CN114503834B - Automatic apple picking machine - Google Patents
Automatic apple picking machine Download PDFInfo
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- CN114503834B CN114503834B CN202210133411.2A CN202210133411A CN114503834B CN 114503834 B CN114503834 B CN 114503834B CN 202210133411 A CN202210133411 A CN 202210133411A CN 114503834 B CN114503834 B CN 114503834B
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- coating
- module
- buffer
- apple
- fusing
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
Abstract
The invention discloses an automatic apple picking machine which comprises a machine body, a storage module, a mechanical arm, a shearing module, a buffering module and a detection module, wherein the bottom of the machine body is provided with a moving wheel and a moving mechanism, the storage module comprises a storage box, a sliding bottom plate, a first sliding rail and a cushion, the sliding bottom plate is arranged at the bottom of the storage box, the sliding bottom plate is arranged on the first sliding rail, the cushion is arranged in the storage box, the mechanical arm is arranged on the machine body, a hose is arranged in the mechanical arm, the shearing module is arranged at the tail end of the mechanical arm, the buffering module is arranged between the hose and the storage module and is used for decelerating apples, the detection module comprises a camera, a first pressure sensor, a second pressure sensor and a controller, the camera is arranged at the tail end of the mechanical arm, the first pressure sensor is arranged on the shearing module, and the second pressure sensor is arranged on the buffering module.
Description
Technical Field
The invention relates to the technical field of apple picking, in particular to an automatic apple picking machine.
Background
At present, the apples are picked mostly by directly adopting an artificial picking mode, but the artificial picking is not only low in efficiency, but also various collision frames can appear in the picking process to damage the quality of the apples, in addition, the apples are picked by workers to pick the apples growing on the crowns one by one, and due to the higher particularity of the positions, the picking of the apples is time-consuming and labor-consuming.
Disclosure of Invention
According to the defects of the prior art, the invention aims to provide an automatic apple picking machine which can automatically pick apples, reduce apple damage, reduce labor cost and improve efficiency.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an automatic apple picking machine comprises a machine body, a storage module, a mechanical arm, a shearing module, a buffering module and a detection module;
the bottom of the machine body is provided with a moving wheel and a moving mechanism for driving the moving wheel to move;
the storage module comprises a storage box, a sliding bottom plate, a first sliding rail and a soft pad, wherein the sliding bottom plate is arranged at the bottom of the storage box, the sliding bottom plate is arranged on the first sliding rail, the sliding bottom plate can be driven to slide left and right relative to the first sliding rail through a first sliding mechanism, and the soft pad is arranged in the storage box;
the apple storage device comprises a machine body, a mechanical arm, a storage module and a control module, wherein the mechanical arm is arranged on the machine body, a hose is arranged in the mechanical arm and used for conveying apples, the hose is connected with the storage module, and apples can slide into the storage module from the hose;
the cutting module is arranged at the tail end of the mechanical arm and is used for cutting apples off from the branches;
the buffer module is arranged between the hose and the storage module and is used for decelerating the apples;
the utility model discloses a storage module, including the arm, the arm is provided with the arm, the detection module includes camera, first pressure sensor, second pressure sensor and controller, the camera is established the arm is terminal for acquire the apple image, and convey the apple image in the controller, the controller passes through the image recognition algorithm and acquires the specific position of apple, first pressure sensor establishes cut on the module, first pressure sensor experiences signal transmission after the apple pressure and gives the controller, the motion of controller control shearing module cuts the apple from the branch head, second pressure sensor establishes on the buffer module, second pressure sensor experiences signal transmission after the apple pressure and gives the controller, controller control shearing module moves, makes the apple landing arrive storage module.
Further, the mechanical arm comprises a first telescopic rod and a second telescopic rod which are connected in sequence, the first telescopic rod is driven to stretch through a first telescopic mechanism, a rotating mechanism which drives the second telescopic rod to rotate relative to the first telescopic rod is arranged on the first telescopic rod, the second telescopic rod is driven to stretch through a second telescopic mechanism, and the shearing module is arranged at the tail end of the second telescopic rod.
Furthermore, the hose penetrates through the first telescopic rod and the second telescopic rod in sequence.
Further, first fixed disk is established at the arm top, first fixed disk middle part is equipped with first through-hole, it is equipped with the second through-hole to cut the dish middle part, it has a plurality of first arc spouts to be central symmetry distribution on the dish to cut, the centre of a circle of first arc spout with the centre of a circle interval certain distance of cutting the dish, it rotates through the drive of first slewing mechanism to cut the dish, and the apple can pass in proper order first through-hole cut the blade with the second through-hole landing is in the hose, and is a plurality of it establishes at first fixed disk to cut the blade to be central symmetry with cut between the dish, it is crescent to cut the blade, cut blade one side through first axis of rotation with first fixed disk rotates to be connected, the opposite side is equipped with and wears to establish the second axis of rotation of first arc spout.
Further, the first pressure sensor is arranged on the first fixed disc.
