CN107241970A - A kind of fruit and vegetable picking device with drawer type slideway - Google Patents
A kind of fruit and vegetable picking device with drawer type slideway Download PDFInfo
- Publication number
- CN107241970A CN107241970A CN201710626142.2A CN201710626142A CN107241970A CN 107241970 A CN107241970 A CN 107241970A CN 201710626142 A CN201710626142 A CN 201710626142A CN 107241970 A CN107241970 A CN 107241970A
- Authority
- CN
- China
- Prior art keywords
- inner slide
- slideway
- picking
- fruit
- external slideway
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention discloses a kind of fruit and vegetable picking device with drawer type slideway, the rotating device for being arranged on lowering or hoisting gear upper end and rotatable positioning that liftable lowering or hoisting gear, controlled device are controlled is controlled including moveable base, the control device on base, controlled device, a mounting seat is provided with described rotating device, and the both sides of the mounting seat are mounted on the hydraulic telescopic device that controlled device is controlled.The picker biggest advantage of the present invention is, after device for picking cuts fruit, it can drop on inner slide, from inner slide until external slideway is fallen directly into harvesting frame, picking robot different from the past needs to be placed into harvesting frame by robotic arm manipulation, it is operated again, the working time can be greatly reduced, improves picking efficiency；And the inner slide and external slideway in the present apparatus can change by setting with the change in location of device for picking, and the angles and positions tumbled can be adjusted.
Description
Technical field
The present invention relates to a kind of vegetables picker, specifically a kind of fruit and vegetable picking device with drawer type slideway.
Background technology
On conventional art, the harvesting for ripe fruits and vegetables also relies primarily on the mankind and plucked manually, its labour consumed
Larger, the manpower and materials of waste are more；And developing rapidly with science and technology, in order that fruit and vegetable picking is more efficient, section
Labour is saved, there are miscellaneous harvesting installations in the prior art, existing mechanical picking device is generally used
The scissors of harvesting is installed on manipulator, manipulator, using shape recognition or colour recognition fruit, plucked；But it is existing
Some harvesting machines generally all have the shortcomings that one than larger, are typically to grasp again after the manipulator harvesting fruit exactly plucked
It is put back into harvesting frame, is plucked again afterwards, the progress so gone round and begun again is plucked as manipulator, manipulator is needed after plucking
Be put into frame and carrying out harvesting This move, not only waste the working time, and on single unit system in operating process, programming
Difficulty is both increased on process and Automated condtrol.
The content of the invention
The purpose of the present invention is in view of the deficienciess of the prior art, providing a kind of fruit and vegetable picking with drawer type slideway
Device, its technical scheme is as follows：
A kind of fruit and vegetable picking device with drawer type slideway, including moveable base, the control on base
Device, controlled device control liftable lowering or hoisting gear, the control of controlled device be arranged on lowering or hoisting gear upper end and can
A mounting seat is provided with the rotating device of rotational positioning, described rotating device, and the both sides of the mounting seat are mounted on
The hydraulic telescopic device of controlled device control；And to be also equipped with one vertical for the end of the hydraulic stem of described hydraulic telescopic device
Installing plate；It is provided with a controller being in communication with each other with control device, the controller and pacifies above described vertical installing plate
Lower section equipped with device for picking, and described installing plate is then provided with the identifying device being in communication with each other with control device.
Also be placed with described base a circle can taking and placing harvesting frame, described harvesting frame puts a circle in a ring；
Attachment means are provided with described hydraulic telescopic device and the hydraulic stem of hydraulic telescopic device；And positioned at the hydraulic stem in front
On the ends of attachment means inner slide is installed；And the end of the attachment means on the hydraulic telescopic device being located behind then is pacified
Equipped with external slideway；The front end of inner slide is arranged on the lower section of device for picking, and the tail end of inner slide is extended obliquely downward and taken and is placed on
The leading inside of external slideway；And the tail end of external slideway is then equally extended obliquely downward and takes the top for being placed on harvesting frame；Described
Inner slide takes the structure for being placed on and making integral runners constitute drawer type on external slideway；Described hydraulic stem is driven under it when movable
The inner slide of side is moved forward and backward；And the mobile range of the tail end of inner slide is without departing from the front end scope of external slideway.
Preferably, described inner slide and the vertical cross-section of external slideway be disposed as the inverted trapezoidal of side opening or on
Cushion is provided with the inside of the semicircular structure of side opening, and described inner slide and external slideway.
Preferably, described attachment means are set to the expansion link with Telescopic Fixed function；And described expansion link
End two fork arm is installed；The two ends of two fork arm are respectively hingedly mounted on inner slide and external slideway by articulated elements
At upper edge.
