Oil palm fruit picking cutter, oil palm fruit picking device and oil palm fruit picking equipment

Abstract

The utility model discloses an oil palm fruit picking cutter, an oil palm fruit picking device and an oil palm fruit picking equipment, the oil palm fruit picking cutter utilizes a shearing assembly and a self-adaptive clamping assembly to adapt to oil palm fruits of different sizes, the self-adaptive clamping device avoids hooking when leaves are sheared, and the oil palm fruit picking cutter is suitable for the oil palm fruits of different sizes. The self-adaptive clamping device grabs the fruit while the blade cuts off the fruit stem of the fruit, so that the fruit loss caused by falling to the ground is reduced; according to the oil palm fruit picking device, fruits can be accurately and effectively positioned through the tool bit adjusting device, and an operator can pick the fruits at any position with the best visual field; according to the oil palm fruit picking equipment, by additionally arranging the arm frame device and the lifting dumper hopper, when the oil palm fruit picking equipment is used for picking oil palm fruits, large-space-range adjustment can be achieved according to the positions of the oil palm fruits, wireless remote control picking operation can be achieved, meanwhile, after the oil palm fruits are picked, the fruits are directly collected into the dumper hopper of the oil palm fruit picking equipment, and then transferring operation is completed; picking procedures are simplified, and labor intensity is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural product collection technology, and particularly relates to an oil palm fruit picking tool, an oil palm fruit picking device, and an oil palm fruit picking equipment. Background Art

[0002] At present, the mechanization degree of the oil palm planting industry is quite low. Oil palms are mainly produced in Southeast Asian countries, Africa, and South America. When the oil palm trees bear fruit, the height is more than 3 meters. Palm fruits can be used as important industrial and livelihood raw materials. At present, the general picking method is manual picking. When picking, it is necessary to first cut the leaves below the fruit, and then cut the oil palm fruit. The labor intensity and difficulty are relatively large, and other leaves and immature fruits cannot be damaged. Then the fruits are collected by the roadside and then collected into the truck bed by a small transport vehicle. In this traditional operation mode, the fruits fall to the ground once during picking, and fall to the ground again when the fruits are collected by the roadside. Each time the fruits fall to the ground, it will cause a certain degree of damage and scattering, resulting in economic losses, and it is necessary to collect the fruits again, which further prolongs the working time.

[0003] At present, simple harvesting tools have also appeared on the market, and most of them are hand-held tools.

[0004] The publicly disclosed patent CN201310495930.4 discloses an electric palm fruit picking machine, which only cuts off the leaves or fruit stalks, and the fruits still fall to the ground, and it is necessary to collect the fruits again. It cannot achieve harvesting and collection at the same time. Each time the fruits fall to the ground, fruit grains will fall off, resulting in economic losses, and the improvement of work efficiency is not obvious.

[0005] The publicly disclosed patent CN201210096608.X discloses a fruit picking device. Its chain saw form is not suitable for cutting multi-fibrous oil palm leaves and hidden fruit stalks, and it is easy to damage other immature fruits and leaves. The clamping device cannot clamp the oil palm fruits, and it will prevent the cutting of oil palm leaves.

[0006] The publicly disclosed patent CNCN112219556A discloses an adaptive oil palm fruit picking tool and its picking execution device. Its picking tool only has two blades that cross each other, but because the leaf fibers of the oil palm tree are tough and easy to get caught between the blades, there are often situations where the fruit stalks or leaves cannot be cut off at one time; in addition, although the picking execution device can achieve the picking of oil palm fruits, the operable height and width range are small, and there are certain safety risks; in addition, how to collect and transport the picked fruits is also an urgent problem to be solved. Utility Model Content

[0007] The purpose of the utility model is to provide an oil palm fruit picking tool, an oil palm fruit picking device, and an oil palm fruit picking equipment to solve the above technical problems.

[0008] For this reason, the technical solution of the present utility model is as follows:

[0009] An oil palm fruit picking tool, comprising a shearing assembly and an adaptive clamping assembly mounted on a tool rest; wherein,

[0010] The shearing assembly includes a blade group, a connecting rod mechanism and a sliding shearing mechanism arranged on the tool rest in sequence from front to back; a strip-shaped through hole is formed in the tool rest along its length direction, and a third pin shaft is inserted through the strip-shaped through hole; the blade group includes a first blade and a second blade with their cutting edges staggered with each other, and a third blade arranged parallel above the two; the rear sides of the first blade and the second blade are respectively pivotally connected to the front end of the tool rest, the connecting rod mechanism is composed of two connecting rods, the front ends of the two are pivotally connected to the rear ends of the first blade and the second blade, and the rear ends are sleeved on the third pin shaft; the sliding driving mechanism includes a slider, a guide rail and a shearing oil cylinder; the guide rail is composed of two tracks arranged along the length direction of the tool rest and fixed on both sides of the strip-shaped through hole on the tool rest, the slider is slidably assembled on the two tracks, and the rear end is sleeved on the third pin shaft; the piston end of the shearing oil cylinder is connected to the third pin shaft, and the cylinder barrel end is fixed to the rear end of the tool rest; the rear end of the third blade is fixed to the front end of the slider;

[0011] The adaptive clamping assembly includes a pair of claws split into two parts, which are respectively symmetrically arranged on the outer edges of the upper surfaces of the first blade and the second blade, and the rear ends are respectively pivotally connected to the rear sides of the two blades by two first bolts, and the claws can rotate around the first bolts to realize clamping and opening; a torsion spring is sleeved on each first bolt, the bottom end of the torsion spring is fixed to the rear ends of the first blade and the second blade, and the top end is clamped on the outside of the claws; a limiting member is arranged on the first blade and the second blade and on the inner side of the claws, so that the claws synchronously close to the same-side limiting member when there is no fruit blockage.

