Pine cone picking device for unmanned aerial vehicle

Abstract

The utility model discloses a pine cone picking device for an unmanned aerial vehicle, relates to the technical field of pine cone picking, and aims to solve the problems that an existing mechanical pine cone picking device can cause damage to pine trees, and large mechanical equipment cannot enter a pine forest to work, so that the mechanical applicability is low. Comprising a hexagonal bracket, picking claws, a traction device frame and a traction device, a picking claw is hinged to each side wall of the hexagonal support, a plurality of picking teeth are arranged at the lower end of each picking claw, a vertical traction part perpendicular to the picking claws is arranged at the hinged position of the picking claws, a traction device frame is arranged at the upper end of the hexagonal support, and a traction device used for driving the picking claws to be opened or closed is arranged in the traction device frame. The traction device comprises an upper guide roller, a lower guide roller, a motor, an upper traction rope, an upper picking claw traction rope, a lower traction rope and a lower picking claw traction rope. The pine cone picking machine is used for picking pine cones.

Description

TECHNICAL FIELD

[0001] The utility model relates to pine cone picking technical field, especially in kind pine cone picking device for unmanned aerial vehicle. BACKGROUND

[0002] Pine cone is the female cone of plants such as pine, spruce, fir etc., and the fruit formed after maturation. Pine cone usually grows at the top of the crown or the top of the tree to get enough sunlight to promote fruit development. Pine trees that can produce edible pine nuts are usually 20-40 meters high, equivalent to the height of 10 floors, so picking pine cones brings great difficulty.

[0003] At present, the picking of pine cones in China still mainly relies on manual picking and some simple mechanical devices. Manual picking needs to be operated in the air above 20 meters, and the picker needs to climb by hand, so it is easy to fall without professional protective equipment. Some pickers use simple foot buckles and hemp ropes, but the branches are easy to break or the ropes are easy to age, which still has great danger. Mechanical vibration harvesting is a harvesting method that uses mechanical devices to shake pine trees and makes pine cones fall off through high-frequency vibration. Although it is more efficient than manual picking, strong vibration power may cause: tree bark cracking, increasing the risk of disease and pest invasion; root loosening, which may affect the stability of the tree for a long time, and even cause lodging; and during the vibration process, some immature pine cones and tender branches are shaken off, affecting the fruiting of the next year and many other problems. Moreover, mechanized picking is not convenient in mountainous areas with dense trees, and large mechanical equipment cannot enter the pine forest for operation, resulting in low mechanical applicability. UTILITY MODEL CONTENT

[0004] The utility model discloses a pine cone picking device for unmanned aerial vehicle to solve the problem in the above background art that the existing pine cone mechanical picking device can cause damage to pine trees, and large mechanical equipment cannot enter the pine forest for operation, resulting in low mechanical applicability.

[0005] The technical scheme of the utility model is:

[0006] A pine cone picking device for unmanned aerial vehicle, comprising a hexagonal support, a picking claw, a traction device frame and a traction device.

[0007] Each side wall of the hexagonal support is hingedly connected with a picking claw, the lower end of the picking claw is provided with a plurality of picking teeth, the hinge connection part of the picking claw is provided with a vertical traction part perpendicular to the picking claw, the upper end of the hexagonal support is provided with a traction device frame, and the traction device frame is provided with a traction device for driving the picking claw to open or close.

[0008] Further, the traction device comprises upper guide rollers, lower guide rollers, a motor, an upper traction rope, upper picking claw traction ropes, a lower traction rope and lower picking claw traction ropes.

[0009] The upper end of the traction device frame is provided with a plurality of upper guide rollers, the lower end of the traction device frame is provided with a plurality of lower guide rollers, a motor is installed in the traction device frame, the output shaft of the motor is wound with the upper traction rope and the lower traction rope through a winding roller, the vertical traction part of each picking claw is fixed with one end of an upper picking claw traction rope, the upper picking claw traction rope passes through the upper guide rollers, the other end of each upper picking claw traction rope is fixedly connected with the upper traction rope, the inner side of each picking claw is fixed with one end of a lower picking claw traction rope, the lower picking claw traction rope passes through the lower guide rollers, and the other end of each lower picking claw traction rope is fixedly connected with the lower traction rope.

[0010] Further, the winding directions of the upper traction rope and the lower traction rope on the output shaft of the motor are opposite.

[0011] Further, the hinge of the picking claw is provided with two vertical traction parts, the terminal end of each vertical traction part is fixed with a terminal traction rope, the other end of each terminal traction rope is fixed with a cross beam I, and the cross beam I is fixedly connected with the upper picking claw traction rope.