Further, the buffer module comprises a second fixed disk, a buffer door and a buffer disk, wherein the second fixed disk, the buffer door and the buffer disk are sequentially arranged from top to bottom, the second fixed disk is fixed in the mechanical arm, a third through hole is formed in the middle of the second fixed disk, a fourth through hole is formed in the middle of the buffer disk, a plurality of second arc-shaped sliding grooves are formed in the buffer disk in a centrosymmetric mode, the circle center of each second arc-shaped sliding groove and the circle center of the buffer disk are spaced at a certain distance, the buffer disk is fixed at the bottom of the mechanical arm and is arranged in the middle of the buffer disk in a central symmetric mode, the buffer door is in a crescent shape, one side of the buffer door is rotatably connected with the second rotating disk through a third rotating shaft, and the other side of the buffer door is provided with a fourth rotating shaft penetrating through the second arc-shaped sliding grooves.
Further, the second pressure sensor is arranged on the second fixed disc.
Further, the storage box is of a rectangular cavity structure with an open top.
Further, the automatic apple picking machine further comprises a film coating module, the film coating module comprises a film storage box, a coating inner cylinder, a coating outer cylinder and a fusing mechanism, the film storage box is used for storing a film coating, the coating inner cylinder and the coating outer cylinder are used for conveying the film coating and limiting the movement direction of the film coating, and the fusing mechanism is used for fusing the film coating.
Further, a film storage cylinder is arranged in the film storage box, the film is wound on the film storage cylinder, a first conveying wheel set and a second conveying wheel set are respectively arranged on two sides of the film storage cylinder, the first conveying wheel set comprises two first conveying wheels which are spaced at a certain distance, the first transmission wheel set is driven to move by the first transmission mechanism, the envelope can pass through the two first transmission wheels, the second transmission wheel set comprises two second transmission wheels which are spaced at a certain distance, the second conveying wheel set is driven to move by the second conveying mechanism, so that the coating film is continuously output from between the two second conveying wheels, the coating outer cylinder and the coating inner cylinder are both of cylindrical structures which are communicated up and down, the coating inner cylinder is arranged at the inner side of the coating outer cylinder, the film storage box, the coating outer cylinder and the coating inner cylinder are communicated, a plurality of third conveying wheel sets are arranged between the coating inner cylinder and the coating outer cylinder, each third conveying wheel set comprises two third conveying wheels which are spaced at a certain distance, each third conveying wheel set is arranged in each third conveying wheel set, one of the third transfer wheels is arranged on the coating inner cylinder, the other third transfer wheel is arranged on the coating outer cylinder, the third conveying wheel set is driven to move by a third conveying mechanism, so that the envelope continuously passes through the space between the two third conveying wheels, the inner coating cylinder is driven to lift by a lifting mechanism, the fusing mechanism comprises a second sliding rail, a first fusing rod and a second fusing rod, the second sliding track is arranged between the coating inner cylinder and the film storage cylinder, the first fusing rod and the second fusing rod are driven to be close to or far away from each other by a second sliding mechanism, and the first fuse link and the second fuse link are arranged on the first fuse link and the second fuse link respectively and are arranged oppositely.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the automatic apple picking machine, the cutting module is designed, and apples can be directly positioned and cut.
2. The automatic apple picking machine is provided with the mechanical arm, the flexible pipe is arranged in the mechanical arm, and apples can be conveyed to the storage module.
3. According to the automatic apple picking machine, the buffering module is designed, so that dropping buffering of apples can be realized, and the quality of the apples is guaranteed.
4. According to the automatic apple picking machine, the storage module is designed, and the storage box can move in the horizontal direction through the matching of the first sliding rail and the storage box, so that the whole storage space is uniformly paved with apples.
5. According to the automatic apple picking machine, the coating module is designed, and automatic coating is realized, so that safety of apples is guaranteed.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the first and second telescoping poles of the present invention shown unstretched.
Fig. 3 is a schematic view of the first and second extension poles of the present invention after being extended.
Fig. 4 is a schematic view of an angle structure of the shearing module of the present invention.
Fig. 5 is a schematic view of another angle of the shear module of the present invention.
Fig. 6 is a schematic view of the structure of the shearing blade of the present invention.
FIG. 7 is a schematic view of an angle structure of a buffer module according to the present invention.
FIG. 8 is a schematic view of another angle structure of the buffer module of the present invention.
FIG. 9 is a schematic view of the buffering door of the present invention.
FIG. 10 is a schematic structural diagram of a memory module according to the present invention.
FIG. 11 is a schematic view of an angle configuration of the encapsulation module of the present invention.
Fig. 12 is a schematic view of the internal structure of the capsule storage case of the present invention.
Fig. 13 is a schematic view of another angle structure of the encapsulation module of the present invention.
