CN103858597A - Mechanical picking device for greenhouse cultivated tomatoes - Google Patents
Mechanical picking device for greenhouse cultivated tomatoes Download PDFInfo
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- CN103858597A CN103858597A CN201410054851.4A CN201410054851A CN103858597A CN 103858597 A CN103858597 A CN 103858597A CN 201410054851 A CN201410054851 A CN 201410054851A CN 103858597 A CN103858597 A CN 103858597A
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Abstract
The invention discloses a mechanical picking device for greenhouse cultivated tomatoes. The device comprises a driving mechanism, a picking mechanism and three collecting and pouring mechanisms, wherein a driving part of the driving mechanism is driven by a front driving motor and a rear driving motor respectively; the picking mechanism is fixed on a bottom plate of the driving mechanism; the three collecting and pouring mechanisms are of a complete structure, and are triangularly distributed on the bottom plate. According to the device, the driving part is driven by the front driving motor and the rear driving motor, so that the device can move forwards and backwards and turn flexibly; the greenhouse cultivated tomatoes are automatically picked, so that the problems of high operation labor intensity, low production rate and the like are solved, the labor investment and the production cost are reduced, and large-scale plantation and production can be organized favorably.
Description
Technical field
The present invention relates to the vegetables and fruits picking mechanical such as agricultural, gardening tomato, be specifically related to a kind of Plastic Greenhouse Tomato Cultivation In Relation picking mechanical device.
Background technology
At present tomato planting adopts manual harvesting substantially, often has little time listing because staff causes tomato to be plucked not, is not conducive to organize implant mass to be produced, and plucks that personnel labor intensity is large, productivity ratio is low simultaneously, human input and production cost raising.Picking mechanical device type of drive, collection batch turning structure and picking mechanical arm are the difficult points that needs solution, and this drive unit will be applicable to field operation, to collect batch turning, and manipulator will be not easy to hurt tomato.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, proposed a kind of Plastic Greenhouse Tomato Cultivation In Relation picking mechanical device.
A kind of Plastic Greenhouse Tomato Cultivation In Relation picking mechanical device, comprises driving mechanism, picking mechanism and collection batch turning structure.
Described driving mechanism comprises front-wheel drive motor, rear wheel drive motor, front-wheel drive driving gear, front-wheel drive driven gear, rear wheel drive driving gear, rear wheel drive driven gear, off-front wheel, off hind wheel, base plate, conveyer belt, front-wheel right driving axle hold-down support, front-wheel left driving shaft hold-down support, trailing wheel right driving axle hold-down support, trailing wheel left driving shaft hold-down support, the near front wheel and left rear wheel;
Front-wheel left and right driving axle hold-down support and trailing wheel left and right driving axle hold-down support be individually fixed in base plate bottom surface four angles on, front-wheel drive motor is fixed on front-wheel left driving shaft hold-down support, and front-wheel drive driving gear is installed on the output shaft of front-wheel drive motor; Front-wheel drive driven gear and front-wheel drive driving gear are intermeshing, and are installed on front-wheel left driving shaft hold-down support, and the near front wheel is connected with front-wheel drive driven gear, and left rear wheel is arranged on trailing wheel left driving shaft hold-down support by bearing; Rear wheel drive motor is fixed on trailing wheel right driving axle hold-down support, rear wheel drive driving gear is installed on the output shaft of rear wheel drive motor, rear wheel drive driven gear engages with rear wheel drive driving gear, rear wheel drive driven gear is installed on trailing wheel right driving axle hold-down support, off hind wheel is connected with rear wheel drive driven gear, and off-front wheel is arranged on front-wheel right driving axle hold-down support by bearing; The near front wheel drives left rear wheel by conveyer belt, and off hind wheel drives off-front wheel by conveyer belt.