[0012] Furthermore, the front ends of the first blade and the second blade are bent inwards into a hook shape.

[0013] Furthermore, the claws are composed of a horizontally arranged long arc-shaped claw and a vertically fixed short arc-shaped claw on the long arc-shaped claw, and the two are arranged on the blade in a manner of bending towards the cutting edge side and in a surrounding shape; tooth-shaped protrusions are arranged on the edge sides of the long arc-shaped claw and the short arc-shaped claw that are in contact with the fruit.

[0014] An oil palm fruit picking device includes an oil palm fruit picking cutter, as well as a first axial rotation mechanism, a longitudinal rotation mechanism, and a second axial rotation mechanism arranged coaxially; wherein, the first axial rotation mechanism includes a first swing oil cylinder, the rotation end of which is fixed to the rear end of the tool rest, and a U-shaped connection bracket is arranged at its rear end, and the bottom plate of the U-shaped connection bracket is fixed to the rear end of the first swing oil cylinder; the longitudinal rotation mechanism includes a second swing oil cylinder, which is arranged in a manner that its axis direction is perpendicular to the axis direction of the first swing oil cylinder, and its two rotation ends are respectively fixed to the two side plates of the U-shaped connection bracket; the second axial rotation mechanism includes a third swing oil cylinder, the front end of which is fixed to the rear end of the second swing oil cylinder.

[0015] An oil palm fruit picking equipment includes the above-mentioned oil palm fruit picking device and a boom device; the boom device includes a base, a slewing device, a column, a main boom oil cylinder, a main boom, a sub-boom oil cylinder, a sub-boom, a telescopic oil cylinder, and a telescopic boom arranged on the chassis in sequence from bottom to top; wherein,

[0016] The base is vertically fixed on the chassis, and its top end is fixed to the outer ring bearing of the slewing device; the bottom end of the column is fixed to the inner ring bearing of the slewing device; the bottom end of the main boom is hinged to the top end of the column;

[0017] The main boom oil cylinder is arranged adjacent to the upper part of the column, its cylinder barrel end is hinged to the upper side wall of the column, and its movable push rod end is hinged to the lower side wall of the main boom; the sub-boom oil cylinder is arranged adjacent to the upper part of the main boom, its cylinder barrel end is hinged to the upper side wall of the main boom, and its movable push rod end is connected with a second link mechanism; the second link mechanism includes a short link and a long link, one end of the short link and the long link is jointly hinged to the movable push rod end of the sub-boom oil cylinder, the other end of the short link is hinged to the lower side wall surface of the sub-boom, and the other end of the long link is hinged to the top end of the main boom; the top end of the main boom is hinged to the lower side wall surface of the sub-boom, the telescopic oil cylinder is built in the axial channel of the sub-boom, its cylinder barrel end is hinged to the bottom end of the sub-boom; the bottom end of the telescopic boom is inserted into the axial channel of the sub-boom, so that the front end of the movable push rod of the telescopic oil cylinder is inserted into the axial channel of the telescopic boom and is hinged to the telescopic boom; the top end of the telescopic boom is fixed to the rear end of the third swing oil cylinder.

[0018] Furthermore, the remote-controlled oil palm fruit picking device further includes a lifting and self-unloading truck hopper arranged on the other side of the chassis; the lifting and self-unloading truck hopper includes a tipping oil cylinder, a lifting frame, a truck hopper, and a lifting oil cylinder; the lifting frame includes an inner support frame, an outer support frame, and a bracket; wherein,

[0019] The bracket is horizontally arranged above the chassis. At the upper part of one end of the bracket far from the boom device, two first hinge holes are symmetrically arranged, and at the lower part of one end of the bracket far from the boom device, two second hinge holes are arranged. At one end of the bracket close to the boom device, two second track grooves are arranged; at one end of the chassis close to the boom device, two first track grooves are arranged; the two first track grooves and the two second track grooves are symmetrically arranged along the length direction of the chassis; first rollers are arranged in the track grooves of the two first slide rails, and second rollers are arranged in the track grooves of the two second slide rails;

[0020] The tipping cylinder and the hopper are arranged on the bracket on the side far from the boom device; the hopper is a hopper body with an open top, and the bottom surface of its outer end is hinged and connected to the first hinge hole of the bracket through two eighteenth pin shafts; the cylinder end of the tipping cylinder is hinged and connected to the bracket, and the movable push rod end is hinged and connected to the bottom of the hopper; the inner support frame and the outer support frame are two rectangular frames inserted crosswise, and the two are hinged and connected through pin shafts sequentially arranged horizontally at the cross position; both sides of the top end of the inner support frame are hinged and connected to the two second rollers respectively, and both sides of the bottom end of the inner support frame are hinged and connected to the end of the vehicle frame respectively; the top end of the outer support frame is hinged to the second hinge hole of the bracket through two twentieth pin shafts, and both sides of the bottom end of the outer support frame are hinged and connected to the two first rollers respectively; the cylinder end of the lifting cylinder is hinged and connected to the chassis, and its movable push rod is hinged and connected to the connecting pin shaft at the cross position of the inner support frame and the outer support frame.