Wherein: 1. a body; 11. a moving wheel;
2. a storage module; 21. a storage box; 22. a first slide rail;
3. a mechanical arm; 31. a first telescopic rod; 32. a second telescopic rod;
4. a shearing module; 41. a first fixed disk; 411. a first through hole; 42. a shearing blade; 421. a first rotating shaft; 422. a second rotating shaft; 43. a shear disk; 431. a second through hole; 432. a first arc chute; 433. a first rotating handle; 44. a first rotating electric machine; 45. a first loop bar; 46. a first fixing lever;
5. a buffer module; 51. a second fixed disk; 511. a third through hole; 52. a buffer door; 521. a third rotating shaft; 522. a fourth rotating shaft; 53. a buffer tray; 531. a fourth via hole; 532. a second arc-shaped chute; 533. a second rotating handle; 54. a second rotating motor; 55. a second loop bar; 56. a second fixing bar; 57. a buffer sleeve;
6. a coating module; 61. a film storage box; 612. a film storage cylinder; 62. coating the inner barrel; 621. a second opening; 63. coating the outer cylinder; 631. a third opening; 64. a fusing mechanism; 641. a first fuse link; 642. a second fuse link; 643. a second slide rail; 65. a first transfer wheel set; 66. a second transfer wheel set; 67. a third transfer wheel set; 68. and a baffle plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
An automatic apple picking machine is shown in figures 1-12 and comprises a machine body 1, a storage module 2, a mechanical arm 3, a shearing module 4, a buffering module 5 and a detection module.
The bottom of the machine body 1 is provided with a moving wheel 11 and a moving mechanism for driving the moving wheel 11 to move.
In the invention, 4 moving wheels 11 are arranged at the bottom of the machine body 1, and the machine body 1 is driven to move forwards, backwards or turn by the 4 moving wheels 11.
Specifically, the first sliding mechanism is a lead screw nut mechanism or a rack and pinion mechanism.
The shearing module 4 is arranged at the tail end of the mechanical arm 3, and the shearing module 4 is used for shearing the apples from the branches, so that the apples can be directly positioned to be sheared.
Buffer module 5 is established between hose and storage module 2, and buffer module 5 is arranged in slowing down and making the apple landing to storage module 2 the apple to realize the apple buffering of tenesmus, guarantee the quality of apple.
The detection module comprises a camera, a first pressure sensor, a second pressure sensor and a controller, the camera is arranged at the tail end of the mechanical arm 3 and used for acquiring an apple image and transmitting the apple image to the controller, and the controller acquires the specific position of the apple through an image recognition algorithm; the first pressure sensor is arranged on the shearing module 4, senses the pressure of the apple and then transmits a signal to the controller, and the controller controls the shearing module 4 to move so as to shear the apple from the branches; the second pressure sensor is arranged on the buffer module 5, the second pressure sensor senses the pressure of the apples and then transmits signals to the controller, and the controller controls the shearing module 4 to move so that the apples can slide into the storage module 2.
As shown in fig. 2 and fig. 3, the mechanical arm 3 includes a first telescopic rod 31 and a second telescopic rod 32 connected in sequence, the first telescopic rod 31 is driven to extend and retract by a first telescopic mechanism, a rotating mechanism for driving the second telescopic rod 32 to rotate relative to the first telescopic rod 31 is arranged on the first telescopic rod 31, the second telescopic rod 32 is driven to extend and retract by a second telescopic mechanism, and the shearing module 4 is arranged at the tail end of the second telescopic rod 32.
Specifically, rotary mechanism includes rotary driving piece, first rotary gear and second rotary gear, and rotary driving piece installs on first telescopic link 31, and first rotary gear establishes on rotary driving piece's output shaft, and second rotary gear establishes on second telescopic link 32, drives first rotary gear through rotary driving piece and rotates, and then drives the rotation of second rotary gear for second telescopic link 32 rotates for first telescopic link 31, and rotary driving piece can be the motor.
The first telescopic mechanism and the second telescopic mechanism are any one of an electric push rod, a hydraulic rod or a pneumatic rod.
The hose runs through first telescopic link 31 and second telescopic link 32 in proper order, and the hose open-top is established in shearing module 4 below, and the open-top is established in buffering module 5 top.
The sponge cushion is arranged in the hose to prevent the apple from being damaged.
As shown in fig. 4-6, the cutting module 4 includes a first fixed disk 41, a cutting blade 42 and a cutting disk 43 sequentially disposed from top to bottom, the first fixed disk 41 is disposed at the top of the mechanical arm 3, a first through hole 411 is disposed in the middle of the first fixed disk 41, a second through hole 431 is disposed in the middle of the cutting disk 43, a plurality of first arc-shaped chutes 432 are centrally and symmetrically distributed on the cutting disk 43, a certain distance is provided between the center of the first arc-shaped chute 432 and the center of the cutting disk 43, that is, the first arc-shaped chute 432 and the cutting disk 43 are not concentric, the cutting disk 43 is driven to rotate by a first rotating mechanism, the apple can sequentially pass through the first through hole 411, the cutting blade 42 and the second through hole 431 and slide into the hose, the plurality of cutting blades 42 are centrally and symmetrically disposed between the first fixed disk 41 and the cutting disk 43, the cutting blade 42 is crescent, one side of the cutting blade 42 is rotatably connected to the first fixed disk 41 by the first rotating shaft, and the other side is provided with a second rotating shaft penetrating through the first arc-shaped chute 432, wherein the first arc-shaped chute 432 can limit the moving direction of the cutting blade 42, and the cutting blade 42 can be opened.
