Flapping type picking machine for multiple ground environments and multiple dry fruit types

Abstract

The utility model discloses a flapping type picking machine for multiple ground environments and multiple dry fruit types. The flapping type picking machine comprises a walking carrier, a lifting device, a flapping device and a swing limiting device. The lifting device is arranged on the walking carrier; the flapping device and the swing limiting device are both connected with the lifting device. The walking carrier is provided with multi-degree-of-freedom mechanical legs and is used for walking of the whole mechanical device and moving the flapping device to a proper position; the lifting device is used for adjusting the height of the flapping device to adapt to trees with different heights; the flapping device is used for flapping the crown to enable fruits on the tree to fall off. According to the flapping type picking machine, the multi-degree-of-freedom mechanical legs are adopted, compared with an existing crawler device, the cost is low, the flapping type picking machine is suitable for complex and diversified ground environments, and the slipping phenomenon is reduced; the flapping height and the flapping amplitude can be changed according to tree bodies with different heights or different crown sizes, the picking rate is high, damage to the tree bodies is reduced, and the falling risk existing in manual picking is also overcome.

Description

Technical Field

[0001] The utility model relates to the field of automatic picking of dried fruits, in particular to a flapping-type picking machine for various ground environments and various types of dried fruits. Background Art

[0002] The slapping type dried fruit picking machine is one of the main equipment in the process of automated dried fruit picking, and is mainly used to separate dried fruit from the tree when the dried fruit is ripe. The existing slapping type picking machine moves the picking device to the vicinity of the target tree body through a walking mechanism (car body), and drives the slapping bar to move back and forth at high speed through the high-speed movement of the eccentric shaft in the picking device, so that the energy generated by the slapping is transferred to the fruit through the crown, so that the fruit obtains the acceleration of separating from the tree body, thereby falling off. However, in the actual picking process, the ground environment is complex and diverse, such as the sandy land in Xinjiang and the steep slopes in Guizhou. The walking mechanism of the traditional slapping type picking machine uses traditional round wheels, which will cause slippage. The use of crawler devices will consume a lot of money costs. The traditional slapping type picking machine also has the problem of not being able to change the slapping height and slapping amplitude for trees of different heights or different crown sizes, resulting in a low picking rate and causing adverse effects such as damage to the tree body. In addition, manual picking also has the risk of falling. In response to the above problems, a flapping type picking machine is proposed for multiple ground environments and multiple dry fruit types (i.e. trees of different heights or different crown sizes). Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a flapping type picking machine for multiple ground environments and multiple types of dried fruits in response to the deficiencies of the above-mentioned prior art. The flapping type picking machine for multiple ground environments and multiple types of dried fruits adopts multi-degree-of-freedom mechanical legs, which is low in cost compared to the existing crawler device, is also suitable for complex and diverse ground environments, and reduces slipping. It can also change the flapping height and flapping amplitude for trees of different heights or different crown sizes, has a high picking rate, reduces damage to the tree, and overcomes the risk of falling in manual picking.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the present utility model is:

[0005] A flapping-type harvester for various ground environments and types of dried fruits includes a traveling carrier, a lifting device, a flapping device, and a swing-limiting device. The lifting device is mounted on the traveling carrier, and both the flapping device and the swing-limiting device are connected to the lifting device. The traveling carrier is used to move the entire mechanical device and move the flapping device to the appropriate position. The lifting device is used to adjust the flapping device's height to accommodate trees of different heights. The flapping device is used to flap the tree crown to cause the fruit to fall from the tree, and the flapping force can be controlled.

[0006] The swing amplitude limiting device includes an automatic telescopic mechanism, a limiting outer frame, and a limiting rod. The limiting outer frame is connected to the lifting device. The two opposite sides of the central opening of the limiting outer frame are connected to the automatic telescopic mechanism. The telescopic end of the automatic telescopic mechanism is connected to the limiting rod. The two limiting rods are arranged in parallel and are both located inside the central opening of the limiting outer frame. The automatic telescopic mechanism is used to drive the two limiting rods to move toward or away from each other to adjust the distance between the two limiting rods.