Preferably, being additionally provided with described external slideway front end bottom plate being be arranged in parallel with external slideway direction and to rear side
The kidney slot extended always；And the tail end plate outer side of described inner slide is then provided with gag lever post, described gag lever post is from waist
Passed through in shape groove, and limited block is also installed in the end of gag lever post, the width of the limited block is more than the width of kidney slot.
Preferably, described device for picking is set to Picking shearses；And described identifying device is then set to colour recognition
One or two kinds of in device and shape recognition device.
Beneficial effect：The invention has the advantages that：The picker biggest advantage of the present invention is, works as harvesting
It after device cuts fruit, can drop on inner slide, from inner slide until external slideway is fallen directly into harvesting frame, be different from
Conventional picking robot needs to be placed into harvesting frame by robotic arm manipulation, then is operated, and can be greatly reduced
Working time, improve picking efficiency；And the inner slide and external slideway in the present apparatus can be with the positions of device for picking by setting
Put change and change, and the angles and positions tumbled can be adjusted；And existing fruit and vegetable greenhouses are all planted on two sides fruit trees,
Therefore present apparatus both sides set device for picking, and synchronous working can significantly lift operating efficiency.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is A direction views in Fig. 1.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is furture elucidated, and the present embodiment is with technical solution of the present invention
Premised on lower implemented, it should be understood that these embodiments are only illustrative of the invention and is not intended to limit the scope of the invention.
As depicted in figs. 1 and 2, a kind of fruit and vegetable picking device with drawer type slideway, including moveable base 1, peace
Control device 2, controlled device 2 on base 1 control the installation that liftable lowering or hoisting gear 3, controlled device 2 are controlled
A mounting seat 5 is provided with the rotating device 4 of the upper end of lowering or hoisting gear 3 and rotatable positioning, described rotating device 4, and
The both sides of the mounting seat 5 are mounted on the hydraulic telescopic device 6 that controlled device 2 is controlled；And described hydraulic telescopic device 6
The end of hydraulic stem 7 be also equipped with a vertical installing plate 8；The top of described vertical installing plate 8 is provided with one and filled with control
Put and device for picking 10 is installed on 2 controllers 9 being in communication with each other, the controller 9, and the lower section of described installing plate 8 is then provided with
The identifying device 101 being in communication with each other with control device 2.
Also be placed with described base 1 circle can taking and placing harvesting frame 11, described harvesting frame 11 puts in a ring
One circle；Attachment means are provided with described hydraulic telescopic device 6 and the hydraulic stem 7 of hydraulic telescopic device 6；And positioned at front
Hydraulic stem 7 on the ends of attachment means inner slide 12 is installed；And the connection dress on the hydraulic telescopic device 6 being located behind
The end put then is provided with external slideway 13；The front end of inner slide 12 is arranged on the lower section of device for picking 10, and the tail end of inner slide 12
Extend obliquely downward and take the leading inside for being placed on external slideway 13；And the tail end of external slideway 13 is then equally extended obliquely downward and taken
It is placed on the top of harvesting frame 11；Described inner slide 12 takes the structure for being placed on and making integral runners constitute drawer type on external slideway 13；
Inner slide 12 below is driven to move forward and backward when described hydraulic stem 7 is moved forward and backward；And the mobile width of the tail end of inner slide 12
Spend the front end scope without departing from external slideway 13.
Described inner slide 12 and the vertical cross-section of external slideway 13 are disposed as the inverted trapezoidal of side opening or upside is opened
The semicircular structure of mouth, and described inner slide 12 and the inner side of external slideway 13 are provided with cushion 14.
Described attachment means are set to the expansion link 15 with Telescopic Fixed function；And the end of described expansion link 15
Two fork arm 16 is installed；The two ends of two fork arm 16 are respectively hingedly mounted on inner slide 12 and external slideway by articulated elements 17
At 13 upper edge.
Be additionally provided with the described front end bottom plate of external slideway 13 it is being be arranged in parallel with the direction of external slideway 13 and to rear side always
The kidney slot 18 of extension；And the tail end plate outer side of described inner slide 12 is then provided with gag lever post 19, described gag lever post 19
Passed through from kidney slot 18, and limited block 20 is also installed in the end of gag lever post 19, the width of the limited block 20 is more than kidney slot 18
Width；Described device for picking 10 is set to Picking shearses；And described identifying device 101 be then set to color identification device and
One or two kinds of in shape recognition device.
The picker biggest advantage of the present invention is, after device for picking cuts fruit, can drop on inner slide,
From inner slide until external slideway is fallen directly into harvesting frame, picking robot different from the past needs to grasp by mechanical arm
It is placed into harvesting frame, then is operated, the working time can be greatly reduced, improves picking efficiency；And the present apparatus
In inner slide and external slideway can be changed by setting with the change in location of device for picking, and the angle tumbled can be adjusted
Degree and position.