The first pressure sensor is arranged on the first fixed disc 41, when the first pressure sensor senses the pressure of the apple, the first rotating mechanism drives the shearing disc 43 to rotate, the shearing blades 42 are opened, the second telescopic mechanism drives the second telescopic rod 32 to extend, the apple moves to pass through the first through hole 411, the shearing blades 42 and the second through hole 431 and moves to the position below the shearing module 4, the first rotating mechanism drives the first fixed disc 41 to rotate reversely at the moment, the shearing blades 42 are folded, the apple is sheared from the branches, the sheared apple is further conveyed through the hose, and the folding shearing blades 42 are convenient to work again.
In order to drive shearing disc 43 and rotate, be equipped with first rotation handle 433 on the shearing disc 43, be equipped with first dead lever 46 on the first rotation handle 433, first rotation mechanism includes first rotation motor 44, first rotation motor 44 is fixed inside arm 3, be fixed with first loop bar 45 on first rotation motor 44's the output shaft, first loop bar 45 cover is established on first dead lever 46, drive first loop bar 45 through first rotation motor 44 and rotate, and then drive first dead lever 46 and rotate, first dead lever 46 rotates and drives first rotation handle 433 and shearing disc 43 and rotate.
As shown in fig. 7-9, the buffer module 5 includes a second fixed disk 51, a buffer door 52 and a buffer disk 53, which are sequentially disposed from top to bottom, the second fixed disk 51 is fixed in the mechanical arm 3, a third through hole 511 is disposed in the middle of the second fixed disk 51, a fourth through hole 531 is disposed in the middle of the buffer disk 53, a plurality of second arc-shaped chutes 532 are centrally and symmetrically disposed on the buffer disk 53, the center of the second arc-shaped chute 532 is spaced from the center of the buffer disk 53 by a certain distance, i.e., the first arc-shaped chute 432 is not concentric with the shear disk 43, the buffer disk 53 is fixed at the bottom of the mechanical arm 3, the apple can sequentially pass through the third through hole 511 and the fourth through hole 531 to slide into the storage module 2, the plurality of buffer doors 52 are centrally and symmetrically disposed between the second fixed disk 51 and the buffer disk 53, the buffer doors 52 are crescent-shaped, one side of the buffer door 52 is rotatably connected with the second fixed disk 51 through a third rotating shaft, and the other side is provided with a fourth rotating shaft through which the second arc-shaped chute 532, wherein the second arc-shaped chute 532 can limit the moving direction of the buffer door 52, so that the buffer door 52 can be opened and closed.
The second pressure sensor is arranged on the second fixed disc 51, when the second pressure sensor senses the pressure of the apples, the second rotating mechanism drives the buffer disc 53 to rotate, so that the plurality of buffer doors 52 are opened, the apples move into the storage module 2 through the third through hole 511 and the fourth through hole 531, and after the movement is completed, the second rotating mechanism drives the buffer disc 53 to rotate reversely, so that the plurality of buffer doors 52 are folded, and the work is convenient to work again.
The top of the second fixed disk 51 is also provided with a buffer sleeve 57, the buffer sleeve 57 is a hollow structure made of rubber, and a spongy cushion can be arranged in the buffer sleeve 57.
As shown in fig. 11 and 12, the automatic apple picking machine further comprises a coating module 6, the coating module 6 is arranged on the top of the buffer module 5, and when the apples slide down on the second fixed disk 51, the coating module 6 is used for coating the apples.
By designing the coating module, the coating can be directly coated in the picking process. And the apple after the envelope moves fast in the storage box, so that the apple is not easy to damage.
The film coating module 6 comprises a film storage box 61, a coating inner cylinder 62, a coating outer cylinder 63 and a fusing mechanism 64, wherein the film storage box 61 is used for storing the coating film, the coating inner cylinder 62 and the coating outer cylinder 63 are used for conveying the coating film and limiting the movement direction of the coating film, and the fusing mechanism 64 is used for fusing the coating film.
A film storage barrel 612 is arranged in the film storage box 61, the film is wound on the film storage barrel 612, a first transmission wheel set 65 and a second transmission wheel set 66 are arranged on two sides of the film storage barrel 612 respectively, the first transmission wheel set 65 comprises two first transmission wheels which are spaced at a certain distance, the film can penetrate between the two first transmission wheels, one first transmission wheel is driven by a first transmission mechanism to rotate, the film is input from the two first transmission wheels, the second transmission wheel set 66 comprises two second transmission wheels which are spaced at a certain distance, the film can penetrate between the two second transmission wheels, one second transmission wheel is driven by a second transmission mechanism to rotate, the film is continuously output from the two second transmission wheels, and the apple is conveniently coated.