[0012] Further, the inner side of the picking claw is connected with two springs, the other end of each spring is fixed with a cross beam II, and the cross beam II is fixedly connected with the lower picking claw traction rope.

[0013] Further, the connection mode of the picking claw and the spring is hinged.

[0014] Further, the connection position of the picking claw and the spring is 30-40 cm away from the hinge of the picking claw and the hexagonal support.

[0015] Further, the traction device further comprises a travel switch I, a travel switch steel wire I, a travel switch II and a travel switch steel wire II.

[0016] The travel switch I is fixed at the upper end of the traction device frame, one end of the travel switch steel wire I is fixedly connected with the triggering end of the travel switch I, and the other end of the travel switch steel wire I is fixedly connected with the upper traction rope.

[0017] The travel switch II is fixed at the lower end of the traction device frame, one end of the travel switch steel wire II is fixedly connected with the triggering end of the travel switch II, and the other end of the travel switch steel wire II is fixedly connected with the lower traction rope.

[0018] Further, the distance between adjacent picking teeth is 5-15 cm.

[0019] Further, the upper end and the lower end of the traction device frame are provided with guide rings, the upper picking claw traction rope passes through the inside of the guide ring at the upper end, and the lower picking claw traction rope passes through the inside of the guide ring at the lower end.

[0020] Compared with the prior art, the pine cone picking device has the following beneficial effects:

[0021] 1. A pine cone picking device for unmanned aerial vehicles, the traction device frame in the picking device is connected to the unmanned aerial vehicle through a sling, the picking device is vertically lifted by the unmanned aerial vehicle, the traction device drives the picking claw to expand, the unmanned aerial vehicle is controlled to descend, the picking claw is located at the position of the pine tree crown, the traction device drives the picking claw to close, the picking claw embraces the pine tree branch with pine cones, the unmanned aerial vehicle is lifted, the picking device is lifted upwards by the unmanned aerial vehicle, and the picking teeth in the picking claw drag and detach the mature pine cones.

[0022] 2. The lower picking claw traction rope that drives the picking claw to close is elastically connected to the picking claw through a spring, and plays a buffering role. The spring is used to avoid that the lower picking claw traction rope excessively drags the picking claw and causes equipment damage in the process of closing the picking claw.

[0023] 3. Travel switches I and II are arranged, the triggering ends of the travel switches I and II are connected to the upper traction rope and the lower traction rope respectively, and are used for monitoring the closing and opening travel of the picking claw, the travel switch I is triggered to cut off the power supply of the motor when the picking claw is completely closed; and the travel switch II is triggered to cut off the power supply of the motor when the picking claw is completely opened. The travel switches I and II prevent the picking claw from being excessively closed and opened and causing equipment damage. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structure diagram of the pine cone picking device Figure I ;

[0025] Figure 2 It is a front view of the pine cone picking device

[0026] Figure 3 It is a longitudinal section of the pine cone picking device Figure I ;

[0027] Figure 4 It is a partial structure diagram of the pine cone picking device

[0028] Figure 5 It is a structure diagram of the traction device

[0029] Figure 6 It is a longitudinal section of the traction deviceFigure I ;

[0030] Figure 7 Structure diagram of the upper guide roller;

[0031] Figure 8 Structure diagram of the lower guide roller;

[0032] Figure 9 Structure diagram of the Figure 1 Enlarged view of the A structure;

[0033] Figure 10 Structure diagram of the picking claw;

[0034] Figure 11 Structure diagram of the pinecone picking device Figure II ;

[0035] Figure 12 Longitudinal section of the traction device Figure II ;

[0036] Figure 13 Longitudinal section of the pinecone picking device Figure II .

[0037] In the figure: 1, hexagonal support; 201, picking claw; 202, picking tooth; 203, vertical traction part; 3, traction device; 301, traction device frame; 302, upper guide roller; 303, lower guide roller; 304, motor; 305, upper traction rope; 306, upper picking claw traction rope; 307, lower traction rope; 308, lower picking claw traction rope; 401, end traction rope; 402, crossbeam I; 406, spring; 404, crossbeam II; 501, travel switch I; 502, travel switch steel wire I; 503, travel switch II; 504, travel switch steel wire II; 6, guide ring. DETAILED DESCRIPTION

[0038] Specific implementation one: refer to Figures 1-4 and 10-13, a pinecone picking device for unmanned aerial vehicle, the embodiment includes hexagonal support 1, picking claw 201, traction device frame 301 and traction device 3;

[0039] Each side wall of the hexagonal support 1 is hinged with a picking claw 201, the lower end of the picking claw 201 is provided with a plurality of picking teeth 202, the hinge of the picking claw 201 is provided with a vertical traction part 203 perpendicular to the picking claw 201, the upper end of the hexagonal support 1 is provided with a traction device frame 301, the traction device frame 301 is provided with a traction device 3 for driving the picking claw 201 to open or close.

