Safety type lifting fruit picking machine

Abstract

The application discloses a safe lifting type fruit picking machine, which comprises a walking part, a scissor lifting part and a picking platform arranged from bottom to top, the walking part is used for moving, the scissor lifting part is used for lifting, the picking platform is used for standing of picking personnel, and an automatic leveling mechanism for supporting the scissor lifting mechanism is arranged between the walking part and the scissor lifting part.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural power machinery, and more particularly to a safe lifting-type flower and fruit harvesting machine. Background Technology

[0002] In agricultural planting such as fruit trees, gaps are reserved in the planting method to facilitate harvesting. However, in order to improve land utilization, the gap width is often small, making it impossible to use large machinery during harvesting.

[0003] Currently, scissor lift mechanisms are generally used to elevate harvesters for picking. For example, patent application number 201521003890.8 discloses a scissor lift material handling machine, which includes a base frame, scissor arms, and an upper working platform. The bottom of the base frame is equipped with wheels, the top of the scissor arms is fixedly connected to the upper working platform, and a lifting cylinder is provided on the scissor arms. A lower working platform is fixedly provided on one side of the upper working platform. The lower working platform includes a standing plate and a fence. The standing plate is lower than the upper working platform, the bottom of the fence is fixed around the standing plate, and the top of the fence is fixed to one side of the upper working platform.

[0004] However, in actual use, due to the need to mound soil around fruit trees, grooves will form in the gaps. The harvester will also be uneven when moving, so it needs to be leveled. The aforementioned patent does not have a leveling mechanism, which will cause instability during use and may cause fruit to roll off. For this reason, patents with application numbers CN202221954420.X and CN201710841253.5 both describe a leveling structure. However, the above patents all use hydraulic cylinders for leveling, but this adjustment method often needs to be done manually, has poor accuracy, and the adjustment process cannot be completed automatically. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a safe lifting flower and fruit harvesting machine.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] A safe, lifting-type fruit and flower harvesting machine includes, from bottom to top, a traveling section, a scissor lift section, and a harvesting platform. The traveling section is used for movement, the scissor lift section is used for lifting, and the harvesting platform is for the harvester to stand on. An automatic leveling mechanism is provided between the traveling section and the scissor lift section to support the scissor lift mechanism. The automatic leveling mechanism includes:

[0008] The piston support includes four pistons arranged in a rectangular array on the top of the traveling part, with the left and right pairs forming a group. Each piston includes a piston, a connecting rod, and a support platform that are separated into an upper chamber and a lower chamber by a first piston head. The two ends of the connecting rod are respectively hinged to the bottom of the support platform and the output end of the piston.

[0009] The regulating cylinder has a second piston head inside, and the middle part of the second piston head is a magnet. The second piston head divides its interior into a left chamber and a right chamber.

[0010] The connecting pipe includes two sets, each used for one set of piston supports. Each set includes a first connecting pipe, a second connecting pipe, a third connecting pipe, and a fourth connecting pipe. The first connecting pipe connects the lower chamber and the right chamber of the left piston support. The second connecting pipe connects the lower chamber and the left chamber of the right piston support. The third connecting pipe connects the upper chamber and the right chamber of the left piston support. The fourth connecting pipe connects the upper chamber and the left chamber of the right piston support. A first electrically controlled valve and a fourth electrically controlled valve are respectively provided at the first connecting pipe and the fourth connecting pipe. The first and second electrically controlled valves are normally open, and the third and fourth electrically controlled valves are normally closed.

[0011] A Hall sensor, which is set at one or both ends of the regulating cylinder, is used to detect the magnetic field strength of the magnet to obtain the amplitude of the second piston head movement;

[0012] An electromagnetic device, comprising two devices respectively disposed at both ends of a regulating cylinder, wherein the electromagnetic generation intensity is matched by a signal fed back from a Hall sensor.

[0013] The controller is connected to electromagnetic devices, Hall sensors, and various electrically controlled valves for unified control.

[0014] When the right side of the walking section is raised, the gravity on the left side increases, causing the first piston head on the left to be pressed down and move downwards. The gas in the lower chamber of the left piston support is forced into the right chamber, and the second piston head moves to the left. At the beginning of the leftward movement, a signal is fed back to the controller through the Hall sensor. The controller controls the closing of the second solenoid valve and the opening of the fourth solenoid valve for automatic leveling. After stabilization, the controller controls the closing of the first solenoid valve. The electromagnetic device adjusts the parameters according to the value obtained by the Hall sensor to generate a magnetic field that produces a leftward attraction force on the second piston head for leveling compensation. Conversely, when the left side is raised, the second piston head moves to the right. The Hall sensor senses the signal and closes the first solenoid valve and opens the third solenoid valve for automatic leveling.