[0021] Further, the side wall of one end of the hopper located outside is set as an inclined plate. When the hopper is turned outward, the hopper at the end with the inclined plate is turned to the bottom side, and the inclined plate is set obliquely downward.

[0022] Further, the chassis is a rubber crawler chassis, on which a cab, a power system, a transmission system, an electro-hydraulic control station and a wireless remote control system are arranged; the power system is respectively connected to the transmission system and the electro-hydraulic control station to provide power for the two; the transmission system is used to drive the rubber crawler chassis to travel, and the electro-hydraulic control station is respectively connected to the shear cylinder, the first swing cylinder, the second swing cylinder, the third swing cylinder, the hydraulic motor of the slewing device, the auxiliary boom cylinder, the telescopic cylinder, the tipping cylinder and the lifting cylinder through hydraulic oil pipelines to control the action execution of each mechanism; the wireless remote control system is connected to the electro-hydraulic control station to send action execution instructions to the electro-hydraulic control station.

[0023] Compared with the prior art, the oil palm fruit picking tool utilizes a shearing assembly and an adaptive clamping assembly installed on a tool holder, and can adapt to oil palm fruits of different sizes. The adaptive clamping device can avoid hooking when shearing leaves. The blade cuts off the fruit stalk and simultaneously grasps the fruit through the adaptive clamping device, thereby preventing the fruit from falling to the ground and reducing the fruit loss caused by falling to the ground. The oil palm fruit picking device formed by the above-mentioned oil palm fruit picking tool can realize accurate and effective positioning of the fruit through a knife head adjustment device, and the operator can pick the fruit by standing at any position with the best field of vision through a wireless remote control. The oil palm fruit picking device further formed based on the above-mentioned oil palm fruit picking device The fruit picking equipment is equipped with an arm device and a lifting dump truck bed, so that when picking oil palm fruits, it can be adjusted up, down, left, right, and in a large space according to the position of the oil palm fruits, and can realize wireless remote control picking operations. At the same time, after the oil palm fruits are picked, the fruits are directly collected into the built-in truck bed, and the oil palm fruits can also be directly unloaded into the truck bed of other transfer vehicles or directly unloaded into the truck bed specially used for collecting fruits. There is no need to collect them again on the ground. The rubber track chassis design can minimize the damage of the equipment to the road surface. The structural design is reasonable and easy to use, which simplifies the picking procedure and reduces labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a side view of the picking device of the utility model;

[0025] Figure 2 It is a front view of the picking device of the utility model;

[0026] Figure 3 This is the front view of the mobile oil palm fruit picking equipment of the utility model:

[0027] Figure 4 It is a partial axonometric view of the mobile oil palm fruit picking equipment of the utility model. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the following embodiments are by no means intended to limit the present invention in any way.

[0029] Example 1

[0030] See also Figure 1 and Figure 2 The oil palm fruit picking tool comprises a shearing component and an adaptive clamping component mounted on a tool holder 8.

[0031] The tool rest 8 is a tool rest body formed by sequentially and perpendicularly connecting an upper strip plate, a vertical plate, and a lower strip plate, and is arranged with the opening facing forward; strip through holes penetrating up and down are respectively formed in the front end plate surfaces of the upper strip plate and the lower strip plate along the length direction, and a third pin shaft 11 is inserted into the two strip through holes. Limit nuts are arranged at both ends of the third pin shaft 11 to limit it to reciprocate and slide in the two strip through holes.

[0032] The shearing assembly includes a blade group, a link mechanism, and a sliding shearing mechanism that are sequentially arranged on the tool rest 8 from front to back.

[0033] The blade group includes a first blade 1a, a second blade 1b, and a third blade 1c; among them, the first blade 1a and the second blade 1b are horizontally arranged with their cutting edges staggered with each other, and the rear sides of the two are respectively pivotally connected to both sides of the front end of the tool rest 8 through two first pin shafts 7, so that the first blade 1a and the second blade 1b can respectively rotate around the axes of their respective first pin shafts 7 to perform staggered shearing actions and separating opening actions from each other; the third blade 1c is horizontally arranged above the first blade 1a and the second blade 1b; as a preferred implementation, the front ends of the first blade 1a and the second blade 1b are bent inward into a hook shape, so that when the first blade 1a and the second blade 1b clamp the fruit stalk and apply a shearing force, a closed shearing space is formed by the hook-shaped structures at their front ends to prevent the fruit stalk or leaves from slipping outside the blade group.

[0034] The link mechanism is composed of two link rods 9 arranged between the upper strip plate and the lower strip plate of the tool rest 8. The front ends of the two are respectively pivotally connected to the rear ends of the first blade 1a and the second blade 1b through two second pin shafts 5, and the rear ends of the two are sleeved on the lower side of the third pin shaft 11, so that the two can reciprocate with the third pin shaft 11 in the strip through holes of the tool rest 8 to form a linkage;