[0007] The flapping device includes a crankshaft, a flapping bar and a rotary drive mechanism; the rotary drive mechanism is connected to the lifting device through a bracket, the output end of the rotary drive mechanism is connected to one end of the crankshaft, the other end of the crankshaft is rotationally connected to the bearing seat, and the bearing seat is connected to the lifting device; a plurality of flapping bars are respectively rotationally connected to the connecting rod journal on the crankshaft, and a plurality of flapping bars are respectively tilted and leaned between the two limiting rods and extend upward from the middle opening of the limiting outer frame, and the crankshaft is located below the middle opening of the limiting outer frame. The flapping bar is rotationally connected to the crankshaft and can be divided into a left flapping bar and a right flapping bar according to the direction in which the connection point deviates from the fixed axis of rotation of the crankshaft. The flapping bar passes through the square gap between the two limiting rods in the limiting outer frame, and the square gap between the two limiting rods can limit the swing amplitude of the flapping bar. The limiting rod is connected to the automatic telescopic mechanism and limits its two ends to slide only along the inner wall of the middle opening of the limiting outer frame when the automatic telescopic mechanism is extended and retracted, thereby changing the width of the square gap between the two limiting rods.

[0008] The walking carrier includes multi-degree-of-freedom mechanical legs.

[0009] As a further improved technical solution of the present invention, the walking carrier also includes a supporting platform, the top of the multi-degree-of-freedom mechanical leg is connected to the supporting platform, the multi-degree-of-freedom mechanical leg is a three-degree-of-freedom mechanical leg (including multiple motors, multiple gears, etc., to achieve multi-degree-of-freedom movement), the three-degree-of-freedom mechanical leg adopts the mechanical leg of the bionic mechanical dog in the prior art, the mechanical leg has a three-degree-of-freedom mechanical leg of the thigh and the calf, the connection between the thigh and the fuselage (supporting platform) is similar to the connection between the human thigh and the body, with two degrees of freedom, both achieved by gear transmission, on the one hand to achieve the forward and backward movement of the thigh, on the other hand to achieve the inward and outward (left and right) movement of the thigh. The connection between the thigh and the calf has one degree of freedom, which is also achieved by gear transmission, and can change the angle between the thigh and the calf. The supporting platform can be driven to move by the three-degree-of-freedom mechanical leg by being connected to it.

[0010] As a further improved technical solution of the present invention, the lifting device includes an electric lifting platform, a telescopic rod and a horizontal support platform. The bottom of the electric lifting platform is connected to the object supporting platform, and the top is connected to the bottom of the horizontal support platform through a first vertical rod. One end of the telescopic rod is connected to the object supporting platform, and the other end is connected to the bottom of the horizontal support platform.

[0011] As a further improved technical solution of the present invention, the electric lifting platform adopts an electric scissor lifting platform.

[0012] As a further improved technical solution of the present invention, in the swing limiting device, the automatic telescopic mechanism adopts a cylinder, the shape of the limiting outer frame is a rectangle, the middle opening is a rectangular opening, and the limiting outer frame is connected to the top of the horizontal support platform of the lifting device through a second vertical rod.

[0013] As a further improved technical solution of the present invention, in the beating device, the rotation drive mechanism is connected to the horizontal support platform of the lifting device through a bracket, and the bearing seat is connected to the horizontal support platform of the lifting device.

[0014] As a further improved technical solution of the present invention, the rotary drive mechanism adopts a motor.

[0015] As a further improved technical solution of the utility model, it also includes a box body, which is a rectangular parallelepiped, and the bottom and top are both open structures. The bottom of the box body is connected to the object platform in the walking carrier, the lifting device and the beating device are located inside the box body, and the beating bar in the beating device passes through the opening structure at the top of the box body.

[0016] As a further improvement to the present invention, the flapping bar can be retracted to enable flapping of treetops of varying sizes. The lifting platform can be modified into a retractable cylinder to increase the range of height variation of the flapping device. The base of the multi-degree-of-freedom robotic legs can be made of a material with stronger grip, or the number of multi-degree-of-freedom robotic legs can be increased to share the weight of the entire device.