Described picking mechanism comprises: rotary drive motor, rotation driving gear, rotation driven gear, column, move up and down drive motors, gear carrier, move up and down gear, move up and down tooth bar, flexible rack bracket, flexible tooth bar, clamping folding motor, gripper shoe, grip frame, connecting rod and clamping part, retainer ring, flexible gear, telescopic drive motor, the flexible driving gear of clamping, the flexible driven gear of clamping;
Rotary drive motor and column are installed on base plate, and rotation driving gear is arranged on the output shaft of rotary drive motor, and rotation driven gear is fixed on column, be provided with and move up and down tooth bar on column, and rotation driving gear is intermeshing with rotation driven gear,
Moving up and down gear is arranged on the output shaft that moves up and down drive motors, moving up and down drive motors is installed on gear carrier, moving up and down gear is arranged in gear carrier, gear carrier is fixedly installed on retainer ring lateral surface, Fixing shrink ring is in column outside, on the lateral wall of retainer ring, have through hole, move up and down gear and see through the through hole on retainer ring and move up and down tooth bar intermeshing, one side of flexible rack bracket and the lateral surface of retainer ring are fixed, flexible rack bracket opposite side arranges telescopic drive motor, flexible gear is arranged on telescopic drive motor output shaft, flexible gear engages with flexible tooth bar, flexible tooth bar is vertical with column, the end of flexible tooth bar is fixed in one end of gripper shoe, the other end of gripper shoe with grip frame and fix, clamping folding motor is installed on and grips on frame, the flexible driving gear of clamping is installed on the output shaft of clamping folding motor, the flexible driving gear of clamping is intermeshing with the flexible driven gear of clamping, the flexible driving gear of clamping is connected with clamping part by connecting rod respectively with the flexible driven gear of clamping, described clamping part is the arc of inverted T shape, the arc of two inverted T shapes is oppositely arranged.
Three collection batch turning mechanism structure are complete, collect that batch turning mechanism is triangular in shape is distributed on base plate for three, each collection batch turning mechanism comprises barrel, barrel upset motor, hold-down support, support arm rotary drive motor, barrel upset driving gear, barrel upset driven gear and support arm;
Hold-down support is fixed on base plate, support arm rotary drive motor is fixed on hold-down support, barrel upset driving gear is installed on the output shaft of support arm rotary drive motor, barrel upset driven gear engages and is installed on hold-down support with barrel upset driving gear, barrel upset driven gear is connected with one end of support arm, the support arm other end is installed barrel upset motor, on the output shaft of barrel upset motor, is fixed with barrel.
The present invention is compared with technical background, and the beneficial effect having is:
1) drive part is driven by front and back two drive motors, can realize and advances, retreats and turn flexibly;
2) Plastic Greenhouse Tomato Cultivation In Relation is plucked automatically, has overcome the problems such as operation labour intensity is large, productivity ratio is low, reduces human input and production cost, is conducive to organize implant mass to be produced.
Accompanying drawing explanation
Fig. 1 is overall construction drawing of the present invention;
Fig. 2 is collection batch turning of the present invention mechanism;
Fig. 3 is driving machine composition;
Fig. 4 is picking machine composition;
Fig. 5 picking mechanism motion parts;
Fig. 6 picking mechanism mechanical paw part.
Embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
As shown in Figure 1, a kind of Plastic Greenhouse Tomato Cultivation In Relation picking mechanical device, comprises driving mechanism 1, picking mechanism 2 and collects batch turning structure 3.
As shown in Figure 3, described driving mechanism 1 comprises front-wheel drive motor 10, rear wheel drive motor 11, front-wheel drive driving gear 12, front-wheel drive driven gear 13, rear wheel drive driving gear 14, rear wheel drive driven gear 15, off-front wheel 16, off hind wheel 17, base plate 18, conveyer belt 19, front-wheel right driving axle hold-down support 20, front-wheel left driving shaft hold-down support 21, trailing wheel right driving axle hold-down support 22, trailing wheel left driving shaft hold-down support 23, the near front wheel 25 and left rear wheel 26;
Front-wheel left and right driving axle hold-down support 21,20 and trailing wheel left and right driving axle hold-down support 23,22 be individually fixed in base plate 18 bottom surfaces four angles on, front-wheel drive motor 10 is fixed on front-wheel left driving shaft hold-down support 21, and front-wheel drive driving gear 12 is installed on the output shaft of front-wheel drive motor 10; Front-wheel drive driven gear 13 is intermeshing with front-wheel drive driving gear 12, and is installed on front-wheel left driving shaft hold-down support 21, and the near front wheel is connected with front-wheel drive driven gear 13, and left rear wheel is arranged on trailing wheel left driving shaft hold-down support 23 by bearing; Rear wheel drive motor 11 is fixed on trailing wheel right driving axle hold-down support 22, rear wheel drive driving gear 14 is installed on the output shaft of rear wheel drive motor 11, rear wheel drive driven gear 15 engages with rear wheel drive driving gear 14, rear wheel drive driven gear 15 is installed on trailing wheel right driving axle hold-down support 22, off hind wheel is connected with rear wheel drive driven gear 15, and off-front wheel is arranged on front-wheel right driving axle hold-down support 20 by bearing; The near front wheel 25 drives left rear wheel 26 by conveyer belt, and off hind wheel 17 drives off-front wheel 16 by conveyer belt.
