Climbing mechanism and picking system

Abstract

The application discloses a climbing mechanism and a picking system, which comprises a main frame, a connecting rod transmission assembly and a wheel set. A telescopic driving part is connected to the middle area of the main frame. The telescopic driving part is transmissionally connected to the connecting rod transmission assembly. The wheel set comprises a supporting wheel, a first climbing wheel and a second climbing wheel, which enclose an envelope area. The supporting wheel is installed in the middle area of the main frame. The first climbing wheel and the second climbing wheel are respectively installed at the two ends of the connecting rod transmission assembly, so that the wheel set has a clamping state and a release state. In the clamping state, the telescopic driving part drives the connecting rod transmission assembly along a first direction, and synchronously drives the first climbing wheel and the second climbing wheel to clamp the trunk in cooperation with the supporting wheel. In the release state, the telescopic driving part drives the connecting rod transmission assembly along a second direction, and synchronously drives the first climbing wheel and the second climbing wheel to move away from the trunk. The synchronous clamping and releasing of the trunk by the wheel set are realized through the connecting rod transmission assembly. The overall structure is simplified, the energy consumption is reduced, the climbing endurance is prolonged, and the picking efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of palm fruit harvesting technology, and more specifically, to a climbing mechanism and harvesting system. Background Technology

[0002] During the palm fruit harvesting process, the palm tree trunk is quite tall, requiring people to climb to a high position to harvest the palm fruit. Currently, climbing mechanisms are usually used to carry harvesting equipment to achieve this. However, the existing climbing mechanisms have many components, making the overall structure complex and heavy, resulting in high overall energy consumption, short climbing range, and low harvesting efficiency.

[0003] In conclusion, how to extend climbing endurance and improve harvesting efficiency is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a climbing mechanism and a harvesting system to extend climbing endurance and improve harvesting efficiency.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A climbing mechanism includes: a main frame, with a telescopic drive member connected to the central region of the main frame; a linkage transmission assembly, the telescopic drive member being tractively connected to the linkage transmission assembly; and a wheel set, the wheel set including a support wheel, a first climbing wheel, and a second climbing wheel forming an enclosing area, the support wheel being installed in the central region of the main frame, and the first climbing wheel and the second climbing wheel being respectively installed at both ends of the linkage transmission assembly; the wheel set has a clamping state and a releasing state; in the clamping state, the telescopic drive member drives the linkage transmission assembly along a first direction to simultaneously drive the first climbing wheel and the second climbing wheel to cooperate with the support wheel to clamp the tree trunk; in the releasing state, the telescopic drive member drives the linkage transmission assembly along a second direction to simultaneously drive the first climbing wheel and the second climbing wheel away from the tree trunk; the first direction and the second direction are opposite directions to each other.

[0007] In some embodiments, the linkage drive assembly includes: a first link and a second link, both the first end of the first link and the first end of the second link being rotatably connected to the drive end of the telescopic drive member, the first link and the second link being symmetrically distributed; the second end of the first link being rotatably connected to the first end of a third link, the middle portion of the third link being rotatably engaged with the main frame via a first pivot, the second end of the third link being connected to a first mounting frame for mounting the first climbing wheel; the second end of the second link being rotatably connected to the first end of a fourth link, the middle portion of the fourth link being rotatably engaged with the main frame via a second pivot, the second end of the fourth link being connected to a second mounting frame for mounting the second climbing wheel.

[0008] In some embodiments, both the first climbing wheel and the second climbing wheel have a built-in motor, and both the first climbing wheel and the second climbing wheel are respectively in rolling engagement with the first mounting frame and the second mounting frame via bearings; both the first climbing wheel and the second climbing wheel are configured as sealed housings.

[0009] In some embodiments, an elastic buffer is provided between the first climbing wheel and the first mounting frame;

[0010] And / or, an elastic buffer is provided between the second climbing wheel and the second mounting frame.

[0011] In some embodiments, the main frame is configured with a mounting base for mounting the telescopic drive member and a support base for mounting the support wheel; the support wheel is in rolling engagement with the support base via a bearing, and the support wheel is configured with a sealed housing.

[0012] In some embodiments, the surfaces of the support wheel, the first climbing wheel, and the second climbing wheel are all provided with a wear-resistant layer.

[0013] In some embodiments, a locking module is also included, which is installed on the main frame and is used to lock with the tree trunk in the clamping state to facilitate stable harvesting.

[0014] In some embodiments, an arc-shaped guide rail is provided on the top of the main frame, the arc-shaped guide rail being used to support the harvesting module.