[0040] Further, the outer sides of the six sides of the hexagonal support are hinged with picking claws 201, the picking claws 201 are three tooth structures, the picking teeth 202 of each picking claw 201 are arranged towards the center, the picking claw 201 rotates upwards around the hinge to open, and the picking claw 201 rotates downwards around the hinge until it is perpendicular to the horizontal plane to close. When picking, the picking claw 201 is closed, the pine cone is wrapped inside the picking claw 201, then the picking claw 201 is lifted upwards, the picking claw 201 drags the pine cone upwards through the picking teeth 202, and the picking of the pine cone is completed. The traction device frame 301 is a rectangular frame structure, which supports the traction device 3. The traction device 3 is used to drive the picking claw 201 to rotate, the traction device 3 pulls the picking claw 201 upwards to drive the picking claw 201 to rotate upwards to open the picking claw 201; the traction device 3 pulls the picking claw 201 downwards to drive the picking claw 201 to rotate downwards to close the picking claw 201.

[0041] Specific implementation method two: see Figures 3-6 and 9, the traction device 3 of the embodiment includes an upper guide roller 302, a lower guide roller 303, a motor 304, an upper traction rope 305, an upper picking claw traction rope 306, a lower traction rope 307 and a lower picking claw traction rope 308.

[0042] The upper end of the traction device frame 301 is provided with a plurality of upper guide rollers 302, the lower end of the traction device frame 301 is provided with a plurality of lower guide rollers 303, the traction device frame 301 is installed with a motor 304, the output shaft of the motor 304 is wound with an upper traction rope 305 and a lower traction rope 307 through a winding roller, the vertical traction part 203 of each picking claw 201 is fixed with one end of an upper picking claw traction rope 306 respectively, the upper picking claw traction rope 306 passes through the upper guide roller 302, the other end of each upper picking claw traction rope 306 is fixedly connected with the upper traction rope 305, the inner side of each picking claw 201 is fixed with one end of a lower picking claw traction rope 308 respectively, the lower picking claw traction rope 308 passes through the lower guide roller 303, and the other end of each lower picking claw traction rope 308 is fixedly connected with the lower traction rope 307.

[0043] Specific implementation method three: see Figure 9 The winding directions of the upper traction rope 305 and the lower traction rope 307 on the output shaft of the motor 304 are opposite in the embodiment.

[0044] Further, the vertical traction part 203 is used to increase the moment of force of the picking claw 201 under the pulling force of the upper traction rope 305, so that the upper traction rope 305 pulls the picking claw 201 to open more labor-saving. The upper guide drum 302 and the lower guide drum 303 respectively play a guiding role of the upper traction rope 305 and the lower traction rope 307, reducing the friction between the upper traction rope 305 and the lower traction rope 307 and the traction device frame 301. The traction device frame 301 is used to raise the height between the upper guide drum 302 and the vertical traction part 203, so as to increase the moment of force of the picking claw 201 under the pulling force of the upper traction rope 305. The motor 304 is fixed in the middle of the traction device frame 301, and two winding rollers for winding the upper traction rope 305 and the lower traction rope 307 are fixed on the output shaft of the motor 304. The upper traction rope 305 is fixedly connected with the six upper picking claw traction ropes 306 through bolt buckling or welding, and the lower traction rope 307 is fixedly connected with the six lower picking claw traction ropes 308 through bolt buckling or welding.

[0045] When the motor 304 rotates clockwise, the motor 304 pulls the upper traction rope 305 downward, and releases the lower traction rope 307 at the same time. The upper traction rope 305 pulls the six upper picking claw traction ropes 306 to move downward, and the upper picking claw traction ropes 306 pass through the upper guide drum 302, giving the vertical traction part 203 on the picking claw 201 an upward pulling force, thereby driving the picking claw 201 to open. When the motor 304 rotates counterclockwise, the motor 304 pulls the lower traction rope 307 upward, and releases the upper traction rope 305 at the same time. The lower traction rope 307 pulls the six lower picking claw traction ropes 308 to move upward, and the lower picking claw traction ropes 308 pass through the lower guide drum 303, giving the inner side of the picking claw 201 a downward pulling force, thereby driving the picking claw 201 to close.

[0046] Specific implementation method four: see Figure 10 As shown in the figure, the hinge of the picking claw 201 of the embodiment is provided with two vertical traction parts 203, the ends of the two vertical traction parts 203 are fixed with end traction ropes 401, and the other ends of the two end traction ropes 401 are fixed with a cross beam I 402, which is fixedly connected with the upper picking claw traction rope 306.