The coating outer cylinder 63 and the coating inner cylinder 62 are of a vertically-through cylindrical structure, the coating outer cylinder 63 is arranged on one side of the film storage box 61 and is connected with the film storage box 61 through a coating plate, the film storage box 61, the coating outer cylinder 63 and the coating inner cylinder 62 are sequentially provided with a first opening, a second opening 621 and a third opening 631, the first opening, the second opening 621 and the third opening 631 are communicated, the outer diameter of the coating inner cylinder 62 is smaller than the inner diameter of the coating outer cylinder 63, the coating inner cylinder 62 is arranged on the inner side of the coating outer cylinder 63 and is used for shaping a coating through the coating inner cylinder 62 to help the coating to coat apples, a plurality of third transmission wheel sets 67 are arranged between the coating inner cylinder 62 and the coating outer cylinder 63, each third transmission wheel set 67 comprises two third transmission wheels with a certain distance, the coating can pass through between the two third transmission wheels, one third transmission wheel set 67 is arranged on the coating inner cylinder 62, the other third transfer wheel is arranged on the sheathing outer cylinder 63, one third transfer wheel in one third transfer wheel group 67 is driven to rotate by the third transfer mechanism, so that the sheathing continuously passes through the two third transfer wheels, the fusing mechanism 64 is arranged between the sheathing inner cylinder 62 and the sheathing cylinder 612, the fusing mechanism 64 is used for fusing the sheathing, the fusing mechanism 64 comprises a second sliding track 643, a first fusing rod 641 and a second fusing rod 642, the second sliding track 643 is arranged on the sheathing plate, the first fusing rod 641 and the second fusing rod 642 are driven to approach or separate through the second sliding mechanism, the first fusing rod 641 and the second fusing rod 642 are respectively provided with a first fusing wire and a second fusing wire, the first fusing wire and the second fusing wire are arranged oppositely, the first fusing wire and the second fusing wire are controlled to work through a fusing switch, and the first fusing rod 641 and the second fusing rod 642 not only play a role of fusing, also plays a role in driving the envelope to move.
The coating inner cylinder 62 is driven to lift through a lifting mechanism, and the coating inner cylinder 62 is lifted through the lifting mechanism, so that the coating sleeve is arranged on the apple.
Specifically, the second sliding mechanism is a lead screw nut mechanism or a rack and pinion mechanism.
Specifically, the method for coating the coating module 6 comprises the following steps: the envelope is wound on the envelope storage cylinder 612, the envelope passes through between two first transmission wheels, one first transmission wheel is driven to rotate through a first transmission mechanism, the envelope is input from between the two first transmission wheels, then the first fusing rod 641 and the second fusing rod 642 are driven to be away through a second sliding mechanism, the envelope passes through between the first fusing rod 641 and the envelope inner cylinder 62, between a plurality of third transmission wheel sets 67 and between the second fusing rod 642 and the envelope inner cylinder 62, the cross section of the envelope is arc-shaped, the envelope passes through between the two second transmission wheels, one second transmission wheel is driven to rotate through the second transmission mechanism, the envelope is output from between the two second transmission wheels, finally, the first fusing rod 641 and the second fusing rod 642 are driven to approach through the second sliding mechanism, the section of the envelope is in an omega shape, the cladding inner tube 62 is driven to be lifted through the lifting mechanism, the first fusing wire and the second fusing wire are controlled to work through the fusing switch of the cladding inner tube 62 to fuse the envelope, the envelope is in an annular shape, the fusing switch controls the first fusing wire and the second fusing wire to stop working, the first fusing rod 641 and the second fusing rod 642 are driven to be away through the second sliding mechanism, the envelope is coated on the apple, the buffer module 5 starts to work, the cladding inner tube 62 is driven to descend through the lifting mechanism, and the envelope of the next apple is carried out.
The using method of the invention comprises the following steps:
step 1, a camera is arranged at the tail end of a mechanical arm 3 to obtain an apple image, the apple image is transmitted to a controller, and the controller obtains the specific position of an apple through an image recognition algorithm;
step 4, the apples slide down to the buffer module 5 from the hose, the second pressure sensor is arranged on the buffer module 5, the second pressure sensor senses the pressure of the apples and then transmits signals to the controller, and the buffer module 5 decelerates the apples and enables the apples to slide down to the storage module 2;
and 5, driving the sliding bottom plate to slide left and right relative to the first sliding rail 22 through the sliding mechanism, so that the piled apples are dispersed.
In step 2, the mechanical arm 3 includes a first telescopic rod 31, a rotary rod and a second telescopic rod 32 which are connected in sequence, the first telescopic rod 31 is driven to extend and retract by a first telescopic mechanism, the rotary rod is driven to rotate by a rotary mechanism, and the second telescopic rod 32 is driven to extend and retract by the first telescopic mechanism.
In step 3, the shearing module 4 includes a first fixed disk 41, a shearing blade 42 and a shearing disk 43 sequentially arranged from top to bottom, the first fixed disk 41 is arranged at the top of the mechanical arm 3, a first through hole 411 is arranged in the middle of the first fixed disk 41, a second through hole 431 is arranged in the middle of the shearing disk 43, a plurality of first arc-shaped sliding slots 432 are symmetrically distributed on the shearing disk 43 in the center, the center of the first arc-shaped sliding slot 432 and the center of the shearing disk 43 are spaced by a certain distance, the plurality of shearing blades 42 are symmetrically arranged between the first fixed disk 41 and the shearing disk 43 in the center, the shearing blade 42 is crescent-shaped, one side of the shearing blade 42 is rotatably connected with the first fixed disk 41 through a first rotating shaft, and the other side of the shearing blade is provided with a second rotating shaft penetrating through the first arc-shaped sliding slots 432, wherein the first arc-shaped sliding slots 432 can limit the moving direction of the shearing blade 42, so that the shearing blade 42 can be opened and closed well.
