer top and outer bottom of the horizontal support inner tube 24, and a V-shaped recess 231 is correspondingly formed on the inner top and inner bottom of the horizontal support outer tube 23. The present invention can effectively improve the stability of the horizontal support inner tube 24 when sliding by designing the top and bottom of the horizontal support inner tube 24 to slide with the horizontal support outer tube 23 by using V-shaped protrusions 241 and V-shaped recesses.

[0060] The third driving cylinder 26 is arranged inside the horizontal support inner tube 24, and the third driving cylinder 26 is connected to one end of the horizontal support outer tube 23 close to the vertical support inner tube 22, so that the third driving cylinder 26 can drive the horizontal support inner tube 24 to move horizontally; the end of the horizontal support inner tube 24 away from the vertical support inner tube 22 is connected to the angle adjustment mechanism 5, so as to drive the angle adjustment mechanism 5 and the picking and cutting device 3 to move together through the horizontal support inner tube 24; the fourth driving cylinder 27 is connected between the vertical support outer tube 21 and the horizontal support outer tube 23, so as to lift the horizontal support outer tube 23 up to the required angle through the fourth driving cylinder 27.

[0061] By adopting the structural design of the angle adjustment mechanism 5 and the mechanical arm 2 of the present invention, during the specific working process, the angle adjustment mechanism 5, the mechanical arm 2 and the picking and cutting device 3 can be driven to rotate as a whole by the first rotating component 4, the angle adjustment mechanism 5 and the picking and cutting device 3 can be driven to rise to a certain height by the vertical support outer tube 21, the vertical support inner tube 22 and the second driving cylinder 25, the angle adjustment mechanism 5 and the picking and cutting device 3 can be driven to move horizontally by the horizontal support outer tube 23, the horizontal support inner tube 24 and the third driving cylinder 26, and the angle adjustment mechanism 5 and the picking and cutting device 3 can be further lifted to the required height by the fourth driving cylinder 27; at the same time, the picking and cutting device 3 can be driven to perform horizontal rotation adjustment by the second rotating component 53, and the picking and cutting device 3 can be driven to swing up and down to achieve fine adjustment by the first driving cylinder 52; therefore, by adopting the technical solution of the present invention, the picking and cutting device 3 can be well adjusted accurately, so that the picking and cutting device 3 can be accurately and quickly moved to the target picking position of the fruit tree for picking.

[0062] In some embodiments of the present invention, please refer to Fig.11 and Fig.12 As shown, the cutting mechanism 35 includes a support base 351, an inclined support 352, a cutting blade 353 and a fifth driving cylinder 354; the support base 351 is connected to the outer wall of the arc-shaped slide rail 32, so that the arc-shaped slide rail 32 can drive the support base 351 to move together; the inclined support 352 is connected to the upper end of the support base 351, and the inclined support 352 is inclined from bottom to top toward the inner side of the arc-shaped slide rail 32, so as to facilitate the inclined installation of the cutting blade 353 on the inclined support 352; cutting saw teeth 3531 are distributed on both sides of the cutting blade 353, so that the cutting Both sides of the cutting blade 353 can cut the petiole and fruit bunches; the cutting blade 353 is movably installed on the inclined support 352, and the cutting blade 353 is inclined from bottom to top toward the inner side of the arc-shaped slide rail 32, so that the cutting blade 353 can cut the petiole and fruit bunches when it moves; the fifth driving cylinder 354 is arranged on the inclined support 352, and the movable end of the fifth driving cylinder 354 is connected to the cutting blade 353, and the cutting blade 353 is driven by the fifth driving cylinder 354 to move to achieve cutting, and the fifth driving cylinder 354 can specifically be an oil cylinder.

[0063] Furthermore, in order to better achieve the cutting of petioles and fruit bunches, arc-shaped side edges 3532 are formed on both sides of the cutting blade 353, and the cutting serrations 3531 are distributed on the arc-shaped side edges 3532;