[0015] In some embodiments, a control unit is also included, wherein the telescopic drive, the first climbing wheel, and the second climbing wheel are all communicatively connected to the control unit.

[0016] A harvesting system, including the climbing mechanism as described above.

[0017] The climbing mechanism provided in this application includes a main frame, a linkage transmission assembly, and a wheel set. A telescopic drive component is connected to the central region of the main frame, and the telescopic drive component is connected to the linkage transmission assembly. The wheel set includes a support wheel, a first climbing wheel, and a second climbing wheel that form an enclosing area. The support wheel is installed in the central region of the main frame, and the first and second climbing wheels are respectively installed at both ends of the linkage transmission assembly, so that the wheel set has a clamping state and a releasing state. In the clamping state, the telescopic drive component can drive the linkage transmission assembly along a first direction to synchronously drive the first and second climbing wheels to cooperate with the support wheel to clamp the tree trunk, so as to facilitate climbing operations. In the releasing state, the telescopic drive component can drive the linkage transmission assembly along a second direction to synchronously drive the first and second climbing wheels away from the tree trunk, so as to release the tree trunk. The linkage transmission assembly realizes the synchronous clamping and releasing of the wheel set on the tree trunk to achieve climbing, which simplifies the overall structure, reduces energy consumption, extends climbing endurance, and improves harvesting efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the climbing mechanism provided in the embodiments of this application;

[0020] Figure 2 A top view of the climbing mechanism provided in an embodiment of this application;

[0021] Figure 3 A front view schematic diagram of the climbing mechanism provided in the embodiments of this application;

[0022] Figure 4 This is a bottom view of the climbing mechanism provided in an embodiment of this application.

[0023] Explanation of reference numerals in the attached figures:

[0024] 100 - Main frame;

[0025] 200-Linkage drive assembly;

[0026] 210 - First Linkage;

[0027] 220 - Second Link;

[0028] 230 - Third Link;

[0029] 231 - First mounting frame;

[0030] 240 - Fourth Link;

[0031] 241 - Second mounting frame;

[0032] 310 - Support wheel;

[0033] 320 - First Climbing Wheel;

[0034] 330 - Second climbing wheel;

[0035] 400 - Telescopic drive component;

[0036] 510 - First pivot;

[0037] 520 - Second pivot;

[0038] 600-Lock-off Module;

[0039] 700-Arc-shaped guide rail. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The terminology used in the following embodiments is for the purpose of describing specific embodiments only and is not intended to be a limitation of this application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context clearly indicates otherwise. It should also be understood that in the embodiments of this application, "one or more" refers to one, two, or more; "and / or" describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0042] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0043] The "multiple" mentioned in the embodiments of this application refers to two or more. It should be noted that in the description of the embodiments of this application, terms such as "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0044] like Figure 1 As shown, the climbing mechanism provided in this application embodiment includes a main frame 100, a linkage transmission assembly 200, and a wheel set. A telescopic drive member 400 is connected to the middle region of the main frame 100. The telescopic drive member 400 is connected to the linkage transmission assembly 200 so that the linkage transmission assembly 200 is driven by the telescopic drive member 400 to retract and release.

[0045] The wheel assembly includes a support wheel 310, a first climbing wheel 320, and a second climbing wheel 330 that form an enclosing area. The support wheel 310 is installed in the middle area of ​​the main frame 100, and the first climbing wheel 320 and the second climbing wheel 330 are respectively installed at both ends of the linkage transmission assembly 200, so as to form a three-point support structure through the support wheel 310, the first climbing wheel 320, and the second climbing wheel 330. The three-point support establishes a stable contact around the tree trunk, so as to form a stable clamping on the tree trunk.

[0046] The wheelset has a clamped state and a released state.

[0047] In the clamping state, the telescopic drive 400 drives the linkage transmission assembly 200 along the first direction, so that the linkage transmission assembly 200 synchronously drives the first climbing wheel 320 and the second climbing wheel 330 to tighten. With the cooperation of the support wheel 310, the tree trunk is clamped. The support wheel 310, the first climbing wheel 320 and the second climbing wheel 330 achieve the clamping of the tree trunk, so as to facilitate stable climbing.

[0048] In the released state, the telescopic drive 400 drives the linkage transmission assembly 200 in the second direction, so that the linkage transmission assembly 200 synchronously drives the first climbing wheel 320 and the second climbing wheel 330 to open away from the tree trunk, so as to release the tree trunk and make the climbing mechanism detach from the tree trunk as a whole.