The first pressure sensor is arranged on the first fixed disc 41, when the first pressure sensor senses the pressure of the apple, the first rotating mechanism drives the shearing disc 43 to rotate, the shearing blades 42 are opened, the second telescopic mechanism drives the second telescopic rod 32 to extend, the apple moves to pass through the first through hole 411, the shearing blades 42 and the second through hole 431 and moves to the position below the shearing module 4, the first rotating mechanism drives the first fixed disc 41 to rotate reversely at the moment, the shearing blades 42 are folded, the apple is sheared from the branch, the sheared apple is further conveyed through the hose, and the folding shearing blades 42 are convenient to work again.
In step 4, the buffer module 5 includes a second fixed disk 51, a buffer door 52 and a buffer disk 53, which are sequentially arranged from top to bottom, the second fixed disk 51 is fixed in the mechanical arm 3, a third through hole 511 is arranged in the middle of the second fixed disk 51, a fourth through hole 531 is arranged in the middle of the buffer disk 53, a plurality of second arc-shaped chutes 532 are centrally and symmetrically distributed on the buffer disk 53, the center of the second arc-shaped chute 532 is spaced from the center of the buffer disk 53 by a certain distance, the buffer disk 53 is fixed at the bottom of the mechanical arm 3, the apple can sequentially pass through the third through hole 511, the buffer door 52 and the fourth through hole 531 slide into the storage module 2, the plurality of buffer doors 52 are centrally and symmetrically arranged between the second fixed disk 51 and the buffer disk 53, the buffer door 52 is crescent, one side of the buffer door 52 is rotatably connected with the second fixed disk 51 through a third rotating shaft, and the other side of the buffer door is provided with a fourth rotating shaft through which the second arc-shaped chute 532 penetrates.
The second pressure sensor is arranged on the second fixed disc 51, when the second pressure sensor senses the pressure of the apples, the second rotating mechanism drives the buffer disc 53 to rotate, so that the plurality of buffer doors 52 are opened, the apples move to sequentially pass through the third through hole 511, the buffer doors 52 and the fourth through hole 531 to move into the storage module 2, and after the movement is completed, the second rotating mechanism drives the buffer disc 53 to rotate reversely, so that the plurality of buffer doors 52 are folded, and the work is convenient to work again.
In the step 4, when the apples fall on the buffer module 5, the apples are enveloped by the enveloping module 6, so that damage to the apples is reduced.
The automatic apple picking machine further comprises a coating module 6, the coating module 6 is arranged at the top of the buffer module 5, and when the apples slide onto the second fixed disc 51, the coating module 6 is used for coating the apples.
The film coating module 6 comprises a film storage box 61, a coating inner cylinder 62, a coating outer cylinder 63 and a fusing mechanism 64, wherein the film storage box 61 is used for storing the coating film, the coating inner cylinder 62 and the coating outer cylinder 63 are used for conveying the coating film and limiting the movement direction of the coating film, and the fusing mechanism 64 is used for fusing the coating film.
The automatic apple picking machine further comprises a coating module 6, the coating module 6 is arranged at the top of the buffer module 5, and when the apples slide onto the second fixed disc 51, the coating module 6 is used for coating the apples.
The film coating module 6 comprises a film storage box 61, a coating inner cylinder 62, a coating outer cylinder 63 and a fusing mechanism 64, wherein the film storage box 61 is used for storing the coating film, the coating inner cylinder 62 and the coating outer cylinder 63 are used for conveying the coating film and limiting the movement direction of the coating film, and the fusing mechanism 64 is used for fusing the coating film.
A film storage barrel 612 is arranged in the film storage box 61, the film is wound on the film storage barrel 612, a first transmission wheel set 65 and a second transmission wheel set 66 are arranged on two sides of the film storage barrel 612 respectively, the first transmission wheel set 65 comprises two first transmission wheels which are spaced at a certain distance, the film can penetrate between the two first transmission wheels, one first transmission wheel is driven by a first transmission mechanism to rotate, the film is input from the two first transmission wheels, the second transmission wheel set 66 comprises two second transmission wheels which are spaced at a certain distance, the film can penetrate between the two second transmission wheels, one second transmission wheel is driven by a second transmission mechanism to rotate, the film is continuously output from the two second transmission wheels, and the apple is conveniently coated.