[0064] The lower end of the cutting blade 353 is rotatably connected to the inclined support 352 through a first limiting pin 355, so that the cutting blade 353 can rotate and swing with the first limiting pin 355 as a fulcrum. The middle part of the cutting blade 353 is provided with a first movable slide groove 3533 along the length direction. A second limiting pin 356 is movably provided on the inclined support 352, and the second limiting pin 356 passes through the first movable slide groove 3533. The free end of the second limiting pin 356 is provided with a limiting block 3561, and the limiting block 3561 can be specifically connected to the free end of the second limiting pin 356 by a bolt, and the limiting block 3561 is used to prevent the second limiting pin 356 from detaching from the cutting blade 353; the movable end of the fifth driving cylinder 354 is connected to the second limiting pin 356, so that the second limiting pin 356 is driven to move by the fifth driving cylinder 354. In the present invention, since the middle part of the cutting blade 353 is penetrated by a first movable slide groove 3533 along the length direction, and the second limiting pin 356 passes through the first movable slide groove 3533, when the fifth driving cylinder 354 drives the second limiting pin 356 to reciprocate, the second limiting pin 356 can drive the cutting blade 353 to swing back and forth within the range limited by the first movable slide groove 3533, so that the cutting blade 353 can cut the petiole and fruit bunch.

[0065] Furthermore, the inclined support 352 includes a lower support plate 3521, a first guide slider 3522 and an upper support plate 3523; the lower support plate 3521 is fixedly connected to the upper end of the support base 351, and the upper surface of the lower support plate 3521 forms a first guide slot 352a along the horizontal direction, and at least one end of the first guide slot 352a extends to the end of the lower support plate 3521, specifically, the first guide slot 352a can cross the entire upper surface of the lower support plate 3521; the first guide slider 3522 is slidably assembled in the first guide slot 352a, the fifth drive cylinder 354 is arranged at the bottom of the lower support plate 3521, and the active end of the fifth drive cylinder 354 is connected to one end of the first guide slider 3522, because at least one end of the first guide slot 352a extends to the end of the lower support plate 3521, Therefore, at least one end of the first guide slider 3522 can be extended to the outside of one end of the lower support plate 3521, so as to facilitate the connection of the fifth drive cylinder 354 with the first guide slider 3522; the upper support plate 3523 is locked above the lower support plate 3521, specifically, the lower surface of the upper support plate 3523 can be attached to the upper surface of the first guide slider 3522, thereby ensuring that the first guide slider 3522 can slide more smoothly along the first guide slot 352a; the upper support plate 3523 is penetrated by a second movable slot 352b at a position corresponding to the first guide slot 352a, and the second limiting pin 356 passes through the second movable slot 352b and is connected to the free end of the first guide slider 3522, so that the second limiting pin 356 can move along the second movable slot 352b under the drive of the first guide slider 3522.

[0066] The present invention adopts the method of rotatably connecting the lower end of the cutting blade 353 with the inclined support 352 through the first limiting pin 355, and setting a first movable slide groove 3533 through the middle part of the cutting blade 353 along the length direction; forming a first guide slide groove 352a along the horizontal direction on the lower support plate 3521 of the inclined support 352, slidingly setting a first guide slider 3522 in the first guide slide groove 352a, connecting one end of the first guide slider 3522 with the fifth driving cylinder 354, and setting a fifth movable slide groove 3533 at the other end of the first guide slider 3522. The second limiting pin 356 is made to pass through the second movable slide groove 352b and the first movable slide groove 3533 in sequence; during specific work, the fifth driving cylinder 354 can be used to drive the first guide slider 3522 to link the cutting blade 353 to swing back and forth, so that the cutting blade 353 can synchronously, quickly and effectively cut the petiole and the stem of the fruit bunch; at the same time, cutting serrations 3531 are distributed on both sides of the cutting blade 353, so that both sides of the cutting blade 353 can realize the cutting function, which is more convenient to use.

[0067] In some embodiments of the present invention, the slide rail driving mechanism 34 includes a driving motor 341, a driving sprocket 342 and a transmission chain 343, wherein the driving sprocket 342 can specifically adopt a double-row sprocket, and the transmission chain 343 can specifically adopt a double-row chain; the driving motor 341 is installed on the arc-shaped support body 31 to support the driving motor 341 through the arc-shaped support body 31; the driving sprocket 342 is connected to the output end of the driving motor 341 to drive the driving sprocket 342 to rotate through the driving motor 341; the transmission chain 343 is arranged at The outer wall of the arc-shaped slide rail 32, the transmission chain 343 is meshed with the driving sprocket 342, and because the transmission chain 343 can be bent, it can well adapt to the arc-shaped wall structure of the outer wall of the arc-shaped slide rail 32; when the slide rail driving mechanism 34 is working, the driving motor 341 can be driven to rotate the driving sprocket 342 by forward and reverse rotation. Because the driving sprocket 342 is meshed with the transmission chain 343, and the transmission chain 343 is installed on the outer wall of the arc-shaped slide rail 32, the driving sprocket 342 can link the arc-shaped slide rail 32 to slide along the circumferential direction during rotation.