Lowering or hoisting gear in the present invention is can to adjust the height and position of device for picking, and lowering or hoisting gear end is provided with rotation
Seat again can by rotate adjust device for picking position, and the hydraulic stem of hydraulic telescopic device be can stretch it is forwardly and rearwardly same
Sample can adjust the position of device for picking, and said apparatus can be programmed regulation control by control device, and before hydraulic stem
Hold the device for picking installed and identifying device fruit can be identified and be plucked；Because the function of said apparatus is existing skill
It is not discussed in detail in art, therefore the present invention.
In the present invention drawer type slideway primarily to enable device for picking with hydraulic stem it is movable when
Device for picking synchronizing moving is followed, and the angle of inclination of two slideways can be adjusted；And in order that two slideways can be all the time
Keep together, kidney slot is also set on external slideway, inner slide is arranged through the gag lever post of kidney slot and installed in gag lever post
The limited block of end.
The present apparatus is when carrying out integrally-regulated, when rotation regulation is carried out, because harvesting frame is curved puts
What one circle was set, and external slideway is mounted on hydraulic telescopic device, when rotated, hydraulic telescopic device can be with revolving together
Turn, inner slide and external slideway are also that, with rotation, and the front and back position of external slideway is constant, is rotated when simply rotating
Angle can change, but no matter rotate to which angle, and the rear end of external slideway is the top in harvesting frame all the time, therefore can
It can ensure that fruits and vegetables can be rolled down in harvesting frame to ensure no matter how to rotate regulation；When similarly regulation above and below progress
It is also the top that ensure that external slideway all the time in harvesting frame, it is ensured that harvesting.
The difficult point of the present apparatus is how hydraulic stem ensures the fruit cut by device for picking when being adjusted before and after carrying out
It can first have to ensure device for picking to cut after fruit to drop into slideway from harvesting frame is dropped on slideway, therefore in liquid
One inner slide is installed, the front end of the inner slide is arranged on the lower section of device for picking, just fallen after device for picking cuts fruit on depression bar
In the front end of inner slide, and adjusted before and after inner slide is carried out for convenience, external slideway is set on hydraulic telescopic device, it is overall sliding
Road subsection setup, the structure of front and rear overlap joint, generally drawer type；And the setting of the attachment means of two slideways of connection also has two
Set-up mode is planted, one is arranged to fix bar connection, and two slideways are also that angle of inclination is fixedly connected with the connection of fix bar, preceding
Interior external slideway can produce difference in height when regulation afterwards, and the transmission for being so unfavorable for fruit is transported；Two be that attachment means are arranged to
Expansion link with Telescopic, and it is arranged to the mode that is hinged, it is arranged to expansion link with two advantages, one is to enter
The regulation of line tilt angle, facilitates falling into for fruit；Two be that two slideways can be produced when adjusted before and after hydraulic stem is carried out
The change of raw position, the mode being hinged is beneficial to the regulation of the change of position；And in order that do not produced between inner slide and external slideway
Raw difference in height, can be adjusted with synchronizing moving, also set up kidney slot and gag lever post, by both spacing, by inner slide and outer cunning
Road is linked together, but will not hinder the front and rear regulation of inner slide again, and harvesting frame is more easily dropped into after so plucking
In.
Claims (5)
1. a kind of fruit and vegetable picking device with drawer type slideway, including moveable base (1), on base (1)
Control device (2), controlled device (2) control liftable lowering or hoisting gear (3), being arranged on for controlled device (2) control to rise
Falling unit (3) upper end and the rotating device (4) of rotatable positioning, it is characterised in that：It is provided with described rotating device (4)
One mounting seat (5), and the both sides of the mounting seat (5) are mounted on the hydraulic telescopic device (6) that controlled device (2) is controlled；
And the end of the hydraulic stem (7) of described hydraulic telescopic device (6) is also equipped with a vertical installing plate (8)；Described vertical peace
It is provided with above dress plate (8) on a controller (9) being in communication with each other with control device (2), the controller (9) and harvesting is installed
Device (10), and the lower section of described installing plate (8) is then provided with the identifying device (101) being in communication with each other with control device (2)；
Also be placed with described base (1) circle can taking and placing harvesting frame (11), described harvesting frame (11) puts in a ring
Put a circle；Attachment means are provided with described hydraulic telescopic device (6) and the hydraulic stem (7) of hydraulic telescopic device (6)；And
The end of attachment means on the hydraulic stem (7) in front is provided with inner slide (12)；And the hydraulically extensible dress being located behind
The end for putting the attachment means on (6) is then provided with external slideway (13)；The front end of inner slide (12) is arranged on device for picking (10)
Lower section, and the tail end of inner slide (12) extends obliquely downward and taken the leading inside for being placed on external slideway (13)；And external slideway (13)
Tail end then equally extend obliquely downward and take be placed on harvesting frame (11) top；Described inner slide (12), which is taken, is placed on external slideway
(13) integral runners are made to constitute the structure of drawer type on；Inner slide below is driven when described hydraulic stem (7) is movable
(12) move forward and backward；And the mobile range of the tail end of inner slide (12) is without departing from the front end scope of external slideway (13).