As shown in Fig. 4, Fig. 5, Fig. 6, described picking mechanism 2 comprises: rotary drive motor 27, rotation driving gear 28, rotation driven gear 30, column 31, move up and down drive motors 32, gear carrier 33, move up and down gear 34, move up and down tooth bar 35, flexible rack bracket 36, flexible tooth bar 37, clamping folding motor 38, gripper shoe 39, grip frame 40, connecting rod 41 and clamping part 42, retainer ring 44, flexible gear 45, telescopic drive motor 46, the flexible driving gear 47 of clamping, the flexible driven gear 48 of clamping;
Rotary drive motor 27 and column 31 are installed on base plate 18, rotation driving gear 28 is arranged on the output shaft of rotary drive motor 27, and rotation driven gear 30 is fixed on column 31, is provided with and moves up and down tooth bar 35 on column 31, rotation driving gear 28 is intermeshing with rotation driven gear 30
Moving up and down gear 34 is arranged on the output shaft that moves up and down drive motors 32, moving up and down drive motors 32 is installed on gear carrier 33, moving up and down gear 34 is arranged in gear carrier, gear carrier 33 is fixedly installed on retainer ring 44 lateral surfaces, retainer ring 44 is enclosed within column 31 outsides, on the lateral wall of retainer ring 44, have through hole, move up and down gear 34 and see through the through hole on retainer ring 44 and move up and down tooth bar 35 intermeshing, a flexible side of rack bracket 36 and the lateral surface of retainer ring 44 are fixed, flexible rack bracket 36 opposite sides arrange telescopic drive motor 46, flexible gear 45 is arranged on telescopic drive motor 46 output shafts, flexible gear 45 engages with flexible tooth bar 37, flexible tooth bar is vertical with column 31, the end of flexible tooth bar 37 is fixed in one end of gripper shoe 39, the other end of gripper shoe 39 is with to grip frame 40 fixing, clamping folding motor 38 is installed on and grips on frame 40, the flexible driving gear 47 of clamping is installed on the output shaft of clamping folding motor 38, the flexible driving gear 47 of clamping is intermeshing with the flexible driven gear 48 of clamping, the flexible driving gear 47 of clamping is connected with clamping part 42 by connecting rod 41 respectively with the flexible driven gear 48 of clamping, the arc that described clamping part 42 is inverted T shape, the arc of two inverted T shapes is oppositely arranged.
As shown in Figure 2, three to collect batch turning mechanism 3 structures complete, and each collection batch turning mechanism comprises barrel 4, barrel upset motor 5, hold-down support 9, support arm rotary drive motor 6, barrel upset driving gear 7, barrel upset driven gear 8 and support arm 24;
Collect that batch turning mechanism is triangular in shape is distributed on base plate 18 for three, hold-down support 9 is fixed on base plate 18, support arm rotary drive motor 6 is fixed on hold-down support 9, barrel upset driving gear 7 is installed on the output shaft of support arm rotary drive motor 6, barrel upset driven gear 8 engages and is installed on hold-down support 9 with barrel upset driving gear 7, barrel upset driven gear 8 is connected with one end of support arm 24, support arm 24 other ends are installed barrel upset motor 5, on the output shaft of barrel upset motor 5, are fixed with barrel 4.
Claims (1)
1. a Plastic Greenhouse Tomato Cultivation In Relation picking mechanical device, comprises driving mechanism, picking mechanism and collection batch turning structure; It is characterized in that: described driving mechanism comprises front-wheel drive motor, rear wheel drive motor, front-wheel drive driving gear, front-wheel drive driven gear, rear wheel drive driving gear, rear wheel drive driven gear, off-front wheel, off hind wheel, base plate, conveyer belt front-wheel right driving axle hold-down support, front-wheel left driving shaft hold-down support, trailing wheel right driving axle hold-down support, trailing wheel left driving shaft hold-down support, the near front wheel and left rear wheel;