[0049] In this way, the linkage transmission assembly 200 drives the support wheel 310, the first climbing wheel 320 and the second climbing wheel 330 to achieve a stable clamping effect with three-point support. By simplifying the overall structure, stable clamping and climbing are achieved, which reduces the number of parts, makes the overall structure more compact, and reduces the mass of the entire climbing mechanism, thereby reducing energy consumption, extending climbing range and improving harvesting efficiency.

[0050] It should be noted that the first direction and the second direction are opposite telescopic directions of the telescopic drive 400, so as to switch between clamping and releasing states by controlling the telescopic drive 400.

[0051] It should be noted that in this application, the support wheel 310 can also be offset, as long as it can form a stable three-point support envelope together with the first climbing wheel 320 and the second climbing wheel 330. This application embodiment does not limit this.

[0052] In some embodiments, the support wheel 310, the first climbing wheel 320 and the second climbing wheel 330 may be arranged in a triangular pattern of "two down and one up" or "two up and one down", or they may be arranged horizontally at a 120° angle along the circumference. The choice can be made according to the actual situation, and this application embodiment does not limit this.

[0053] In some embodiments, the telescopic drive 400 can be a cylinder, electric push rod, hydraulic rod, lead screw nut, gear rack, or other drive device capable of telescopic movement. It can be selected according to the actual situation, and the embodiments of this application do not limit it.

[0054] like Figures 2-4 As shown, the linkage drive assembly 200 includes a first link 210, a second link 220, a third link 230, and a fourth link 240.

[0055] The first end of the first link 210 and the first end of the second link 220 are both rotatably connected to the drive end of the telescopic drive member 400, and the first link 210 and the second link 220 are symmetrically distributed so that the first link 210 and the second link 220 can be driven to open and close symmetrically and synchronously during the telescopic drive member 400's extension and retraction.

[0056] like Figure 4As shown, the second end of the first link 210 is rotatably connected to the first end of the third link 230. The middle part of the third link 230 is rotatably engaged with the main frame 100 through the first rotating shaft 510, and the second end of the third link 230 is connected to the first mounting frame 231. The first climbing wheel 320 is installed in the first mounting frame 231 so that the first climbing wheel 320 can climb stably in the first mounting frame 231, thereby improving climbing stability and safety.

[0057] The second end of the second link 220 is rotatably connected to the first end of the fourth link 240. The middle part of the fourth link 240 is rotatably engaged with the main frame 100 through the second pivot 520. The second end of the fourth link 240 is connected to the second mounting frame 241. The second climbing wheel 330 is installed in the second mounting frame 241 so that the second climbing wheel 330 can climb stably in the second mounting frame 241, thereby improving climbing stability and safety, and further improving climbing efficiency.

[0058] In this way, the telescopic drive 400 can simultaneously drive the first link 210 and the second link 220 to open and close. Under the operation of the first link 210 and the second link 220, the third link 230 and the fourth link 240 can be simultaneously tightened or opened, so as to realize that the first climbing wheel 320 and the second climbing wheel 330 can simultaneously clamp the tree trunk or move away from the tree trunk, thereby realizing the switching between the clamping state and the release state.

[0059] It should be noted that in some other embodiments, the linkage transmission assembly 200 can also be a double rocker arm linkage mechanism, a symmetrical slider guide mechanism, a synchronous gear linkage mechanism, a synchronous belt linkage mechanism, etc., which can enable the first climbing wheel 320 and the second climbing wheel 330 to simultaneously clamp the tree trunk or move away from the tree trunk. This application embodiment does not limit this.

[0060] In this application, in order to further simplify the structure and improve the overall integration of the mechanism, both the first climbing wheel 320 and the second climbing wheel 330 have built-in motors to reduce the transmission mechanism and shorten the power transmission path, thereby further simplifying the structure and improving climbing efficiency.

[0061] In this application, the first climbing wheel 320 and the second climbing wheel 330 are both in rolling engagement with the first mounting frame 231 and the second mounting frame 241 respectively through bearings, so as to improve the stability of the first climbing wheel 320 and the second climbing wheel 330 during the climbing operation.

[0062] In this application, both the first climbing wheel 320 and the second climbing wheel 330 are configured with sealed shells. The sealed shells are in direct contact with the tree trunk, which reduces the entry of mud, water, dust, plant sap, etc. into the interior of the sealed shells during the climbing process, thereby ensuring the normal operation of the first climbing wheel 320 and the second climbing wheel 330 and extending their service life.