[0015] Preferably, the two sets of piston supports have the same structure, the first connecting pipe and the second connecting pipe have the same structure, and the third connecting pipe and the fourth connecting pipe have the same structure.

[0016] Preferably, the electromagnetic device includes two devices, which are respectively disposed on both sides of the regulating cylinder, with one electromagnetic device on one side providing an attractive force and the other electromagnetic device on the other side providing a repulsive force.

[0017] Preferably, the scissor lift and harvesting platform include a base shell with a receiving groove, a scissor folding lift frame disposed within the base shell, and a hydraulic cylinder hinged to the base shell. The four bottom corners of the scissor folding lift frame are hinged to the bottom of the receiving groove, and the output end of the hydraulic cylinder is rotatably connected to the crossbar of the scissor folding lift frame. The base shell serves as the support platform.

[0018] Preferably, the top four corners of the scissor lift are hinged to the picking platform, and the picking platform is equipped with a control box that communicates wirelessly with the controller.

[0019] As a preferred embodiment, the harvesting platform includes a base plate and a fence set on the base plate, with the control box set on the fence.

[0020] Preferably, the walking part includes a chassis, drive wheels and walking wheels mounted on the chassis, a power supply and a motor mounted on the chassis, both of which are connected to a controller, and the output shaft of the motor is connected to the axle of the drive wheel through a set of bevel gears.

[0021] As a preferred option, a telescopic rod is vertically installed on the harvesting platform and the bottom shell.

[0022] Compared with the prior art, the advantages of this invention are as follows: This application sets up a piston-type support structure. When gravity shifts to one side, the first piston head is pressed down, and the second piston head moves accordingly. At this time, the position of the magnet on the second piston head changes. The Hall sensor senses the signal and controls the valve to open and close so that the gas compressed on one side is introduced to the other side to automatically level the first piston head that is pressed down on the other side. The leveling speed is relatively fast. When it stops, the second piston head is in a fixed position. At this time, the Hall sensor feeds back the magnetic field strength data of the magnet to the controller. The controller controls the electromagnetic device to output the corresponding magnetic field to generate attraction force to compensate and adjust the second piston head. During the compensation adjustment, further leveling is achieved to compensate for the leveling error caused by the compression of the gas during the automatic leveling process. Attached Figure Description

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be construed as limiting the scope of the invention. Furthermore, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may contain exaggerated depictions, and the drawings are not necessarily drawn to scale.

[0024] Figure 1 This is a perspective view of the present application;

[0025] Figure 2 This is a perspective view of the present application;

[0026] Figure 3 This is a side view of this application;

[0027] Figure 4 This is a perspective view of the automatic leveling mechanism in this application;

[0028] Figure 5 This is a block diagram illustrating the principle of the automatic leveling mechanism.

[0029] In the diagram: 1. Walking mechanism; 11. Walking wheels; 12. Drive wheels; 13. Motor; 2. Scissor lift mechanism; 20. Housing; 21. Scissor lift folding frame; 22. Hydraulic cylinder; 3. Harvesting platform; 31. Base plate; 32. Fence; 4. Controller; 5. Telescopic rod; 6. Automatic leveling mechanism; 61. Piston support; 610. First piston head; 611. Upper chamber; 612. Lower chamber; 62. Adjusting cylinder; 620. Second piston head; 621. Left chamber; 622. Right chamber; 63. Hall sensor; 64. Electromagnetic device; 65. Connecting rod; 601. First connecting pipe; 6011. First electrically controlled valve; 602. Second connecting pipe; 6021. Second electrically controlled valve; 603. Third connecting pipe; 6031. Third electrically controlled valve; 604. Fourth connecting pipe; 6041. Fourth electrically controlled valve; 605. Fifth connecting pipe; 6051. Fifth electrically controlled valve. Detailed Implementation

[0030] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely descriptive and exemplary and should not be construed as limiting the scope of protection of the present invention.