[0035] The sliding drive mechanism includes a slider 23, a guide rail 24, and a shearing oil cylinder 10. Among them, the guide rail 24 is arranged along the length direction of the tool rest 8 and is composed of two tracks symmetrically fixed on the bottom surface of the upper strip plate along the length direction of the tool rest 8. Each track is fixed to the upper strip plate at both ends through an eighth bolt 26 respectively. And, on the opposite side surfaces of the two tracks, two strip-shaped track grooves are symmetrically opened along the length direction of the tool rest 8. The slider 23 is installed in the two strip-shaped track grooves through the protrusions symmetrically arranged on the side walls on both sides thereof, so that the slider 23 reciprocates along the length direction of the tool rest 8 under the guiding action of the guide rail 24. The rear end of the slider 23 is sleeved on the upper side of the third pin shaft 11 through the through hole opened thereon to move synchronously with the third pin shaft 11. The shearing oil cylinder 10 is arranged on the tool rest 8 with its piston end facing forward, and is specifically clamped between the upper strip plate and the lower strip plate thereof and is connected and fixed as a whole through a fourth pin shaft 12. A connecting ring is fixed to the piston end of the shearing oil cylinder 10, and the connecting ring is also sleeved on the third pin shaft 11, so that the piston end of the shearing oil cylinder 10 is connected to the third pin shaft 11 through the connecting ring, and the third pin shaft 11 is driven by the shearing oil cylinder 10 to reciprocate horizontally in the strip-shaped through hole along the length direction of the tool rest 8. A slot is provided on the front end face of the slider 23, so that the rear end of the third blade 1c is inserted into the front slot of the slider 23 and is fixed to the front end of the slider 23 through a seventh bolt 25 passed through the third blade 1c and the slider 23.

[0036] In this embodiment, the shearing oil cylinder 10 drives the third pin shaft 11 to reciprocate in the strip-shaped through hole. The third pin shaft 11 is restricted in the strip-shaped through hole along the tool rest 8 to drive the two connecting rods 9 and the slider 23 to reciprocate synchronously. Since the front ends of the two connecting rods 9 are respectively connected to the first blade 1a and the second blade 1b at the same time, and the front end of the slider is connected to the third blade 1c, the first blade 1a and the second blade 1b respectively rotate around the axis of the first pin shaft 7, and the third blade 1c reciprocates along the guide rail 24 together with the slider 23. Since the three blades are arranged in a staggered manner with each other, a shearing action is realized under the driving action of the shearing oil cylinder 10 to complete the shearing of leaves or the picking of fruits, and the third blade effectively improves the success rate of one-time shearing.

[0037] The adaptive clamping assembly includes a claw 2 which is split into two parts, and the two parts are symmetrically arranged at the outer edges of the upper surfaces of the first blade 1a and the second blade 1b, and the rear ends of the two parts are pivotally connected to the rear sides of the two blades through two first bolts 3, so that the two claws 2 can rotate around their respective first bolts 3 to achieve clamping and opening; a torsion spring 6 is also mounted on each first bolt 3, the bottom end of the torsion spring 6 is mounted on the second pin 5, and the top end of the torsion spring 6 is clamped on the outer surface of the claw 2, so that the claw 2 has a certain clamping force; a limiter 4 is respectively arranged on the first blade 1a and the second blade 1b and located on the inner side of the claw 2, so that the claw 2 can be opened synchronously with the shearing assembly 1, and when the shearing assembly 1 is closed, the claw 2 can hold the fruit tightly under the elastic force of the torsion spring 6, so as to collect the fruit while shearing; or when there is no external obstruction, the claw 2 is synchronously closed to the limiter 4 under the elastic force of the torsion spring 6 when the shearing assembly 1 is closed, so that the adaptive oil palm fruit picking tool is restored to the initial state.

[0038] As a preferred embodiment, the claws 2 are composed of a horizontally arranged long arc claw and a short arc claw vertically fixed on the long arc claw. The two are arranged on the blade in a shape of a circle and bent toward the blade side. Tooth-like protrusions are arranged on the edge sides of the long arc claw and the short arc claw that abut against the fruit.

[0039] Working principle of the adaptive palm fruit harvesting tool:

[0040] Driven by the shearing cylinder 10, the shearing assembly drives the three blades to move and shear respectively through the connecting rod mechanism and the slider mechanism. At the same time, as the shearing blades move, the adaptive clamping mechanism will follow the movement. When the claw 2 contacts the fruit, it stops rotating. At this time, the shearing assembly continues to move until the fruit stalk is cut off. At the same time, the left and right clamping forces provided by the claw 2 on the torsion spring 6 will increase with the movement of the two blades, providing different clamping forces according to the size of the fruit. The tooth-shaped protrusions provided on the claw 2 make the left and right clamping more reliable, which helps to achieve synchronization between shearing and clamping, and adapt to the size of the fruit, that is, the larger the fruit, the greater the clamping force, and the smaller the fruit, the smaller the clamping force, so as to adapt to fruits of different sizes, provide reliable clamping, and prevent the fruit from falling to the ground and causing losses; when the shearing is completed, the first blade 1a, the second blade 1b and the third blade 1c are opened under the action of the shearing cylinder 10, and the claw follows to open, and the automatic unloading of the fruit is completed under the action of gravity. In addition, the special shape of the claw will not penetrate the leaves when shearing, and will not cause the phenomenon of hooking the leaves, thereby improving work efficiency.