[0063] Since the tree trunk is not a smooth cylinder of uniform diameter during climbing, but has slight diameter changes and local knot bulges, in order to further improve climbing stability, this application provides an elastic buffer between the first climbing wheel 320 and the first mounting frame 231, and also between the second climbing wheel 330 and the second mounting frame 241. This allows the elastic buffer to provide a small range of clearance or return when encountering areas with slight diameter changes and local knot bulges during climbing, reducing safety hazards caused by rigid impacts, local suspensions, etc., in order to adapt to the complex shape of the tree trunk, further improve climbing stability, and reduce safety hazards.

[0064] In some embodiments, the elastic buffer can be a compression spring, torsion spring, gas spring, or elastic damping element, which can provide buffer return. The choice can be made according to the actual situation, and the embodiments of this application do not limit this.

[0065] like Figure 1 As shown, the main frame 100 is equipped with a mounting base for mounting the telescopic drive 400 and a support base for mounting the support wheel 310, so that the telescopic drive 400 and the support wheel 310 can operate stably.

[0066] The support wheel 310 is rolled with the support seat through a bearing to improve the stability of the support wheel 310 during climbing operations. The support wheel 310 is equipped with a sealed shell, which is in direct contact with the tree trunk to reduce the entry of mud, dust, plant sap and other substances into the sealed shell during climbing, so as to ensure the normal operation of the support wheel 310 and extend its service life.

[0067] It should be noted that in practice, the support wheel 310 can also be equipped with a built-in motor to increase climbing power and further improve climbing efficiency.

[0068] In this application, a wear-resistant layer is provided on the surface of the support wheel 310, the first climbing wheel 320, and the second climbing wheel 330 to improve the frictional adhesion between the support wheel 310, the first climbing wheel 320, the second climbing wheel 330 and the tree trunk, thereby further improving climbing stability.

[0069] In some embodiments, the friction layer may be made of rubber, polyurethane, wear-resistant composite material or textured elastic coating, and different hardness and different surface patterns may be selected according to the slipperiness of the palm trunk surface, the density of knots and the working conditions.

[0070] Furthermore, the working surface of the climbing wheel can also be designed with a structure with shallow grooves, ridges, or spiral patterns to improve drainage and sewage discharge when there is plant sap, mud, or dust on the tree trunk surface, thereby enhancing frictional traction stability.

[0071] In this application, such as Figure 1 As shown, it also includes a locking module 600, which is installed on the main frame 100. The locking module 600 can lock with the tree trunk in the clamping state to improve the relative stability between the climbing mechanism and the tree trunk, so as to facilitate the stable progress of the picking process, and at the same time provide safety guarantee in the clamping state.

[0072] In some embodiments, the locking module 600 may consist of a locking drive and a locking clamp, so that the locking drive drives the locking clamp to adhere to the tree trunk to achieve locking, and the locking drive moves the locking clamp away from the tree trunk to achieve contact locking, thereby achieving locking effect by simplifying the mechanism and improving the stability of harvesting.

[0073] In other embodiments, the locking module 600 may also be a device that can achieve a stable locking effect, such as a mechanical pawl lock, a wedge self-locking, a screw self-locking, a center link self-locking, a brake lock, or an electromagnetic locking structure. This application does not limit this aspect.

[0074] In this application, such as Figures 1-2 As shown, an arc-shaped guide rail 700 is provided on the top of the main frame 100. The arc-shaped guide rail 700 is used to support the picking module and provides a moving base for the picking module through the arc-shaped track, so that the picking module can move along the trajectory of the arc-shaped guide rail 700 to facilitate the circular picking of palm fruits, thereby improving the flexibility of picking, expanding the picking range, and further improving the picking efficiency.

[0075] In some embodiments, linear guide rails, swing arms forming arc-shaped trajectories, circular arc grooves, etc., can also serve as the supporting and moving base for the picking module. The choice can be made according to the actual situation, and this application embodiment does not limit this.

[0076] This application also includes a control unit. The telescopic drive 400, the first climbing wheel 320 and the second climbing wheel 330 are all communicatively connected to the control unit so that the telescopic drive 400 can be telescopically extended to switch between clamping and releasing states, and the first climbing wheel 320 and the second climbing wheel 330 can be controlled to perform climbing operations.