[0031] It should be noted that similar labels in the following figures indicate similar items; therefore, once an item is defined in one figure, it may not be further defined and explained in subsequent figures. Example

[0032] This embodiment mainly describes the title of the safety-type lifting flower and fruit picking machine, as follows:

[0033] Safety-type lifting flower and fruit harvesting machine, such as Figure 1-5 As shown, the device includes, from bottom to top, a walking section 1, a scissor lift section 2, and a harvesting platform 3. The walking section 1 is used for movement, the scissor lift section 2 is used for lifting, and the harvesting platform 3 is used for harvesters to stand on. An automatic leveling mechanism 6 is provided between the walking section 1 and the scissor lift section 2 to support the scissor lift mechanism. The automatic leveling mechanism 6 includes:

[0034] Piston support 61 includes four pistons arranged in a rectangular array on the top of the traveling part 1, with two on the left and two on the right forming a group. It includes a piston, a connecting rod 65, and a support platform, which are separated by a first piston head 610 to form an upper chamber 611 and a lower chamber 612. The two ends of the connecting rod 65 are respectively hinged to the bottom of the support platform and the output end of the piston.

[0035] The regulating cylinder 62 has a second piston head 620 inside, and the middle part of the second piston head 620 is a magnet. The second piston head 620 divides its interior into a left chamber 621 and a right chamber 622.

[0036] The connecting pipe includes two sets, each used for one set of piston supports. Each set includes a first connecting pipe 601, a second connecting pipe 602, a third connecting pipe 603, and a fourth connecting pipe 604. The first connecting pipe 601 connects the lower chamber 612 and the right chamber 622 of the left piston support 61. The second connecting pipe 602 connects the lower chamber 612 and the left chamber 621 of the right piston support 61. The third connecting pipe 603 connects the upper chamber 611 and the right chamber 622 of the left piston support 61. The fourth connecting pipe 604 connects the upper chamber 611 and the left chamber 621 of the right piston support 61. The first connecting pipe 601 to the fourth connecting pipe 604 are respectively equipped with a first electrically controlled valve 6011 to a fourth electrically controlled valve 6041. The first electrically controlled valve 6011 and the second electrically controlled valve 6021 are normally open, and the third electrically controlled valve 6031 and the fourth electrically controlled valve 6041 are normally closed.

[0037] Hall sensor 63, which is set at one or both ends of regulating cylinder 62, is used to detect the magnetic field strength of magnet to obtain the amplitude of movement of second piston head 620;

[0038] The electromagnetic device 64 includes two devices, which are respectively disposed at both ends of the regulating cylinder 62. The electromagnetic generation intensity is matched by the signal fed back by the Hall sensor 63.

[0039] The controller 4 is connected to the electromagnetic device 64, the Hall sensor 63 and each electrically controlled valve for unified control.

[0040] When the right side of the walking part 1 is raised, the gravity on the left side increases, and the first piston head 610 on the left side is pressed down and moves downward. The gas in the lower chamber 612 of the left piston support 61 is forced into the right chamber 622, and the second piston head 620 moves to the left. When the leftward movement begins, the Hall sensor 63 sends a signal to the controller 4. The controller 4 controls the closing of the second electric valve 6021 and the opening of the fourth electric valve 6041 for automatic leveling. After stabilization, the stable state is that the value obtained by the Hall sensor 63 remains stable within a certain period of time. The controller 4 controls the first electric valve 6011 to close, and the electromagnetic device 64 adjusts the parameters according to the value obtained by the Hall sensor 63 to generate a magnetic field that produces a leftward attraction force on the second piston head 620 for leveling compensation. Conversely, when the left side is raised, the second piston head 620 moves to the right, the Hall sensor 63 senses the signal and closes the first electric valve 6011 and opens the third electric valve 6031 for automatic leveling. Because the soil around the fruit trees forms trenches, the shoulder heights of the soil-covered areas on both sides of the trenches are different. When harvesting by the picking vehicle, the heights on the left and right sides will be different. To address this, this solution uses a piston-type support structure. When gravity shifts to one side, the first piston head 610 is pressed down, and the second piston head 620 moves accordingly. At this time, the position of the magnet on the second piston head 620 changes. The Hall sensor 63 senses the signal and controls the valve to open and close, so that the gas compressed on one side is introduced to the other side to automatically level the first piston head 610 that is pressing down on the other side. The leveling speed is relatively fast. When it stops, the second piston head 620 is in a fixed position. At this time, the Hall sensor 63 feeds back the magnetic field strength data of the acquired magnet to the controller 4. The controller 4 controls the electromagnetic device 64 to output the corresponding magnetic field to generate attraction to compensate and adjust the second piston head 620. During the compensation adjustment, further leveling is achieved to compensate for the leveling error caused by the compression of gas during the automatic leveling process.