[0047] Specific implementation method five: see Figure 10 As shown in the figure, the inner side of the picking claw 201 of the embodiment is connected with two springs 406, the other ends of the two springs 406 are fixed with a cross beam II 404, which is fixedly connected with the lower picking claw traction rope 308.

[0048] Further, the spring 406 is arranged to achieve the elastic connection between the picking claw 201 and the lower picking claw traction rope 308, which plays a buffering role when closing. When the lower picking claw traction rope 308 pulls the picking claw 201 to close to the limit state, the spring 406 is elongated, reducing the rigid force between the lower picking claw traction rope 308 and the picking claw 201, and further, the spring 406 avoids the lower picking claw traction rope 308 excessively dragging the picking claw 201 to cause damage to the equipment during the closing process of the picking claw 201.

[0049] Specific implementation method six: see Figure 10 As shown in the figure, the connection mode of the picking claw 201 and the spring 406 in the embodiment is hinged.

[0050] Specific implementation method seven: see Figure 10 As shown in the figure, the connection between the picking claw 201 and the spring 406 in the embodiment is 30-40 cm away from the hinge between the picking claw 201 and the hexagonal support 1.

[0051] Specific implementation method eight: see Figures 3-6 As shown in the figure, the traction device 3 in the embodiment further includes a travel switch I 501, a travel switch steel wire I 502, a travel switch II 503, and a travel switch steel wire II 504;

[0052] The travel switch I 501 is fixed at the upper end of the traction device frame 301, one end of the travel switch steel wire I 502 is fixedly connected with the trigger end of the travel switch I 501, and the other end of the travel switch steel wire I 502 is fixedly connected with the upper traction rope 305;

[0053] The travel switch II 503 is fixed at the lower end of the traction device frame 301, one end of the travel switch steel wire II 504 is fixedly connected with the trigger end of the travel switch II 503, and the other end of the travel switch steel wire II 504 is fixedly connected with the lower traction rope 307.

[0054] Further, the travel switch I 501 and the travel switch II 503 are rotary travel switches, the trigger end of the travel switch I 501 and the travel switch II 503 is provided with a swing arm, and the ends of the two swing arms are fixedly connected with the travel switch steel wire I 502 and the travel switch steel wire II 504, respectively. Taking the complete closing action of the picking claw 201 as an example, when the travel switch steel wire I 502 pulls the swing arm to rotate, the swing arm drives the trigger end of the travel switch I 501 to rotate until the travel switch I 501 triggers the angle, and the travel switch I 501 sends a signal to control the motor 304 to stop. Preventing the picking claw 201 from being closed and opened excessively to cause damage to the equipment.

[0055] Specific implementation method nine: see Figure 10 As shown in the figure, the distance between the adjacent picking teeth 202 in the embodiment is 5-15 cm.

[0056] Further, three picking teeth 202 are arranged on each picking claw 201, and the distance between adjacent picking teeth 202 is 5-15 cm, preferably 9 cm, so that the pine branches slide out of the gap between the picking teeth 202 during the picking process, the picking of pine cones is realized while reducing the damage to the pine crown, and the unripe pine cones also slide out of the picking teeth 202 because the size is smaller than the picking teeth 202, thereby avoiding the reduction of next year's results.

[0057] Specific implementation ten: see Figure 7 As shown, the upper end and the lower end of the traction device frame 301 are provided with guide rings 6, the upper picking claw traction rope 306 passes through the inner side of the guide ring 6 at the upper end, and the lower picking claw traction rope 308 passes through the inner side of the guide ring 6 at the lower end.

[0058] Further, the guide ring 6 is in the shape of a circular truncated cone, the diameter of the guide ring 6 at the upper end is greater than the lower diameter, and the diameter of the guide ring 6 at the lower end is greater than the upper diameter. The guide ring 6 plays a guiding role for the traction rope and prevents friction between the traction rope and the traction device frame 301.

[0059] In use, the traction device frame 301 in the picking device is connected with the unmanned aerial vehicle through a sling, the picking device is vertically lifted by the unmanned aerial vehicle, the traction device 3 drives the picking claw 201 to expand, the unmanned aerial vehicle is controlled to descend, the picking claw 201 is located at the position of the pine crown, the traction device 3 drives the picking claw 201 to close, the picking claw 201 embraces the pine branch with pine cones, the unmanned aerial vehicle is lifted, the unmanned aerial vehicle drives the picking device to lift upward, and the picking teeth 202 in the picking claw 201 drag and fall off the mature pine cones. The picking and picking of pine cones are completed, the pine branches slide out of the gap between the picking teeth 202 during the picking process, the picking of pine cones is realized while reducing the damage to the pine crown, and the unripe pine cones also slide out of the picking teeth 202 because the size is smaller than the picking teeth 202, thereby avoiding the reduction of next year's results.