[0041] Example 2

[0042] See also Figure 1 and Figure 2 , an oil palm fruit picking device, comprising a picking tool, a first axial rotating mechanism, a longitudinal rotating mechanism, and a second axial rotating mechanism; wherein,

[0043] The picking tool uses the adaptive oil palm fruit picking tool described in Embodiment 1;

[0044] The first axial rotation mechanism includes a first swing oil cylinder 13, whose rotating end is connected to the rear end of the tool holder 8 through a plurality of second bolts 14, enabling the picking tool to rotate around the axis direction of the swing oil cylinder; the rear end of the first swing oil cylinder 13 is connected with a U-shaped connection bracket 17. Specifically, the U-shaped connection bracket 17 is arranged with its U-shaped bottom plate facing forward and the open end facing backward, so that its U-shaped bottom plate is fixed to the rear end of the first swing oil cylinder 13 through a plurality of third bolts 15;

[0045] The longitudinal rotation mechanism includes a second swing oil cylinder 16, which is a 240° bidirectional swing oil cylinder; the second swing oil cylinder 16 is arranged inside the U-shaped connection bracket 17 with its axis direction perpendicular to the axis direction of the first swing oil cylinder 13, and both rotating ends are respectively connected to the two side plates of the U-shaped connection bracket 17 through a plurality of fourth bolts 18, enabling the first axial rotation mechanism and the picking tool to rotate together around the axis of the second swing oil cylinder 16; the rear end of the longitudinal swing oil cylinder 16 is fixed with a connecting plate 19 through a plurality of fifth bolts 20;

[0046] The second axial rotation mechanism includes a third swing oil cylinder 21; the rotating end of the third axial swing oil cylinder 21 is connected to the connecting plate 19 through a plurality of sixth bolts 22, enabling the longitudinal rotation mechanism, the first axial rotation mechanism and the picking tool to rotate together around the axis of the third axial swing oil cylinder 21.

[0047] In practical applications, the combined structure of the first axial rotation mechanism, the longitudinal rotation mechanism and the second axial rotation mechanism constitutes a universal steering mechanism at the rear side of the picking tool, enabling the adjustment of the shearing position of the picking tool to meet the shearing of leaves at different angles and the picking of oil palm fruits.

[0048] Embodiment 3

[0049] See Figure 3 , an oil palm fruit picking device, which includes a remote-controlled oil palm fruit picking device 27 and a boom device; among them,

[0050] The remote-controlled oil palm fruit picking device 27 uses the remote-controlled oil palm fruit picking device of Embodiment 2;

[0051] The boom device includes a base 48, a slewing device 47, a column 44, a main boom oil cylinder 43, a main boom 40, a sub-boom oil cylinder 38, a sub-boom 31, a telescopic oil cylinder 30 and a telescopic boom 28 that are sequentially arranged on the chassis 50 from bottom to top; among them,

[0052] The base 48 is a vertically arranged polygonal support, and a connecting bottom plate is vertically fixed at its bottom end, so that the bottom end of the base 48 is fixed on the chassis 50 through a plurality of ninth bolts 51 arranged along the circumferential direction on the connecting bottom plate; the slewing device 47 is an existing device, which includes an inner ring bearing, an outer ring bearing, and a hydraulic motor for driving the inner ring bearing to rotate freely relative to the outer ring bearing; the top end of the base 48 is fixed on the outer ring bearing of the slewing device 47 through a plurality of tenth bolts 49 arranged on the connecting flange provided thereon; the bottom end of the column 44 is provided with a lower connecting flange, so that its bottom end is fixed on the inner ring bearing of the slewing device 47 through a plurality of eleventh bolts 46 arranged on its lower connecting flange; in actual application, by controlling the hydraulic motor of the slewing device 47, the column 44 can be driven to rotate relative to the base 48;

[0053] The upper outer diameter of the column 44 is smaller than the lower outer diameter, and a connecting boss is formed at the diameter-changing part; the main boom cylinder 43 is arranged adjacent to the upper part of the column 44, and its cylinder end is hinged and connected to the connecting boss of the column 44 through a fifth pin 45; the bottom end of the main boom 40 is hinged and connected to the top end of the column 44 through a sixth pin 42, and upper and lower connecting bosses are arranged at intervals on one side side wall thereof, so that the movable push rod end of the main boom cylinder 43 is hinged and connected to the lower connecting boss of the main boom 40 through a seventh pin 41; the auxiliary boom cylinder 38 is arranged adjacent to the upper part of the main boom 40, and its cylinder end is hinged and connected to the upper connecting boss of the main boom 40 through an eighth pin 39, and its movable push rod end is connected with a second link mechanism; the second link mechanism includes a short link 34 and a long link 37. One end of the short link 34 and the long link 37 is jointly hinged and connected to the movable push rod end of the auxiliary boom cylinder 38 through a ninth pin 35. The other end of the short link 34 is hinged and connected to the connecting plate on the lower side of the auxiliary boom 31 through an eleventh pin 33. The other end of the long link 37 is hinged and connected to the top end of the main boom 40 through a tenth pin 36; the top end of the main boom 40 is also hinged and connected to the connecting plate of the auxiliary boom 31 through a twenty-second pin 64, and the hinge connection point is located above the tenth pin 36; the telescopic cylinder 30 is built in the axial channel of the auxiliary boom 31, and its cylinder end is hinged and connected to the bottom end of the auxiliary boom 31 through a twelfth pin 32; the bottom end of the telescopic boom 28 is inserted into the axial channel of the auxiliary boom 31, and the movable push rod end of the telescopic cylinder 30 is inserted into the axial channel of the telescopic boom 28 and is hinged and connected to the bottom end of the telescopic boom 28 through a thirteenth pin 29; a connecting plate is vertically fixed on the top end surface of the telescopic boom 28, and the connecting plate is fixed on the rear end surface of the third swing cylinder 21 through a plurality of bolts arranged along the circumferential direction. Among them, the fifth pin 45, the thirteenth pin 29, and the twenty-second pin 64 are all arranged horizontally in the same direction.