[0017] The beneficial effects of the utility model are:

[0018] The flapping harvester of the present invention adopts electric multi-freedom mechanical legs, which can walk flexibly on different grounds and adapt to a variety of harvesting environments (sandy land, steep slopes, etc.). It has strong obstacle avoidance ability in orchards with various soil types and orchards with multiple terrains, and has good passability on undulating terrain. The height of the flapping bar can be adjusted by the lifting device to flap the crowns (dried fruit trees) of different heights. The motion range of the flapping bar can also be adjusted by the swing limiting device to output more appropriate energy, that is, the flapping amplitude is adjusted to flap the crowns of different sizes. The utility model has a higher generalization ability for different ground environments, dried fruit trees of different heights and crowns of different sizes, improves picking efficiency, and avoids the risks of manual picking.

[0019] The utility model is a walking carrier used to carry a lifting device and a beating device, so that it moves to the vicinity of a tree. The lifting device is used to adjust the height of the beating device and the swing-limiting device. The beating device is used to beat the tree so that the fruit can fall after being beaten. When the device is working, the multiple motors in the four multi-freedom mechanical legs cooperate with each other through operations such as bending and rotating after receiving the movement signal sent by the control end, so that the entire mechanical device can move. In a sandy environment, the multi-freedom mechanical legs can produce a gripping effect during walking, so that the entire device will not slip on the sand. On a relatively inclined ground, the entire device moves to the vicinity of the tree with the assistance of the multi-freedom mechanical legs. The multi-freedom mechanical legs will bend so that the supporting platform of the walking body is perpendicular to the direction of gravity. After receiving the signal, the motor in the electric scissor lift platform in the lifting device adjusts the height of the beating device and the swing-limiting device by lifting and lowering the electric scissor lift platform, and then adjusts the height of the beating bar to beat the crowns (dried fruit trees) of different heights. Once the flapping device and the swing-limiting device are adjusted to the appropriate height, the cylinder in the swing-limiting device begins to operate. By controlling the expansion and contraction of the cylinder, the width of the square gap between the two limiting rods that limit the movement of the flapping bar is changed, thereby adjusting the range of motion of the flapping bar, that is, adjusting the flapping amplitude, to flap canopies of different sizes. When the width of the square gap is adjusted, the motor that controls the rotation of the crankshaft begins to operate, causing the crankshaft to rotate at a suitable constant frequency, driving the flapping bars on both sides of the hinge point that deviates from the rotating axis to cross-flap. After the canopy is flapped, the fruit falls, and the subsequent collection work can be carried out. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1-2 This is a schematic diagram of the overall structure of the slapping type picking machine of the present utility model.

[0021] Figure 3-5 This is a schematic diagram of the structure of the utility model's flapping-type picking machine with the box hidden.

[0022] Figure 6This is a schematic diagram of the beating principle of the beating bar in the beating type picking machine of the present invention. DETAILED DESCRIPTION

[0023] The specific embodiments of the present invention are further described below with reference to the accompanying drawings:

[0024] like Figure 1-5 As shown, a beating type picking machine for multiple ground environments and multiple types of dried fruits includes a walking carrier 1, a lifting device 2, a beating device 3, a swing limiting device 4 and a box 5; the lifting device 2 and the box 5 are arranged on the walking carrier 1; the beating device 3 and the swing limiting device 4 are both connected to the lifting device 2, and the lifting device 2 is located on the inner side of the box 5.

[0025] like Figure 3-5 As shown, the swing limiting device 4 includes an automatic telescopic mechanism 401, a limiting outer frame 402 and a limiting rod 403. The limiting outer frame 402 is connected to the lifting device 2. The opposite two sides of the central opening of the limiting outer frame 402 are connected with the automatic telescopic mechanism 401. The telescopic end of the automatic telescopic mechanism 401 is connected to the limiting rod 403. The two limiting rods 403 are arranged in parallel and are both located on the inner side of the central opening of the limiting outer frame 402. The automatic telescopic mechanism 401 is used to drive the two limiting rods 403 to move toward each other or away from each other to adjust the spacing of the square gap between the two limiting rods 403.