[0041] It also includes a fifth connecting pipe 605, which connects the lower chambers 612 of the piston supports 61 on both sides. A fifth electrically controlled valve 6051 is located at the fifth connecting pipe 605. After automatic leveling and stabilization, if the value obtained by the Hall sensor 63 does not reach the compensation set value, the fifth electrically controlled valve 6051 is opened, and the second piston head 620 is adjusted to the preset position before the fifth electrically controlled valve 6051 is closed. In this scheme, the value obtained by the Hall sensor 63 is a reference value after the electromagnetic device 64 is turned on. Therefore, this reference value needs to be based on the magnetic field strength after the electromagnetic device 64 is turned on at the corresponding intensity when the second piston head 620 is in a specific position. For example, if the second piston head 620 needs to be adjusted by 10cm, but only 8cm is adjusted initially, requiring a 2cm compensation, but only 9.2cm is compensated after the electromagnetic device 64 is turned on, then the fifth electrically controlled valve 6051 needs to be opened for adjustment. When the second piston head 620 is at 9.2cm, the electromagnetic device 64 generates... Since the strength of the magnetic field is constant and the position of the second piston head 620 is constant, the value measured by the Hall sensor 63 at this time is a constant value. Based on the comparison between this value and the magnetic field strength that the Hall sensor 63 should measure when the second piston head 620 is 10cm away, it is determined whether the fifth solenoid valve 6051 needs to be opened. After the fifth solenoid valve 6051 is opened, the magnetic field strength of the electromagnetic device 64 remains unchanged. However, when the Hall sensor 63 senses the magnetic field strength that the Hall sensor 63 should measure when the second piston head 620 is 10cm away, the fifth solenoid valve 6051 is immediately closed.

[0042] Preferably, the piston support 61 has the same structure, the first connecting pipe 601 and the second connecting pipe 602 have the same structure, and the third connecting pipe 603 and the fourth connecting pipe 604 have the same structure.

[0043] Preferably, the electromagnetic device 64 includes two and is respectively disposed on both sides of the regulating cylinder 62, wherein the electromagnetic device 64 on one side provides attraction and the electromagnetic device 64 on the other side provides repulsion.

[0044] Preferably, the scissor lift unit 2 and the harvesting platform 3 include a base shell 20 with a receiving groove, a scissor folding lift frame 21 disposed within the base shell 20, and a hydraulic cylinder 22 hinged to the base shell 20. The four corners of the bottom of the scissor folding lift frame 21 are hinged to the bottom of the receiving groove, and the output end of the hydraulic cylinder 22 is rotatably connected to the crossbar of the scissor folding lift frame 21. The base shell 20 serves as the support platform.

[0045] Preferably, the top four corners of the scissor lift 21 are hinged to the picking platform 3, and the picking platform 3 is equipped with a control box that communicates wirelessly with the controller 4.

[0046] As a preferred embodiment, the harvesting platform 3 includes a base plate 31 and a fence 32 set on the base plate 31, with the control box set on the fence 32.

[0047] Preferably, the walking part 1 includes a chassis, a drive wheel 12 and a walking wheel 11 mounted on the chassis, a power supply and a motor 13 mounted on the chassis. Both the power supply and the motor 13 are connected to the controller 4. The output shaft of the motor 13 is connected to the axle of the drive wheel 12 through a set of bevel gears.

[0048] Preferably, a telescopic rod 5 is vertically installed on the harvesting platform 3 and the base shell 20. The telescopic rod 5 is used to limit the direction and improve the stability of lifting.