2. a kind of fruit and vegetable picking device with drawer type slideway according to claim 1, it is characterised in that：Described is interior
The vertical cross-section of slideway (12) and external slideway (13) is disposed as the inverted trapezoidal of side opening or the semicircle knot of upper side opening
Cushion (14) is provided with the inside of structure, and described inner slide (12) and external slideway (13).
3. a kind of fruit and vegetable picking device with drawer type slideway according to claim 2, it is characterised in that：Described company
Connection device is set to the expansion link (15) with Telescopic Fixed function；And the end of described expansion link (15) is provided with two fork
Bar (16)；The two ends of two fork arm (16) are respectively hingedly mounted on inner slide (12) and external slideway (13) by articulated elements (17)
Upper edge at.
4. a kind of fruit and vegetable picking device with drawer type slideway according to claim 3, it is characterised in that：Described is outer
Kidney slot that is being be arranged in parallel with external slideway (13) direction and extending always to rear side is additionally provided with the bottom plate of slideway (13) front end
(18)；And the tail end plate outer side of described inner slide (12) is then provided with gag lever post (19), described gag lever post (19) is from waist
Shape groove is passed through in (18), and limited block (20) is also installed in the end of gag lever post (19), and the width of the limited block (20) is more than kidney-shaped
The width of groove (18).
5. a kind of fruit and vegetable picking device with drawer type slideway according to claim 1, it is characterised in that：Described adopts
Pluck device (10) and be set to Picking shearses；And described identifying device (101) is then set to color identification device and shape recognition dress
One or two kinds of in putting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710626142.2A CN107241970B (en) | 2017-07-27 | 2017-07-27 | Fruit and vegetable picking device with drawer type slide way |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710626142.2A CN107241970B (en) | 2017-07-27 | 2017-07-27 | Fruit and vegetable picking device with drawer type slide way |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107241970A true CN107241970A (en) | 2017-10-13 |
| CN107241970B CN107241970B (en) | 2020-01-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710626142.2A Active CN107241970B (en) | 2017-07-27 | 2017-07-27 | Fruit and vegetable picking device with drawer type slide way |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107241970B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107852944A (en) * | 2017-12-11 | 2018-03-30 | 合肥美青工业设计有限公司 | A kind of extension type seedpod of the lotus gathers knife |
| CN113016354A (en) * | 2021-02-02 | 2021-06-25 | 温州职业技术学院 | Novel fruit and vegetable picking device |
| CN115380740A (en) * | 2022-09-22 | 2022-11-25 | 浙江工业大学之江学院 | Automatic plant factory who picks |
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| US8635845B1 (en) * | 2013-03-05 | 2014-01-28 | Ryan S. Palm | Rotary brush harvesters and methods of using the same |
| CN103891471A (en) * | 2012-12-26 | 2014-07-02 | 李晟哲 | Fixed-channel falling type fruit picking mechanism and method with negative-pressure suction picking |
| CN205017875U (en) * | 2015-10-13 | 2016-02-10 | 冯锦川 | Gather slide device of fruit |
| CN105393706A (en) * | 2015-12-23 | 2016-03-16 | 北京工业大学 | Vine single-fruit fruit-and-vegetable picking mechanical arm |
| CN206212683U (en) * | 2016-11-15 | 2017-06-06 | 杨建锋 | A kind of planting industry navel orange picker |
| CN206237836U (en) * | 2016-11-21 | 2017-06-13 | 永登越国开心农场种植养殖农民专业合作社 | A kind of fruit picking |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN103891471A (en) * | 2012-12-26 | 2014-07-02 | 李晟哲 | Fixed-channel falling type fruit picking mechanism and method with negative-pressure suction picking |
| US8635845B1 (en) * | 2013-03-05 | 2014-01-28 | Ryan S. Palm | Rotary brush harvesters and methods of using the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107852944A (en) * | 2017-12-11 | 2018-03-30 | 合肥美青工业设计有限公司 | A kind of extension type seedpod of the lotus gathers knife |
| CN113016354A (en) * | 2021-02-02 | 2021-06-25 | 温州职业技术学院 | Novel fruit and vegetable picking device |
| CN115380740A (en) * | 2022-09-22 | 2022-11-25 | 浙江工业大学之江学院 | Automatic plant factory who picks |
| CN115380740B (en) * | 2022-09-22 | 2024-01-19 | 浙江工业大学之江学院 | Automatic plant mill of picking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107241970B (en) | 2020-01-17 |
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