[0060] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A pine cone harvesting device for unmanned aerial vehicles (UAVs), characterized in that: It includes a hexagonal support (1), a picking claw (201), a traction device frame (301), and a traction device (3); Each side wall of the hexagonal bracket (1) is hinged with a picking claw (201). The lower end of the picking claw (201) is provided with multiple picking teeth (202). The hinge of the picking claw (201) is provided with a vertical traction part (203) perpendicular to the picking claw (201). The upper end of the hexagonal bracket (1) is provided with a traction device frame (301). The traction device frame (301) is provided with a traction device (3) for driving the picking claw (201) to open or close.

2. The pine cone harvesting device for unmanned aerial vehicles according to claim 1, characterized in that: The traction device (3) includes an upper guide roller (302), a lower guide roller (303), a motor (304), an upper traction rope (305), an upper picking claw traction rope (306), a lower traction rope (307), and a lower picking claw traction rope (308). The upper end of the traction device frame (301) is provided with multiple upper guide rollers (302), and the lower end of the traction device frame (301) is provided with multiple lower guide rollers (303). A motor (304) is installed in the traction device frame (301). The output shaft of the motor (304) is wound with an upper traction rope (305) and a lower traction rope (307) via a winding roller. The vertical traction part (203) of each picking claw (201) is connected to an upper picking claw traction rope (306). One end is fixed, the upper picking claw traction rope (306) passes around the upper guide roller (302), and the other end of each upper picking claw traction rope (306) is fixedly connected to the upper traction rope (305). The inner side of each picking claw (201) is fixed to one end of a lower picking claw traction rope (308). The lower picking claw traction rope (308) passes around the lower guide roller (303), and the other end of each lower picking claw traction rope (308) is fixedly connected to the lower traction rope (307).

3. The pine cone harvesting device for unmanned aerial vehicles according to claim 2, characterized in that: The upper traction rope (305) and the lower traction rope (307) are wound in opposite directions on the output shaft of the motor (304).

4. The pine cone harvesting device for unmanned aerial vehicles according to claim 2, characterized in that: The picking claw (201) has two vertical traction parts (203) at its hinge. The ends of the two vertical traction parts (203) are fixed with end traction ropes (401). The other ends of the two end traction ropes (401) are fixed with crossbeam I (402). Crossbeam I (402) is fixedly connected to the upper picking claw traction rope (306).

5. The pine cone harvesting device for unmanned aerial vehicles according to claim 2, characterized in that: The inner side of the picking claw (201) is connected to two springs (406), and the other end of the two springs (406) is fixed to a crossbeam II (404). The crossbeam II (404) is fixedly connected to the lower picking claw traction rope (308).

6. The pine cone harvesting device for unmanned aerial vehicles according to claim 5, characterized in that: The picking claw (201) is connected to the spring (406) by a hinge.

7. The pine cone harvesting device for unmanned aerial vehicles according to claim 5, characterized in that: The connection point between the picking claw (201) and the spring (406) is 30-40cm away from the hinge point between the picking claw (201) and the hexagonal bracket (1).

8. The pine cone harvesting device for unmanned aerial vehicles according to claim 2, characterized in that: The traction device (3) also includes limit switch I (501), limit switch wire I (502), limit switch II (503) and limit switch wire II (504); Limit switch I (501) is fixed to the upper end of the traction device frame (301), one end of limit switch wire I (502) is fixedly connected to the trigger end of limit switch I (501), and the other end of limit switch wire I (502) is fixedly connected to the upper traction rope (305). Limit switch II (503) is fixed at the lower end of the traction device frame (301). One end of limit switch wire II (504) is fixedly connected to the trigger end of limit switch II (503), and the other end of limit switch wire II (504) is fixedly connected to the lower traction rope (307).

9. The pine cone harvesting device for unmanned aerial vehicles according to claim 1, characterized in that: The spacing between adjacent picking teeth (202) is 5-15cm.

10. The pine cone harvesting device for unmanned aerial vehicles according to claim 2, characterized in that: The upper and lower ends of the traction device frame (301) are provided with guide rings (6). The upper picking claw traction rope (306) passes through the inner side of the guide ring (6) located at the upper end, and the lower picking claw traction rope (308) passes through the inner side of the guide ring (6) located at the lower end.

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