[0026] like Figure 3-5 As shown, the beating device 3 includes a crankshaft 301, a beating bar 302 and a rotation drive mechanism 303; the rotation drive mechanism 303 is connected to the lifting device 2 through a bracket 304, the output end of the rotation drive mechanism 303 is connected to one end of the crankshaft 301, the other end of the crankshaft 301 is rotatably connected to the bearing seat 305, and the bearing seat 305 is connected to the lifting device 2; multiple beating bars 302 are respectively rotatably connected to the connecting rod journal 3011 on the crankshaft 301, and multiple beating bars 302 are respectively tilted and leaned between the two limiting rods 403 and extend upward from the middle opening of the limiting outer frame 402, and the crankshaft 301 is located below the middle opening of the limiting outer frame 402.

[0027] The walking carrier 1 includes a multi-degree-of-freedom mechanical leg 102 and an object-supporting platform 101. The top of the multi-degree-of-freedom mechanical leg 102 is connected to the object-supporting platform 101, and the multi-degree-of-freedom mechanical leg 102 is a three-degree-of-freedom mechanical leg.

[0028] like Figure 2As shown, multi-DOF robotic leg 102 has three degrees of freedom: a thigh and a calf. The connection between thigh 1028 and support platform 101 is similar to the connection between a human thigh and the body, with two degrees of freedom, both achieved through gear transmission. This allows for forward and backward movement of the thigh, while also allowing for inward and outward (left and right) movement of the thigh. The connection between thigh 1028 and calf 1032 has one degree of freedom, also achieved through gear transmission, which can change the angle between the thigh and calf. The specific structure is as follows: the multi-degree-of-freedom mechanical leg 102 includes a motor 1021, a gear 1022, a gear 2 1023, a rotating shaft 1024, a motor 2 1025, a gear 3 1026, a gear 4 1027, a thigh 1028, a motor 3 1029, a gear 5 1030, a gear 6 1031, and a shank 1032; the motor 1021 is connected to the support platform 101, the output end of the motor 1021 is connected to the gear 1 1022, the gear 1 1022 is meshed with the gear 2 1023, the middle part of the gear 2 1023 is connected to the rotating shaft 1024, the rotating shaft 1024 is rotatably connected to the connecting plate at the bottom of the support platform 101, and the housing of the motor 2 1025 is connected to the support platform 101. The body is fixedly connected to the rotating shaft 1024, the output end of the motor 2 1025 is connected to the gear 3 1026, the gear 3 1026 is meshed with the gear 4 1027, the middle part of the gear 4 1027 is fixedly connected to the thigh 1028, the upper end of the thigh 1028 is hinged to the housing of the motor 2 1025 with the axis of the gear 4 1027 as the center, the thigh 1028 is provided with a motor 3 1029, the output end of the motor 3 1029 is connected to the gear 5 1030, the gear 5 1030 is meshed with the gear 6 1031, the middle part of the gear 6 1031 is fixedly connected to the calf 1032, and the upper end of the calf 1032 is hinged to the lower end of the thigh 1028 with the axis of the gear 6 1031 as the center. When motor 1021 is operating, it sequentially drives shaft 1024, motor 2 1025, thigh 1028, and shank 1032 through gear 1 1022 and gear 2 1023 to move left and right relative to platform 101 about the axis of shaft 1024. When motor 2 1025 is operating, it sequentially drives thigh 1028 and shank 1032 about the axis of gear 4 1027 relative to the housing of motor 2 1025 through gear 3 1026 and gear 4 1027 to move back and forth relative to the housing of motor 2 1025 about the axis of gear 4 1027. When motor 3 1029 is operating, it sequentially drives shank 1032 about the axis of gear 6 1031 relative to thigh 1028 about the axis of gear 6 1031, thereby changing the angle between thigh 1028 and shank 1032. This embodiment has four multi-degree-of-freedom robotic legs 102, two of which share the same shaft 1024.

[0029] In this embodiment, the lifting device 2 includes an electric lifting platform 201, a telescopic rod 202 and a horizontal support platform 203. The bottom of the electric lifting platform 201 is connected to the object supporting platform 101, and the top is connected to the bottom of the horizontal support platform 203 through a first vertical rod. One end of the telescopic rod 202 is connected to the object supporting platform 101, and the other end is connected to the bottom of the horizontal support platform 203.

[0030] In this embodiment, the electric lifting platform 201 adopts an existing electric scissor-type lifting platform.