Front-wheel left and right driving axle hold-down support and trailing wheel left and right driving axle hold-down support be individually fixed in base plate bottom surface four angles on, front-wheel drive motor is fixed on front-wheel left driving shaft hold-down support, and front-wheel drive driving gear is installed on the output shaft of front-wheel drive motor; Front-wheel drive driven gear and front-wheel drive driving gear are intermeshing, and are installed on front-wheel left driving shaft hold-down support, and the near front wheel is connected with front-wheel drive driven gear, and left rear wheel is arranged on trailing wheel left driving shaft hold-down support by bearing; Rear wheel drive motor is fixed on trailing wheel right driving axle hold-down support, rear wheel drive driving gear is installed on the output shaft of rear wheel drive motor, rear wheel drive driven gear engages with rear wheel drive driving gear, rear wheel drive driven gear is installed on trailing wheel right driving axle hold-down support, off hind wheel is connected with rear wheel drive driven gear, and off-front wheel is arranged on front-wheel right driving axle hold-down support by bearing; The near front wheel drives left rear wheel by conveyer belt, and off hind wheel drives off-front wheel by conveyer belt;
Described picking mechanism comprises: rotary drive motor, rotation driving gear, rotation driven gear, column, move up and down drive motors, gear carrier, move up and down gear, move up and down tooth bar, flexible rack bracket, flexible tooth bar, clamping folding motor, gripper shoe, grip frame, grip piece and clamping part, retainer ring, flexible gear, telescopic drive motor, the flexible driving gear of clamping, the flexible driven gear of clamping;
Rotary drive motor and column are installed on base plate, and rotation driving gear is arranged on the output shaft of rotary drive motor, and rotation driven gear is fixed on column, be provided with and move up and down tooth bar on column, and rotation driving gear is intermeshing with rotation driven gear,
Moving up and down gear is arranged on the output shaft that moves up and down drive motors, moving up and down drive motors is installed on gear carrier, moving up and down gear is arranged in gear carrier, gear carrier is fixedly installed on retainer ring lateral surface, Fixing shrink ring is in column outside, on the lateral wall of retainer ring, have through hole, move up and down gear and see through the through hole on retainer ring and move up and down tooth bar intermeshing, one side of flexible rack bracket and the lateral surface of retainer ring are fixed, flexible rack bracket opposite side arranges telescopic drive motor, flexible gear is arranged on telescopic drive motor output shaft, flexible gear engages with flexible tooth bar, flexible tooth bar is vertical with column, the end of flexible tooth bar is fixed in one end of gripper shoe, the other end of gripper shoe with grip frame and fix, clamping folding motor is installed on and grips on frame, the flexible driving gear of clamping is installed on the output shaft of clamping folding motor, the flexible driving gear of clamping is intermeshing with the flexible driven gear of clamping, the flexible driving gear of clamping is connected with clamping part by connecting rod respectively with the flexible driven gear of clamping, described clamping part is the arc of inverted T shape, the arc of two inverted T shapes is oppositely arranged,
Three collection batch turning mechanism structure are complete, triangular in shape being distributed on base plate, each collection batch turning mechanism comprises barrel, barrel upset motor, hold-down support, support arm rotary drive motor, barrel upset driving gear, barrel upset driven gear and support arm; Hold-down support is fixed on base plate, support arm rotary drive motor is fixed on hold-down support, barrel upset driving gear is installed on the output shaft of support arm rotary drive motor, barrel upset driven gear engages and is installed on hold-down support with barrel upset driving gear, barrel upset driven gear is connected with one end of support arm, the support arm other end is installed barrel upset motor, on the output shaft of barrel upset motor, is fixed with barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410054851.4A CN103858597B (en) | 2014-02-18 | 2014-02-18 | A kind of Plastic Greenhouse Tomato Cultivation In Relation picking mechanical device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410054851.4A CN103858597B (en) | 2014-02-18 | 2014-02-18 | A kind of Plastic Greenhouse Tomato Cultivation In Relation picking mechanical device |
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| CN103858597A true CN103858597A (en) | 2014-06-18 |
| CN103858597B CN103858597B (en) | 2015-12-02 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106969936A (en) * | 2017-05-11 | 2017-07-21 | 山东省农业科学院农业质量标准与检测技术研究所 | A kind of residual detection field sampler of tomato agriculture |
| CN107018761A (en) * | 2017-06-20 | 2017-08-08 | 山西省农业科学院旱地农业研究中心 | Tomato automatically plucks dress basket all-in-one |