The coating outer cylinder 63 and the coating inner cylinder 62 are of a vertically-through cylindrical structure, the coating outer cylinder 63 is arranged on one side of the film storage box 61 and is connected with the film storage box 61 through a coating plate, the film storage box 61, the coating outer cylinder 63 and the coating inner cylinder 62 are sequentially provided with a first opening, a second opening 621 and a third opening 631, the first opening, the second opening 621 and the third opening 631 are communicated, the outer diameter of the coating inner cylinder 62 is smaller than the inner diameter of the coating outer cylinder 63, the coating inner cylinder 62 is arranged on the inner side of the coating outer cylinder 63, a plurality of third transmission wheel sets 67 are arranged between the coating inner cylinder 62 and the coating outer cylinder 63, each third transmission wheel set 67 comprises two third transmission wheels with a certain distance, a coating can pass through the space between the two third transmission wheels, one third transmission wheel is arranged on the coating inner cylinder 62 in each third transmission wheel set 67, the other third transmission wheel is arranged on the coating outer cylinder 63, the third conveying mechanism drives a third conveying wheel in a third conveying wheel set 67 to rotate, the fusing mechanism 64 is arranged between the cladding inner cylinder 62 and the film storage cylinder 612, the fusing mechanism 64 is used for fusing a cladding film, the fusing mechanism 64 comprises a second sliding rail 643, a first fusing rod 641 and a second fusing rod 642, the second sliding rail 643 is arranged on a cladding plate, the first fusing rod 641 and the second fusing rod 642 are driven to be close to or far away from each other through the second sliding mechanism, a first fusing wire and a second fusing wire are respectively arranged on the first fusing rod 641 and the second fusing rod 642, the first fusing wire and the second fusing wire are arranged oppositely, the first fusing wire and the second fusing wire are controlled to work through a fusing switch, and the first fusing rod 641 and the second fusing rod 642 not only play a role in fusing the cladding film, but also play a role in driving the cladding film to move.
The coating inner cylinder 62 is driven to lift through a lifting mechanism, and the coating inner cylinder 62 is lifted through the lifting mechanism, so that the coating sleeve is arranged on the apple.
In order to limit the movement direction of the coating film, a baffle 68 is arranged between the first conveying wheel set 65 and the coating inner cylinder 62, a baffle 68 is arranged between the coating inner cylinder 62 and the third conveying wheel set 67, a baffle 68 is arranged between the coating inner cylinder 62 and the second conveying wheel set 66, and the coating film can move along the baffle 68 by arranging the baffle 68, so that the coating film is prevented from deviating.
Specifically, in the process of coating the apple, the coating is wound on the coating storage cylinder 612, the coating passes through between two first conveying wheels, one first conveying wheel is driven to rotate by the first conveying mechanism, the coating is input from between the two first conveying wheels, secondly, the first fusing rod 641 and the second fusing rod 642 are driven to move away by the second sliding mechanism, the coating passes through between the first fusing rod 641 and the coating inner cylinder 62, among a plurality of third conveying wheel groups 67, and between the second fusing rod 642 and the coating inner cylinder 62, the cross section of the coating is arc-shaped, thirdly, the coating passes through between the two second conveying wheels, one second conveying wheel is driven to rotate by the second conveying mechanism, the coating is output from between the two second conveying wheels, finally, the first fusing rod 641 and the second fusing rod are driven to approach by the second sliding mechanism, the cross section of the coating is in an omega shape, the coating inner cylinder 62 is driven to lift by the lifting mechanism, the coating inner cylinder 62 controls the first fusing wire and the second fusing wire to melt so that the coating melts, the coating is in an annular shape, the coating is controlled to melt and melt the coating, the coating is blown, the coating stops working of the second fusing rod 642, the coating and the coating inner cylinder 642 stops working, and the coating begins to move away from the second fusing rod 642, and the coating driving mechanism, and the coating inner cylinder starts to move down, and the coating driving mechanism, and the coating module starts to move away from the second fusing mechanism, and the coating.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. An automatic apple picking machine is characterized in that: the device comprises a machine body, a storage module, a mechanical arm, a shearing module, a buffering module and a detection module;
the bottom of the machine body is provided with a moving wheel and a moving mechanism for driving the moving wheel to move;
the storage module comprises a storage box, a sliding bottom plate, a first sliding track and a soft cushion, wherein the sliding bottom plate is arranged at the bottom of the storage box, the sliding bottom plate is arranged on the first sliding track, the sliding bottom plate can be driven to slide left and right relative to the first sliding track through a first sliding mechanism, and the soft cushion is arranged in the storage box;
the apple storage device comprises a machine body, a mechanical arm, a hose and a storage module, wherein the mechanical arm is arranged on the machine body, the hose is arranged in the mechanical arm and used for conveying apples, the hose is connected with the storage module, and the apples can slide into the storage module from the hose;
the cutting module is arranged at the tail end of the mechanical arm and is used for cutting apples off from the branches;
the buffer module is arranged between the hose and the storage module and is used for decelerating the apples;