[0031] In this embodiment, in the swing limiting device 4, the automatic telescopic mechanism 401 adopts a cylinder, the outer limiting frame 402 has a rectangular shape, and the middle opening is a rectangular opening. The outer limiting frame 402 is connected to the top of the horizontal support platform 203 of the lifting device 2 through a second vertical rod.

[0032] In this embodiment, in the beating device 3 , the rotation drive mechanism 303 is connected to the horizontal support platform 203 of the lifting device 2 via the bracket 304 , and the bearing seat 305 is connected to the horizontal support platform 203 of the lifting device 2 .

[0033] In this embodiment, the rotation drive mechanism 303 is a motor.

[0034] In this embodiment, the box 5 is a rectangular parallelepiped with an open structure at both the bottom and top. The bottom of the box 5 is connected to the loading platform 101 in the walking vehicle 1. The lifting device 2 and the flapping device 3 are located inside the box 5, and the flapping bar 302 in the flapping device 3 extends through the opening at the top of the box 5. The swing limiting device 4 is located above the top of the box 5. The box 5 acts as a fence. In this embodiment, each motor is connected to a power supply, and the cylinder is connected to the air source via a control valve.

[0035] For example, the picking of walnuts in Guizhou's mountainous areas is usually quite steep, and a carrying device with center wheels is difficult to move. A carrying device with tracks requires a diesel engine, which is bulky and expensive. This embodiment can solve the problems existing in the above environment.

[0036] The working process of this embodiment is as follows: when the entire mechanical device is in this environment and in working condition, the multiple motors in the four multi-degree-of-freedom mechanical legs in the walking carrier 1 begin to cooperate with each other after receiving signals from the surrounding environment. The multi-degree-of-freedom mechanical legs bend, rotate and other movements to enable the entire mechanical device to start walking steadily on the mountain. After reaching the vicinity of the target tree, the motor in the electric scissor lift platform starts to work, and the lifting device 2 starts to extend and retract, moving the flapping device to the center of the tree crown. After moving to the appropriate position, the swing limiting device 4 starts to move, and the square gap between the two limiting rods 403 is adjusted by extending and retracting the cylinder therein. After the width is adjusted, the motor drives the crankshaft 301 to start moving, and the crankshaft 301 rotates around the fixed axis. One end of the beating bar 302 is hinged on the crankshaft 301 at a place deviating from the crankshaft axis, that is, on the connecting rod journal 3011 on the crankshaft 301, and leans on the edge of the square gap between the two limiting rods 403. During the movement of the crankshaft 301, the beating bar 302 will always lean on the edge of the square gap between the two limiting rods 403, and the absolute motion of the hinge point is circular motion, which causes the beating bar to produce a beating effect. The size of the square gap is controlled to obtain a suitable beating amplitude, and the speed of the crankshaft 301 is controlled to obtain a suitable beating frequency. As the beating progresses, the fruits fall, and then they can be collected.

[0037] like Figure 6 As shown, when the bottom of the beating bar 302 moves from point A to point B with the movement of the crankshaft 301, due to the presence of the swing amplitude limiting device 4, the beating bar 302 will always rely on it to produce a swinging effect. Because the beating bar 302 is very long, even if the inclination angle of the beating bar 302 changes relatively little, a relatively large swing amplitude will be generated near the end, thereby achieving fruit picking.

[0038] The specific structural form of the multi-degree-of-freedom mechanical leg of this embodiment adopts existing technology, and the internal motor control method also adopts existing technology. The motor in the multi-degree-of-freedom mechanical leg, the motor in the rotary drive mechanism 303, and the motor in the electric lift platform 201 are all connected to a power source, and the cylinder is connected to an air source through a control valve. The motor in the multi-degree-of-freedom mechanical leg, the motor in the rotary drive mechanism 303, the motor in the electric lift platform 201, and the control valve are all connected to a controller, and the operation of each component is controlled by the controller. The controller controls the operation of the control valve and thus controls the extension and retraction of the cylinder. The controller can be installed on the flapping-type harvester. Of course, the controller can also be wirelessly connected to a remote control device, and the remote control device can control the operation of the controller.

[0039] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention is based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field fall within the protection scope of the present invention.