[0068] In some embodiments of the present invention, the top and bottom surfaces of the arc-shaped slide rail 32 are formed with a second guide groove 321, and each second guide groove 321 is slidably provided with a second guide slider 322, and the second guide slider 322 is connected to the arc-shaped support body 31; the top and bottom of the movable channel 311 are rotatably provided with a plurality of abutting rollers 312 that abut against the inner and outer walls of the arc-shaped slide rail 32.

[0069] The present invention can realize reliable limiting of the arcuate slide rail 32 and ensure that the arcuate slide rail 32 can drive the cutting mechanism 35 to move smoothly along the circumferential direction by arranging the second guide groove 321 and the second guide slider 322 between the top and bottom surfaces of the arcuate slide rail 32 and the arcuate support body 31, and rotatably arranging the abutting rollers 312 at the top and bottom of the movable channel 311 to abut against the inner and outer walls of the arcuate slide rail 32.

[0070] In some embodiments of the present invention, please refer to Fig.10As shown, the hook mechanism 33 includes an arc-shaped upper hook plate 331, an arc-shaped lower hook plate 332, a connecting piece 333 and a sixth driving cylinder 334; the inner side of the arc-shaped upper hook plate 331 close to one end of the arc-shaped support body 31 is rotatably connected to the top of the arc-shaped support body 31, and the inner side of the arc-shaped lower hook plate 332 close to one end of the arc-shaped support body 31 is rotatably connected to the bottom of the arc-shaped support body 31, so that the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 can both rotate relative to the arc-shaped support body 31; the inner side edges of the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 are evenly spaced apart with arc-shaped notches 3351, so that a tooth portion 3352 is formed between two adjacent arc-shaped notches 3351, and a spacing is left between the free ends of the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 and the free end of the arc-shaped support body 31; the arc-shaped upper hook plate 3 The arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 are connected by connecting pieces 333 on both sides close to one end of the arc-shaped support body 31 and at one end away from the arc-shaped support body 31, so that the arc-shaped upper hook plate 331 can be reliably connected to the arc-shaped lower hook plate 332 as a whole, and at the same time, a space for the arc-shaped slide rail 32 to move can be formed between the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332; the sixth driving cylinder 334 is arranged on the outer side of the arc-shaped support body 31, so that the sixth driving cylinder 334 will not interfere with the sliding of the arc-shaped slide rail 32, and the movable end of the sixth driving cylinder 334 is rotatably connected to the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332, and the sixth driving cylinder 334 can be an oil cylinder; when working, the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 can be driven to open outward or clamp inward together through the telescopic activity of the sixth driving cylinder 334.

[0071] The hook mechanism 33 of the present invention includes an arc-shaped upper hook plate 331 and an arc-shaped lower hook plate 332, and the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 are connected by a connecting piece 333 on both sides close to one end of the arc-shaped support body 31 and at one end away from the arc-shaped support body 31, so that the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 can be reliably combined into one, and a space for the arc-shaped slide rail 32 to move can be formed between the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332; at the same time, the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 are connected to each other. The inner side edge spacing of the hook plate 332 forms a tooth portion 3352, and the free end of the tooth portion 3352 is an arc-shaped edge, so that during use, the trunk of the fruit tree can be reliably grasped and damage to the trunk of the fruit tree can be avoided; in addition, a spacing is left between the free ends of the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 and the free end of the arc-shaped support body 31, which is conducive to better and faster control of the arc-shaped support body 31 to embrace the trunk of the fruit tree, and can also facilitate the arc-shaped slide rail 32 to drive the cutting mechanism 35 to move, thereby reducing the interference of the hook mechanism 33 on the cutting mechanism 35.

[0072] In some embodiments of the present invention, the first rotating assembly 4 is disposed in the middle of the rear end of the traveling vehicle 1, and the traveling vehicle 1 is provided with a cab 11 on one side of the mechanical arm 2 for an operator to drive the high-altitude picking equipment 100 to perform picking operations; the front end of the traveling vehicle 1 is provided with an auxiliary bracket 12 for supporting the mechanical arm 2.