the detection module comprises a camera, a first pressure sensor, a second pressure sensor and a controller, the camera is arranged at the tail end of the mechanical arm and used for acquiring an apple image and transmitting the apple image to the controller, the controller acquires the specific position of an apple through an image recognition algorithm, the first pressure sensor is arranged on the shearing module, the first pressure sensor senses the pressure of the apple and then transmits a signal to the controller, the controller controls the shearing module to move and shear the apple from branches, the second pressure sensor is arranged on the buffer module and senses the pressure of the apple and then transmits the signal to the controller, and the controller controls the shearing module to move so that the apple slides to the storage module;
the film coating module comprises a film storage box, a coating inner tube, a coating outer tube and a fusing mechanism, wherein the film storage box is used for storing a coating film, the coating inner tube and the coating outer tube are used for conveying the coating film and limiting the direction of the motion of the coating film, the fusing mechanism is used for fusing the coating film, the film storage box is internally provided with the film storage box, the coating film is wound on the film storage box, two sides of the film storage box are respectively provided with a first transmission wheel set and a second transmission wheel set, the first transmission wheel set comprises two first transmission wheels which are separated by a certain distance, the first transmission wheel set is driven by the first transmission mechanism to move, the coating film can pass through the two first transmission wheels, the second transmission wheel set comprises two second transmission wheels which are separated by a certain distance, the second transmission wheel set is driven by the second transmission mechanism to move, the coating film is continuously output from the two second transmission wheels, and the coating outer tube and the inner tube are both in a vertically-through tubular structure, the coating inner cylinder is arranged on the inner side of the coating outer cylinder, the film storage boxes, the coating outer cylinder and the coating inner cylinder are communicated, a plurality of third conveying wheel sets are arranged between the coating inner cylinder and the coating outer cylinder and comprise two third conveying wheels which are spaced at a certain distance, one third conveying wheel is arranged on the coating inner cylinder and the other third conveying wheel is arranged on the coating outer cylinder in each third conveying wheel set, the third conveying wheel sets are driven by a third conveying mechanism to move, so that a coating film continuously passes through the space between the two third conveying wheels, the coating inner cylinder is driven by a lifting mechanism to lift, the fusing mechanism comprises a second sliding rail, a first fusing rod and a second fusing rod, the second sliding rail is arranged between the coating inner cylinder and the film storage boxes, and the first fusing rod and the second fusing rod are driven by a second sliding mechanism to be close to or far away from each other, and the first fuse link and the second fuse link are respectively provided with a first fuse wire and a second fuse wire, and the first fuse wire and the second fuse wire are oppositely arranged.
2. The automatic apple picking machine according to claim 1, wherein: the mechanical arm comprises a first telescopic rod and a second telescopic rod which are sequentially connected, the first telescopic rod is driven to stretch through a first telescopic mechanism, a rotating mechanism which drives the second telescopic rod to rotate relative to the first telescopic rod is arranged on the first telescopic rod, the second telescopic rod is driven to stretch through a second telescopic mechanism, and the shearing module is arranged at the tail end of the second telescopic rod.
3. The automatic apple picking machine of claim 2, wherein: the hose penetrates through the first telescopic rod and the second telescopic rod in sequence.
4. The automatic apple picking machine of claim 1, wherein: the utility model discloses a cutting module, including arm top, shearing module, first fixed disk, shearing blade and shearing dish that top-down set gradually, first fixed disk is established at the arm top, first fixed disk middle part is equipped with first through-hole, it is equipped with the second through-hole to shear the dish middle part, it has a plurality of first arc spouts to be central symmetry distribution on the dish to shear, the centre of a circle of first arc spout with the centre of a circle interval certain distance of shearing the dish, it rotates through the drive of a slewing mechanism to shear the dish, and the apple can pass in proper order first through-hole shear the blade with the second through-hole landing is to the hose, and is a plurality of it establishes to shear the blade be central symmetry first fixed disk with shear between the dish, it is crescent to shear the blade, shear blade one side through first axis of rotation with first fixed disk rotates to be connected, and the opposite side is equipped with and wears to establish the second of first arc spout.
5. The automatic apple picking machine according to claim 4, characterized in that: the first pressure sensor is arranged on the first fixed disc.
6. The automatic apple picking machine of claim 1, wherein: the buffer module comprises a second fixed disk, a buffer door and a buffer disk, wherein the second fixed disk, the buffer door and the buffer disk are sequentially arranged from top to bottom, the second fixed disk is fixed in the mechanical arm, a third through hole is formed in the middle of the second fixed disk, a fourth through hole is formed in the middle of the buffer disk, a plurality of second arc-shaped sliding grooves are formed in the buffer disk in a centrosymmetric mode, the circle center of each second arc-shaped sliding groove and the circle center of the buffer disk are spaced at a certain distance, the buffer disk is fixed at the bottom of the mechanical arm and is multiple, the buffer door is centrally symmetrically arranged between the second fixed disk and the buffer disk, the buffer door is crescent, one side of the buffer door is rotatably connected with the second fixed disk through a third rotating shaft, and the other side of the buffer door is provided with a fourth rotating shaft penetrating through the second arc-shaped sliding grooves.
7. The automatic apple picking machine according to claim 6, wherein: and the second pressure sensor is arranged on the second fixed disc.
8. The automatic apple picking machine according to claim 1, wherein: the storage box is of a rectangular cavity structure with an open top.
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