Claims

1. A beating-type picking machine for multiple ground environments and multiple types of dried fruits, characterized by: The device comprises a walking carrier (1), a lifting device (2), a beating device (3) and a swing amplitude limiting device (4); the lifting device (2) is arranged on the walking carrier (1); the beating device (3) and the swing amplitude limiting device (4) are both connected to the lifting device (2); The swing amplitude limiting device (4) comprises an automatic telescopic mechanism (401), a limiting outer frame (402) and a limiting rod (403); the limiting outer frame (402) is connected to the lifting device (2); the two opposite sides of the central opening of the limiting outer frame (402) are connected to the automatic telescopic mechanism (401); the telescopic end of the automatic telescopic mechanism (401) is connected to the limiting rod (403); the two limiting rods (403) are arranged in parallel and are both located inside the central opening of the limiting outer frame (402); the automatic telescopic mechanism (401) is used to drive the two limiting rods (403) to move toward each other or away from each other, thereby adjusting the distance between the two limiting rods (403); The beating device (3) comprises a crankshaft (301), a beating bar (302) and a rotary drive mechanism (303); the rotary drive mechanism (303) is connected to the lifting device (2) through a bracket (304); the output end of the rotary drive mechanism (303) is connected to one end of the crankshaft (301); the other end of the crankshaft (301) is rotatably connected to a bearing seat (305); and the bearing seat (305) is connected to the lifting device (2); a plurality of beating bars (302) are rotatably connected to connecting rod journals (3011) on the crankshaft (301), and the plurality of beating bars (302) are respectively tilted and leaned between two limiting rods (403) and extend upward from a central opening of a limiting outer frame (402); the crankshaft (301) is located below the central opening of the limiting outer frame (402); The walking carrier (1) comprises a multi-degree-of-freedom mechanical leg (102).

2. The beating-type picking machine for multiple ground environments and multiple types of dried fruits according to claim 1, characterized in that: The walking carrier (1) further comprises an object supporting platform (101), the top of the multi-degree-of-freedom mechanical leg (102) is connected to the object supporting platform (101), and the multi-degree-of-freedom mechanical leg (102) is a three-degree-of-freedom mechanical leg.

3. The beating-type picking machine for multiple ground environments and multiple types of dried fruits according to claim 2, characterized in that: The lifting device (2) comprises an electric lifting platform (201), a telescopic rod (202) and a horizontal support platform (203); the bottom of the electric lifting platform (201) is connected to the object support platform (101), and the top is connected to the bottom of the horizontal support platform (203) via a first vertical rod; one end of the telescopic rod (202) is connected to the object support platform (101), and the other end is connected to the bottom of the horizontal support platform (203).

4. The beating-type picking machine for multiple ground environments and multiple types of dried fruits according to claim 3, characterized in that: The electric lifting platform (201) adopts an electric scissor-type lifting platform.

5. The beating-type picking machine for multiple ground environments and multiple types of dried fruits according to claim 1, characterized in that: In the swing limiting device (4), the automatic telescopic mechanism (401) adopts a cylinder, the outer limiting frame (402) has a rectangular shape, and the central opening is a rectangular opening. The outer limiting frame (402) is connected to the top of the horizontal support platform (203) of the lifting device (2) through a second vertical rod.

6. The beating-type picking machine for multiple ground environments and multiple types of dried fruits according to claim 1, characterized in that: In the beating device (3), the rotary drive mechanism (303) is connected to the horizontal support platform (203) of the lifting device (2) through a bracket (304), and the bearing seat (305) is connected to the horizontal support platform (203) of the lifting device (2).

7. The beating-type picking machine for various ground environments and various types of dried fruits according to claim 6, characterized in that: The rotation drive mechanism (303) adopts a motor.

8. The beating-type picking machine for various ground environments and various types of dried fruits according to claim 1, characterized in that: The utility model further comprises a box body (5), wherein the box body (5) is a rectangular parallelepiped, and both the bottom and the top are open structures. The bottom of the box body (5) is connected to the object support platform (101) in the walking carrier (1), the lifting device (2) and the beating device (3) are located inside the box body (5), and the beating bar (302) in the beating device (3) passes through the open structure at the top of the box body (5).

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