[0073] Because the entire robotic arm 2 of the present invention is relatively long, the present invention adopts a method of setting the first rotating component 4 in the middle of the rear end of the traveling vehicle 1, connecting the lower end of the robotic arm 2 to the first rotating component 4, and setting an auxiliary bracket 12 at the front end of the traveling vehicle 1, so that when there is no need to pick fruits, the entire robotic arm 2 can be well stored on the top of the traveling vehicle 1; at the same time, the cab 11 is set on one side of the robotic arm 2, which can prevent the cab 11 from affecting the movement of the robotic arm 2.

[0074] In some embodiments of the present invention, the high-altitude picking equipment 100 also includes a control terminal (not shown), which is arranged in the cab 11; the angle adjustment mechanism 5 and the picking and cutting device 3 are both provided with a shooting mechanism 6, and the shooting mechanism 6 is connected to the control terminal. When the present invention is implemented, the shooting mechanism 6 can be set on both sides of the picking and cutting device 3 and the second rotating component 53 of the angle adjustment mechanism 5, and the shooting mechanism 6 is used to transmit the captured picture to the control terminal, so as to facilitate the operator to operate according to the captured picture.

[0075] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A high-altitude picking device, characterized in that: It includes a traveling vehicle, a mechanical arm and a picking and cutting device; the lower end of the mechanical arm is connected to the traveling vehicle through a first rotating assembly, and the picking and cutting device is connected to the upper end of the mechanical arm; The picking and cutting device comprises an arc-shaped support body, an arc-shaped slide rail, a hook mechanism, a slide rail driving mechanism, a cutting mechanism and a bucket; the upper end of the mechanical arm is connected to the arc-shaped support body, a movable channel is formed in the arc-shaped support body along the circumferential direction, and the arc-shaped slide rail is slidably assembled in the movable channel; the hook mechanism is arranged at one end of the arc-shaped support body, the slide rail driving mechanism is arranged on the arc-shaped support body, and the slide rail driving mechanism is transmission-connected with the arc-shaped slide rail; the cutting mechanism is arranged on the arc-shaped slide rail and is located at one end away from the hook mechanism, and the arc-shaped slide rail is driven by the slide rail driving mechanism to drive the cutting mechanism to move along the circumferential direction; the bucket is arranged on the outer side of the arc-shaped slide rail, the bucket and the cutting mechanism are at the same end of the arc-shaped slide rail, and the bucket is located below the cutting mechanism; The cutting mechanism comprises a supporting base, an inclined support, a cutting blade and a fifth driving cylinder; the supporting base is connected to the outer side wall of the arc-shaped slide rail; the inclined support is connected to the upper end of the supporting base, and the inclined support is inclined from bottom to top toward the inner side of the arc-shaped slide rail; cutting saw teeth are distributed on both sides of the cutting blade; the cutting blade is movably mounted on the inclined support, and the cutting blade is inclined from bottom to top toward the inner side of the arc-shaped slide rail; the fifth driving cylinder is arranged on the inclined support, and the movable end of the fifth driving cylinder is connected to the cutting blade, and the cutting blade is driven to move to achieve cutting by the fifth driving cylinder; The lower end of the cutting blade is rotatably connected to the inclined support through a first limiting pin, and a first movable slide groove is provided in the middle part of the cutting blade along the length direction; a second limiting pin is movably provided on the inclined support, and the second limiting pin passes through the first movable slide groove, and a limiting block is provided at the free end of the second limiting pin, and the movable end of the fifth driving cylinder is connected to the second limiting pin; the inclined support includes a lower support plate, a first guide slider and an upper support plate; the lower support plate is fixedly connected to the upper end of the support base, and the upper surface of the lower support plate forms a horizontal direction A first guide slot, and at least one end of the first guide slot extends to the end of the lower support plate; the first guide slider is slidably assembled in the first guide slot, the fifth drive cylinder is arranged at the bottom of the lower support plate, and the movable end of the fifth drive cylinder is connected to one end of the first guide slider; the upper support plate is locked above the lower support plate, the lower surface of the upper support plate is attached to the upper surface of the first guide slider, and the upper support plate is provided with a second movable slot at the position corresponding to the first guide slot, and the second limiting pin passes through the second movable slot and is connected to the free end of the first guide slider.