[0077] In the operation of the climbing mechanism provided in this embodiment, the telescopic drive component 400 first drives the linkage transmission assembly 200 to release the first climbing wheel 320 and the second climbing wheel 330, and prepares the climbing mechanism to envelop the tree trunk. Then, the telescopic drive component 400 drives the linkage transmission assembly 200 to clamp the first climbing wheel 320 and the second climbing wheel 330 to the tree trunk, thus converting it into a clamping state. After that, the first climbing wheel 320 and the second climbing wheel 330 are activated to climb along the tree trunk until they reach the picking position, and are locked by the locking module 600 to facilitate stable picking operations. In this way, the linkage transmission assembly 200 drives the support wheel 310, the first climbing wheel 320 and the second climbing wheel 330 to achieve a stable clamping effect with three-point support. By simplifying the overall structure, stable clamping and climbing are achieved, reducing the number of parts, making the overall structure more compact, reducing the weight of the entire climbing mechanism, thereby reducing energy consumption, extending the climbing range, and improving picking efficiency.

[0078] This application also provides a harvesting system, which includes the climbing mechanism described in the above embodiments.

[0079] Since the climbing mechanism has the aforementioned technical effects, and the harvesting system includes the climbing mechanism, the harvesting system also has the corresponding technical effects, which will not be elaborated here.

[0080] The above description of the embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A climbing mechanism, characterized in that, include: The main frame (100) has a telescopic drive component (400) connected to its central region. Linkage drive assembly (200), the telescopic drive member (400) is connected to the linkage drive assembly (200). The wheel assembly includes a support wheel (310) forming an enclosing area, a first climbing wheel (320) and a second climbing wheel (330). The support wheel (310) is installed in the middle area of ​​the main frame (100), and the first climbing wheel (320) and the second climbing wheel (330) are respectively installed at both ends of the linkage drive assembly (200). The wheel assembly has a clamping state and a releasing state; In the clamping state, the telescopic drive member (400) drives the linkage transmission assembly (200) along the first direction to simultaneously drive the first climbing wheel (320) and the second climbing wheel (330) to cooperate with the support wheel (310) to clamp the tree trunk; In the released state, the telescopic drive (400) drives the linkage transmission assembly (200) in the second direction to simultaneously drive the first climbing wheel (320) and the second climbing wheel (330) away from the tree trunk; The first direction and the second direction are opposite to each other.

2. The climbing mechanism according to claim 1, characterized in that, The linkage drive assembly (200) includes: The first link (210) and the second link (220) are rotatably connected to the drive end of the telescopic drive (400), and the first link (210) and the second link (220) are symmetrically distributed. The second end of the first link (210) is rotatably connected to the first end of the third link (230). The middle part of the third link (230) is rotatably engaged with the main frame (100) through the first pivot (510). The second end of the third link (230) is connected to a first mounting frame (231), which is used to mount the first climbing wheel (320). The second end of the second link (220) is rotatably connected to the first end of the fourth link (240). The middle part of the fourth link (240) is rotatably engaged with the main frame (100) through the second pivot (520). The second end of the fourth link (240) is connected to a second mounting frame (241), which is used to mount the second climbing wheel (330).

3. The climbing mechanism according to claim 2, characterized in that, Both the first climbing wheel (320) and the second climbing wheel (330) have built-in motors, and both the first climbing wheel (320) and the second climbing wheel (330) are in rolling contact with the first mounting frame (231) and the second mounting frame (241) respectively through bearings; Both the first climbing wheel (320) and the second climbing wheel (330) are configured with sealed housings.

4. The climbing mechanism according to claim 2, characterized in that, An elastic buffer is provided between the first climbing wheel (320) and the first mounting frame (231); And / or, an elastic buffer is provided between the second climbing wheel (330) and the second mounting frame (241).

5. The climbing mechanism according to claim 1, characterized in that, The main frame (100) is provided with a mounting base for mounting the telescopic drive (400) and a support base for mounting the support wheel (310); The support wheel (310) is in rolling engagement with the support seat via a bearing, and the support wheel (310) is equipped with a sealed housing.

6. The climbing mechanism according to claim 1, characterized in that, The surfaces of the support wheel (310), the first climbing wheel (320), and the second climbing wheel (330) are all provided with a wear-resistant layer.

7. The climbing mechanism according to claim 1, characterized in that, It also includes a locking module (600), which is installed on the main frame (100) and is used to lock with the tree trunk in the clamping state to facilitate stable harvesting.

8. The climbing mechanism according to claim 1, characterized in that, An arc-shaped guide rail (700) is provided on the top of the main frame (100), and the arc-shaped guide rail (700) is used to support the picking module.

9. The climbing mechanism according to claim 1, characterized in that, It also includes a control unit, and the telescopic drive (400), the first climbing wheel (320), and the second climbing wheel (330) are all communicatively connected to the control unit.

10. A harvesting system, characterized in that, Includes the climbing mechanism as described in any one of claims 1-9.

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