[0054] In this boom device, the slewing device 47 rotates the entire boom structure 360° around the axis direction of the base 48; the main boom cylinder 43 adjusts the relative setting angle between the column 44 and the main boom 40 by controlling the telescopic movement of its movable push rod; the auxiliary boom cylinder 38 adjusts the setting angle between the auxiliary boom 31 and the main boom 40 by controlling the telescopic movement of its movable push rod; the telescopic cylinder 30 adjusts the lifting height of the remote-controlled oil palm fruit picking device 27 by controlling the telescopic movement of its movable push rod; furthermore, by using the three slewing mechanisms in the remote-controlled oil palm fruit picking device 27 of Embodiment 2 in cooperation with the boom device, the positioning of the adaptive oil palm fruit picking cutter in the multi-angle space of up, down, left, right, high, low, front, and back in Embodiment 1 is realized, and the picking of oil palm fruits growing at different angular positions on oil palm trees at different heights is completed.

[0055] Embodiment 4

[0056] See Figure 3 and Figure 4 , an oil palm fruit picking device, which is different from Embodiment 3 in that the device further includes a lifting and self-unloading truck hopper arranged on the chassis 50.

[0057] Two first track grooves are arranged at one end of the chassis 50 close to the boom device, and the two are symmetrically arranged along the length direction of the chassis 50; a first roller is arranged in the track groove of each slide rail, and the first roller can reciprocate and roll in the track groove.

[0058] The lifting and self-unloading truck hopper includes a tipping cylinder 62, a lifting frame, a truck hopper 59, and a lifting cylinder 66; the lifting frame includes an inner support frame 52, an outer support frame 57, and a bracket 65.

[0059] The bracket 65 is a horizontally arranged rectangular frame body, and two first hinge holes are symmetrically arranged at the upper part of the end far from the boom device, and two second hinge holes are arranged at the lower part of the end far from the boom device. Two second track grooves are arranged at the end close to the boom device; the two second track grooves are symmetrically arranged along the length direction of the chassis 50; a second roller is arranged in the track groove of each slide rail, and the second roller can reciprocate and roll in the track groove.

[0060] The tipping cylinder 62 and the tipping bucket 59 are arranged on the bracket 65 on the side away from the boom device; among them, the tipping bucket 59 is a bucket body with an open top, and two first connecting ears are vertically and symmetrically fixed on the bottom surface of the outer end thereof, and are hinged and connected to two first hinge holes through two fourteenth pin shafts 60; the cylinder barrel of the tipping cylinder 62 is hinged and connected to the bracket through a sixteenth pin shaft 61, and the rod end of its movable push rod is hinged and connected to two second connecting ears fixed on the bottom surface of the tipping bucket 59 through a fifteenth pin shaft 63, so that the tipping cylinder 62, under the cooperation of two groups of connecting rods, adjusts the tipping angle of the tipping bucket to the outside by controlling the telescopic movement of its movable push rod. As a preferred technical solution of this embodiment, the side wall of one end of the tipping bucket 59 located on the outside is provided as an inclined plate; when the tipping bucket 59 is tipped to the outside after being filled with oil palm fruits, the tipping bucket 59 with the inclined plate at one end is turned to the bottom side, and the inclined plate is arranged obliquely downward, so that the fruits collected in the tipping bucket 59 are poured out through the inclined plate.

[0061] The inner support frame 52 and the outer support frame 57 are two rectangular frames, and the width of the inner support frame 52 is smaller than the width of the outer support frame 57, so that the inner support frame 52 can be cross-inserted into the outer support frame 57, and the two are hinged and connected through a nineteenth pin shaft 54 sequentially inserted in the horizontal direction at the cross position; both sides of the top end of the inner support frame 52 are hinged and connected to two second rollers through two seventeenth pin shafts 55, and both sides of the bottom end of the two are hinged and connected to the chassis 50 through two eighteenth pin shafts 53; both sides of the top end of the outer support frame 57 are hinged and connected to the second hinge holes of the bracket 65 through two twentieth pin shafts 58, and both sides of the bottom end of the two are hinged and connected to two first rollers through two twenty-first pin shafts 56.

[0062] The lifting cylinder 66 is arranged at the bottom side of the inner and outer support frames, its cylinder barrel end is hinged and connected to the chassis 50 through a twenty-third pin shaft 67, and its movable push rod is inserted and fixed on the nineteenth pin shaft 54 through a connecting ring fixed at the rod end, so as to drive the angle between the inner support frame 52 and the outer support frame 57 to change by the lifting of the movable push rod of the lifting cylinder 66; since both the top side of the inner support frame 52 and the bottom side of the outer support frame 57 are connected to the second track groove and the first track groove, they can cooperate with the lifting cylinder 66 to guide the inner and outer support frames to slide horizontally relative to the bracket 65 and the chassis 50 respectively, so as to realize the lifting of the bracket 65.

[0063] In this embodiment, the structural design of the lifting and tipping bucket enables the oil palm fruit picking equipment to pick oil palm fruits while endowing it with the function of collecting oil palm fruits at the same time, and can directly unload the collected fruits into the tipping buckets of other transfer vehicles at different heights or directly unload them into the tipping bucket of a truck specially used for collecting fruits.