2. A high-altitude picking device as claimed in claim 1, characterized in that: It also includes an angle adjustment mechanism provided between the upper end of the mechanical arm and the picking and cutting device; The angle adjustment mechanism includes a first connection seat, a first drive cylinder and a second rotating assembly, wherein the second rotating assembly is arranged on one side of the first connection seat, the picking and cutting device is connected to the output end of the second rotating assembly, and the picking and cutting device is driven by the second rotating assembly to perform horizontal rotation adjustment; An articulated bracket is provided at the upper end of the mechanical arm, and the lower part of the other side of the first connecting seat is hinged to the articulated bracket through a hinge shaft; the first driving cylinder is connected between the first connecting seat and the upper end of the mechanical arm, and the first driving cylinder is located above the hinge shaft. The picking and cutting device is driven by the first driving cylinder to swing up and down to achieve fine adjustment.

3. A high-altitude picking device as claimed in claim 2, characterized in that: The robot arm includes a vertical support outer tube, a vertical support inner tube, a horizontal support outer tube, a horizontal support inner tube, a second drive cylinder, a third drive cylinder and a fourth drive cylinder; The vertical support outer tube is slidably sleeved on the outside of the vertical support inner tube, the lower end of the vertical support outer tube is connected to the output end of the first rotating assembly through a second connecting seat, the second driving cylinder is arranged inside the vertical support inner tube, and the second driving cylinder is connected to the lower end of the vertical support outer tube; one end of the horizontal support outer tube is rotatably connected to the upper end of the vertical support inner tube; The horizontal support outer tube is slidably sleeved on the outside of the horizontal support inner tube, and the top and bottom of the horizontal support inner tube are slidably matched with the horizontal support outer tube by V-shaped protrusions and V-shaped recesses; the third drive cylinder is arranged inside the horizontal support inner tube, and the third drive cylinder is connected to one end of the horizontal support outer tube close to the vertical support inner tube; one end of the horizontal support inner tube away from the vertical support inner tube is connected to the angle adjustment mechanism; the fourth drive cylinder is connected between the vertical support outer tube and the horizontal support outer tube.

4. A high-altitude picking device as claimed in claim 1, characterized in that: Both sides of the cutting blade form arc-shaped side edges, and the cutting teeth are distributed on the arc-shaped side edges.

5. The high-altitude picking equipment according to claim 1, characterized in that: The slide rail driving mechanism includes a driving motor, a driving sprocket and a transmission chain; the driving motor is mounted on the arc-shaped support body, and the driving sprocket is connected to the output end of the driving motor; the transmission chain is arranged on the outer side wall of the arc-shaped slide rail, and the transmission chain is meshed with the driving sprocket; The top and bottom surfaces of the arc-shaped slide rail are formed with second guide grooves, and a second guide slider is slidably arranged in each of the second guide grooves, and the second guide slider is connected to the arc-shaped support body; the top and bottom of the movable channel are rotatably provided with a plurality of abutting rollers that abut against the inner and outer walls of the arc-shaped slide rail.

6. The high-altitude picking equipment according to claim 1, characterized in that: The hook mechanism includes an arc-shaped upper hook plate, an arc-shaped lower hook plate, a connecting piece and a sixth driving cylinder; the inner side of the arc-shaped upper hook plate near one end of the arc-shaped supporting body is rotatably connected to the top of the arc-shaped supporting body, and the inner side of the arc-shaped lower hook plate near one end of the arc-shaped supporting body is rotatably connected to the bottom of the arc-shaped supporting body, and the inner sides of the arc-shaped upper hook plate and the arc-shaped lower hook plate are provided with arc-shaped notches at intervals, so that a tooth portion is formed between two adjacent arc-shaped notches, and a spacing is left between the free ends of the arc-shaped upper hook plate and the arc-shaped lower hook plate and the free end of the arc-shaped supporting body; the arc-shaped upper hook plate and the arc-shaped lower hook plate are connected by connecting pieces on both sides close to one end of the arc-shaped supporting body and at one end away from the arc-shaped supporting body; the sixth driving cylinder is arranged on the outside of the arc-shaped supporting body, and the movable end of the sixth driving cylinder is rotatably connected to the arc-shaped upper hook plate and the arc-shaped lower hook plate.

7. The high-altitude picking equipment according to claim 1, characterized in that: The first rotating assembly is arranged at the middle part of the rear end of the traveling vehicle, and the traveling vehicle is provided with a cab on one side of the mechanical arm; the front end of the traveling vehicle is provided with an auxiliary bracket for supporting the mechanical arm.

8. The high-altitude picking equipment according to claim 2, characterized in that: It also includes a control terminal, which is arranged in the cab; the angle adjustment mechanism and the picking and cutting device are both provided with a shooting mechanism, which is connected to the control terminal.

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