| CN107047086A (en) * | 2017-06-20 | 2017-08-18 | 山西省农业科学院旱地农业研究中心 | Branch equipment is received in the full-automatic beta pruning of tomato |
| CN108293430A (en) * | 2018-03-28 | 2018-07-20 | 天津职业技术师范大学 | Strawberry based on man-machine collaboration harvests integral system |
| CN108718679A (en) * | 2018-05-04 | 2018-11-02 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of black soya bean picking collection device |
| CN108738666A (en) * | 2018-06-11 | 2018-11-06 | 重庆华渝种子有限公司 | Pepper-picking machine |
| CN109618651A (en) * | 2018-11-30 | 2019-04-16 | 青岛农业大学 | Tomato feeds cutting and carrying device |
| CN110771350A (en) * | 2019-10-22 | 2020-02-11 | 武汉理工大学 | Wearable fruit picking mechanical arm |
| CN112460972A (en) * | 2020-11-04 | 2021-03-09 | 米宣娥 | Bamboo gourd ladle baking device capable of being used for batch production |
| CN112616440A (en) * | 2020-12-18 | 2021-04-09 | 洪佳美 | A telescopic jujube fruit harvesting device for dwarfing close planting type |
| CN113748883A (en) * | 2021-07-16 | 2021-12-07 | 江苏苏润种业股份有限公司 | Hot pepper does not have soil and plants big-arch shelter |
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| CN203279527U (en) * | 2013-05-22 | 2013-11-13 | 华南农业大学 | Movable and rotatable lift platform for agricultural product picking |
| CN203761854U (en) * | 2014-02-18 | 2014-08-13 | 浙江机电职业技术学院 | Picking mechanical device for greenhouse cultivated tomatoes |
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| KR20020097387A (en) * | 2001-06-20 | 2002-12-31 | 대한민국(충남대학교) | Boxthorn Harvester |
| CN102806565A (en) * | 2012-08-24 | 2012-12-05 | 衢州学院 | Fruit picking robot manipulator |
| CN203152032U (en) * | 2013-04-07 | 2013-08-28 | 四川农业大学 | Cabbage picking machine |
| CN203279527U (en) * | 2013-05-22 | 2013-11-13 | 华南农业大学 | Movable and rotatable lift platform for agricultural product picking |
| CN203761854U (en) * | 2014-02-18 | 2014-08-13 | 浙江机电职业技术学院 | Picking mechanical device for greenhouse cultivated tomatoes |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106969936A (en) * | 2017-05-11 | 2017-07-21 | 山东省农业科学院农业质量标准与检测技术研究所 | A kind of residual detection field sampler of tomato agriculture |
| CN107018761A (en) * | 2017-06-20 | 2017-08-08 | 山西省农业科学院旱地农业研究中心 | Tomato automatically plucks dress basket all-in-one |
| CN107047086A (en) * | 2017-06-20 | 2017-08-18 | 山西省农业科学院旱地农业研究中心 | Branch equipment is received in the full-automatic beta pruning of tomato |
| CN108293430B (en) * | 2018-03-28 | 2023-12-29 | 天津职业技术师范大学 | Strawberry harvesting integrated system based on man-machine cooperation |
| CN108293430A (en) * | 2018-03-28 | 2018-07-20 | 天津职业技术师范大学 | Strawberry based on man-machine collaboration harvests integral system |
| CN108718679A (en) * | 2018-05-04 | 2018-11-02 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of black soya bean picking collection device |
| CN108738666A (en) * | 2018-06-11 | 2018-11-06 | 重庆华渝种子有限公司 | Pepper-picking machine |
| CN108738666B (en) * | 2018-06-11 | 2024-01-05 | 徐州锡沂康成食品检验检测研究院有限公司 | Pepper harvesting machine |
| CN109618651A (en) * | 2018-11-30 | 2019-04-16 | 青岛农业大学 | Tomato feeds cutting and carrying device |
| CN110771350B (en) * | 2019-10-22 | 2020-09-29 | 武汉理工大学 | Wearable fruit picking mechanical arm |
| CN110771350A (en) * | 2019-10-22 | 2020-02-11 | 武汉理工大学 | Wearable fruit picking mechanical arm |
| CN112460972A (en) * | 2020-11-04 | 2021-03-09 | 米宣娥 | Bamboo gourd ladle baking device capable of being used for batch production |
| CN112616440A (en) * | 2020-12-18 | 2021-04-09 | 洪佳美 | A telescopic jujube fruit harvesting device for dwarfing close planting type |
| CN113748883A (en) * | 2021-07-16 | 2021-12-07 | 江苏苏润种业股份有限公司 | Hot pepper does not have soil and plants big-arch shelter |
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| CN103858597B (en) | 2015-12-02 |
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Effective date of registration: 20201211 Address after: 332 Hankou village, Dapu Town, Yongchun County, Quanzhou City, Fujian Province Patentee after: Lv Lianhai Address before: No.528 binwen Road, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG INSTITUTE OF MECHANICAL & ELECTRICAL ENGINEERING |
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Effective date of registration: 20210204 Address after: Liu'an Development Zone, Yongchun County, Quanzhou City, Fujian Province (east side of Taoxi bridge) Patentee after: Yongchun County Product Quality Inspection Institute Fujian fragrance product quality inspection center, national incense burning product quality supervision and Inspection Center (Fujian) Address before: 332 Hankou village, Dapu Town, Yongchun County, Quanzhou City, Fujian Province Patentee before: Lv Lianhai |