[0064] Embodiment 5

[0065] SeeFigure 3 and Figure 4 A palm fruit picking device, the chassis 50 of the device adopts a rubber crawler chassis, on which a cockpit 68, a power system, a transmission system, an electro-hydraulic control station and a wireless remote control system are provided; the power system is respectively connected to the transmission system and the electro-hydraulic control station to provide power for the two; the transmission system is used to drive the rubber crawler chassis to travel, and the electro-hydraulic control station is respectively connected to the shear cylinder 10, the first swing cylinder 13, the second swing cylinder 16, the third swing cylinder 21, the hydraulic motor of the slewing device 47, the auxiliary boom cylinder 38, the telescopic cylinder 30, the tipping cylinder 62 and the lifting cylinder 66 through hydraulic oil pipelines to control the action execution of each mechanism; the wireless remote control system is connected to the electro-hydraulic control station to send action execution instructions to the electro-hydraulic control station.

[0066] In this embodiment, the palm fruit picking device realizes the transfer function based on the rubber crawler chassis, and the picking personnel in the operation cabin 68 drive the device to reach each designated position; due to the use of rubber crawlers, the forest road surface can be effectively protected, and it has the characteristics of low ground pressure and strong passing ability; then, the picking personnel can stand at any angle with good vision beside the vehicle and control the palm fruit picking machine to execute the picking action through the wireless remote control system.

[0067] The above embodiments are only exemplary embodiments of the present invention and are not used to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present invention.

Claims

1. An oil palm fruit picking tool, characterized in that: It comprises a shearing assembly and an adaptive clamping assembly mounted on a tool holder (8); wherein: The shearing assembly comprises a blade group, a connecting rod mechanism and a sliding shearing mechanism which are arranged on a blade holder (8) in sequence from front to back; a strip-shaped through hole is opened on the blade holder (8) along its length direction, and a third pin (11) is passed through the strip-shaped through hole; the blade group comprises a first blade (1a) and a second blade (1b) whose blade edges are arranged alternately, and a third blade (1c) arranged above the first blade (1a) and the second blade (1b) in parallel; the rear sides of the first blade (1a) and the second blade (1b) are respectively pivotally connected to the front end of the blade holder (8); the connecting rod mechanism is composed of two connecting rods (9), the front ends of which are pivotally connected to the first blade (1a) and the third blade (1c). The rear ends of the second blades (1b) are sleeved on the third pin shaft (11); the sliding drive mechanism comprises a slider (23), a guide rail (24) and a shearing cylinder (10); the guide rail (24) is two rails arranged along the length direction of the tool holder (8) and fixed on both sides of the strip-shaped through hole on the tool holder (8); the slider (23) is slidably assembled on the two rails, and its rear end is sleeved on the third pin shaft (11); the piston end of the shearing cylinder (10) is connected to the third pin shaft (11), and its cylinder end is fixed to the rear end of the tool holder (8); the rear end of the third blade (1c) is fixed to the front end of the slider (23); The adaptive clamping assembly comprises a claw (2) which is split into two parts, the two parts are symmetrically arranged at the outer edges of the upper surfaces of the first blade (1a) and the second blade (1b), and the rear ends are respectively pivoted to the rear sides of the two blades through two first bolts (3), and the claw (2) can rotate around the first bolts (3) to achieve clamping and opening; each first bolt (3) is respectively sleeved with a torsion spring (6), the bottom end of the torsion spring (6) is fixed to the rear ends of the first blade (1a) and the second blade (1b), and the top end is clamped on the outer side of the claw (2); a limiting piece (4) is respectively arranged on the first blade (1a) and the second blade (1b) and located on the inner side of the claw (2), so that the claw (2) is synchronously closed to the limiting piece (4) on the same side when there is no fruit blocking.

2. The oil palm fruit picking tool according to claim 1, characterized in that: The front ends of the first blade (1a) and the second blade (1b) are bent inwardly to form a hook shape.

3. The oil palm fruit picking tool according to claim 1, characterized in that: The holding claw (2) comprises a horizontally arranged long arc claw and a short arc claw vertically fixed on the long arc claw, and the two are arranged on the blade in a shape of bending toward the blade and embracing the blade; tooth-like protrusions are arranged on the edge sides of the long arc claw and the short arc claw that abut against the fruit.

4. An oil palm fruit picking device, characterized in that: It comprises an oil palm fruit picking tool as claimed in any one of claims 1 to 3, and a first axial rotating mechanism, a longitudinal rotating mechanism and a second axial rotating mechanism arranged coaxially; wherein the first axial rotating mechanism comprises a first swing cylinder (13), a rotating end of which is fixed to the rear end of the tool holder (8), and a U-shaped connecting bracket (17) is provided at the rear end, and the bottom plate of the U-shaped connecting bracket (17) is fixed to the rear end of the first swing cylinder (13); the longitudinal rotating mechanism comprises a second swing cylinder (16), which is arranged in a manner that the axial direction is perpendicular to the axial direction of the first swing cylinder (13), and its two rotating ends are respectively fixed to the side plates on both sides of the U-shaped connecting bracket (17); the second axial rotating mechanism comprises a third swing cylinder (21), a front end of which is fixed to the rear end of the second swing cylinder (16).