[0049] The title of the safe lifting flower and fruit picking machine provided by the present invention has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The above description of the embodiments is only for the purpose of helping to understand the present invention and its core ideas. It should be noted that for those skilled in the art, several improvements and modifications can be made to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A safe lifting-type fruit and flower harvesting machine, comprising a traveling section, a scissor lift section, and a harvesting platform distributed from bottom to top, wherein the traveling section is used for movement, the scissor lift section is used for lifting, and the harvesting platform is used for the harvester to stand on, characterized in that, An automatic leveling mechanism is provided between the traveling section and the scissor lift section to support the scissor lift mechanism. The automatic leveling mechanism includes: The piston support includes four pistons arranged in a rectangular array on the top of the traveling part, with the left and right pairs forming a group. Each piston includes a piston, a connecting rod, and a support platform that are separated into an upper chamber and a lower chamber by a first piston head. The two ends of the connecting rod are respectively hinged to the bottom of the support platform and the output end of the piston. The regulating cylinder has a second piston head inside, and the middle part of the second piston head is a magnet. The second piston head divides its interior into a left chamber and a right chamber. The connecting pipe includes two sets, each used for one set of piston supports. Each set includes a first connecting pipe, a second connecting pipe, a third connecting pipe, and a fourth connecting pipe. The first connecting pipe connects the lower chamber and the right chamber of the left piston support. The second connecting pipe connects the lower chamber and the left chamber of the right piston support. The third connecting pipe connects the upper chamber and the right chamber of the left piston support. The fourth connecting pipe connects the upper chamber and the left chamber of the right piston support. A first electrically controlled valve and a fourth electrically controlled valve are respectively provided at the first connecting pipe and the fourth connecting pipe. The first and second electrically controlled valves are normally open, and the third and fourth electrically controlled valves are normally closed. A Hall sensor, which is set at one or both ends of the regulating cylinder, is used to detect the magnetic field strength of the magnet to obtain the amplitude of the second piston head movement; An electromagnetic device, comprising two devices respectively disposed at both ends of a regulating cylinder, wherein the electromagnetic generation intensity is matched by a signal fed back from a Hall sensor. The controller is connected to electromagnetic devices, Hall sensors, and various electrically controlled valves for unified control. When the right side of the walking section is raised, the gravity on the left side increases, causing the first piston head on the left to be pressed down and move downwards. The gas in the lower chamber of the left piston support is forced into the right chamber, and the second piston head moves to the left. At the beginning of the leftward movement, a signal is fed back to the controller through the Hall sensor. The controller controls the closing of the second solenoid valve and the opening of the fourth solenoid valve for automatic leveling. After stabilization, the controller controls the closing of the first solenoid valve. The electromagnetic device adjusts the parameters according to the value obtained by the Hall sensor to generate a magnetic field that produces a leftward attraction force on the second piston head for leveling compensation. Conversely, when the left side is raised, the second piston head moves to the right. The Hall sensor senses the signal and closes the first solenoid valve and opens the third solenoid valve for automatic leveling.

2. The safe lifting flower and fruit harvesting machine according to claim 1, characterized in that, It also includes a fifth connecting pipe, which connects the lower chambers of the piston supports on the left and right sides. A fifth electrically controlled valve is provided at the fifth connecting pipe. After automatic leveling and stabilization, if the value obtained by the Hall sensor does not reach the compensation set value, the fifth electrically controlled valve will be opened and the second piston head will be adjusted to the preset position before the fifth electrically controlled valve will be closed.

3. The safe lifting flower and fruit harvesting machine according to claim 1, characterized in that, The two sets of piston supports have the same structure, the first connecting pipe and the second connecting pipe have the same structure, and the third connecting pipe and the fourth connecting pipe have the same structure.

4. The safe lifting flower and fruit harvesting machine according to claim 1, characterized in that, The electromagnetic device comprises two devices, which are respectively located on both sides of the regulating cylinder. One electromagnetic device provides attraction, and the other electromagnetic device provides repulsion.

5. The safe lifting flower and fruit harvesting machine according to claim 1, characterized in that, The scissor lift and harvesting platform include a bottom shell with a receiving groove, a scissor folding lift frame set inside the bottom shell, and a hydraulic cylinder hinged to the bottom shell. The four corners of the bottom of the scissor folding lift frame are hinged to the bottom of the receiving groove, and the output end of the hydraulic cylinder is rotatably connected to the crossbar of the scissor folding lift frame.

6. The safe lifting flower and fruit harvesting machine according to claim 4, characterized in that, The top four corners of the scissor lift are hinged to the picking platform, and the picking platform is equipped with a control box that communicates wirelessly with the controller.

7. The safe lifting flower and fruit harvesting machine according to claim 5, characterized in that, The harvesting platform includes a base plate and a fence set on the base plate, with the control box set on the fence.

8. The safe lifting flower and fruit harvesting machine according to claim 1, characterized in that, The walking mechanism includes a chassis, drive wheels and walking wheels mounted on the chassis, a power supply and a motor mounted on the chassis. Both the power supply and the motor are connected to the controller. The output shaft of the motor is connected to the axle of the drive wheel through a set of bevel gears.

9. The safe lifting flower and fruit picking machine according to claim 5, characterized in that... A telescopic rod is vertically installed on the picking platform and the bottom shell.

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