5. An oil palm fruit picking device, characterized in that: The invention comprises the oil palm fruit picking device and the arm device as claimed in claim 4; the arm device comprises a base (48), a slewing device (47), a column (44), a main arm cylinder (43), a main arm (40), a secondary arm cylinder (38), a secondary arm (31), a telescopic cylinder (30) and a telescopic arm (28) which are arranged on a chassis (50) in order from bottom to top; wherein, The base (48) is vertically fixed on the chassis (50), and its top end is fixed on the outer ring bearing of the rotating device (47); the bottom end of the column (44) is fixed on the inner ring bearing of the rotating device (47); the bottom end of the main arm (40) is hingedly connected to the top end of the column (44); The main arm oil cylinder (43) is arranged on the upper side of the column (44), and its cylinder end is hingedly connected to the upper side wall of the column (44), and its movable push rod end is hingedly connected to the lower side wall of the main arm (40); the auxiliary arm oil cylinder (38) is arranged on the upper side of the main arm (40), and its cylinder end is hingedly connected to the upper side wall of the main arm (40), and its movable push rod end is connected to the second connecting rod mechanism; the second connecting rod mechanism includes a short connecting rod (34) and a long connecting rod (37), one end of the short connecting rod (34) and the long connecting rod (37) are hingedly connected to the movable push rod end of the auxiliary arm oil cylinder (38), and the other end of the short connecting rod (34) is hingedly connected to the movable push rod end of the auxiliary arm oil cylinder (38). The other end of the long connecting rod (37) is hingedly connected to the top of the main arm (40) on the lower side wall of the auxiliary arm (31); the top of the main arm (40) is hingedly connected to the lower side wall of the auxiliary arm (31); the telescopic cylinder (30) is built in the axial channel of the auxiliary arm (31), and its cylinder end is hingedly connected to the bottom end of the auxiliary arm (31); the bottom end of the telescopic arm (28) is inserted into the axial channel of the auxiliary arm (31), so that the front end of the movable push rod of the telescopic cylinder (30) is inserted into the axial channel of the telescopic arm (28) and is hingedly connected to the telescopic arm (28); the top of the telescopic arm (28) is fixed to the rear end of the third swing cylinder (21).

6. The oil palm fruit picking device according to claim 5, characterized in that: It also includes a lifting dump truck bucket arranged on the other side of the chassis (50); the lifting dump truck bucket includes a dump truck oil cylinder (62), a lifting frame, a truck bucket (59) and a lifting cylinder (66); the lifting frame includes an inner support frame (52), an outer support frame (57) and a bracket (65); wherein, The bracket (65) is horizontally arranged above the chassis (50), and two first hinge holes are symmetrically arranged at one end thereof away from the arm support device, and two second hinge holes are arranged at the lower part of one end thereof away from the arm support device, and two second track grooves are arranged at one end thereof close to the arm support device; two first track grooves are arranged at one end of the chassis (50) close to the arm support device; the two first track grooves and the two second track grooves are symmetrically arranged along the length direction of the chassis (50); first rollers are arranged in the track grooves of the two first slide rails, and second rollers are arranged in the track grooves of the two second slide rails; The bucket cylinder (62) and the bucket (59) are arranged on a bracket (65) on a side away from the arm device; the bucket (59) is a bucket body with an opening on the top, and the bottom surface of the outer end is hinged to the first hinge hole of the bracket through two eighteenth pins (60); the cylinder end of the bucket cylinder (62) is hinged to the bracket (65), and the movable push rod end is hinged to the bottom of the bucket (59); the inner support frame (52) and the outer support frame (57) are two cross-inserted rectangular frames, and the two are connected by pins that are successively inserted at the cross position in the horizontal direction. The inner support frame (52) is hingedly connected to the two second rollers at both ends of the top, and the bottom ends of the two support frames (52) are hingedly connected to the ends of the chassis (50); the top of the outer support frame (57) is hingedly connected to the second hinge hole of the bracket (65) through two twentieth pins (58), and the bottom ends of the two support frames (57) are hingedly connected to the two first rollers; the cylinder end of the lifting cylinder (66) is hingedly connected to the chassis (50), and its movable push rod is hingedly connected to the connecting pin at the intersection of the inner support frame (52) and the outer support frame (57).

7. The oil palm fruit picking device according to claim 6, characterized in that: The side wall of the bucket (59) at one end located at the outside is arranged as an inclined plate, so that when the bucket (59) is turned outward, the bucket (59) provided with one end of the inclined plate is turned to the bottom side, and the inclined plate is arranged obliquely downward.

8. The oil palm fruit picking device according to claim 6, characterized in that: The chassis (50) is a rubber crawler chassis, on which a cab (68), a power system, a transmission system, an electric control hydraulic station and a wireless remote control system are arranged; the power system is respectively connected to the transmission system and the electric control hydraulic station to provide power to the two; the transmission system is used to drive the rubber crawler chassis to travel; the electric control hydraulic station is respectively connected to the shear cylinder (10), the first swing cylinder (13), the second swing cylinder (16), the third swing cylinder (21), the hydraulic motor of the slewing device (47), the auxiliary arm cylinder (38), the telescopic cylinder (30), the bucket cylinder (62) and the lifting cylinder (66) through hydraulic oil pipelines to control the execution of the actions of each mechanism; the wireless remote control system is connected to the electric control hydraulic station to send action execution instructions to the electric control hydraulic station.

Images