CN107241970B - Fruit and vegetable picking device with drawer type slide way - Google Patents
Fruit and vegetable picking device with drawer type slide way Download PDFInfo
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- CN107241970B CN107241970B CN201710626142.2A CN201710626142A CN107241970B CN 107241970 B CN107241970 B CN 107241970B CN 201710626142 A CN201710626142 A CN 201710626142A CN 107241970 B CN107241970 B CN 107241970B
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- picking
- slideway
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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 invention discloses a fruit and vegetable picking device with a drawer type slideway, which comprises a movable base, a control device arranged on the base, a lifting device controlled by the control device to be lifted, and a rotating device controlled by the control device to be arranged at the upper end part of the lifting device and rotatably positioned, wherein the rotating device is provided with an installation seat, and both sides of the installation seat are provided with hydraulic telescopic devices controlled by the control device. The picking device has the greatest advantages that after the picking device shears the fruits, the fruits fall onto the inner slide way and directly fall into the picking frame from the inner slide way to the outer slide way, and the picking device is different from the prior picking robot which needs to be placed into the picking frame through the operation of the mechanical arm and then works, so that the working time can be greatly reduced, and the picking efficiency is improved; and the inner slideway and the outer slideway in the device can change along with the position change of the picking device through arrangement, and can adjust the rolling angle and position.
Description
Technical Field
The invention relates to a vegetable picking device, in particular to a fruit and vegetable picking device with a drawer type slideway.
Background
In the traditional technology, the picking of mature fruits and vegetables mainly depends on manual picking by human, so that the consumed labor force is large, and more manpower and material resources are wasted; with the rapid development of science and technology, in order to make the picking efficiency of fruits and vegetables higher and save labor, various picking machine devices exist in the prior art, the prior mechanical picking device usually adopts a mechanical arm, the mechanical arm is provided with a pair of picked scissors, and fruits are recognized by shape recognition or color for picking; however, the existing picking machine usually has a great disadvantage that after the picking manipulator picks the fruit, the manipulator is usually operated to put back into the picking frame and pick the fruit again, so that the picking is carried out repeatedly, and the manipulator needs to put into the frame for picking after picking, which not only wastes working time, but also increases difficulty in the operation process, programming process and automation control of the whole device.
Disclosure of Invention
The invention aims to provide a fruit and vegetable picking device with a drawer type slideway, aiming at the defects in the prior art, and the technical scheme is as follows:
a fruit and vegetable picking device with a drawer type slideway comprises a movable base, a control device arranged on the base, a lifting device controlled by the control device to be lifted, and a rotating device which is controlled by the control device, is arranged at the upper end part of the lifting device and can be rotationally positioned, wherein an installation seat is arranged on the rotating device, and hydraulic telescopic devices controlled by the control device are arranged on two sides of the installation seat; the end part of a hydraulic rod of the hydraulic telescopic device is also provided with a vertical mounting plate; the picking device is characterized in that a controller communicated with the control device is installed above the vertical mounting plate, the picking device is installed on the controller, and an identification device communicated with the control device is installed below the mounting plate.
A circle of picking frames which can be taken and placed are also placed on the base, and the picking frames are annularly placed for a circle; the hydraulic telescopic device and the hydraulic rods of the hydraulic telescopic device are both provided with connecting devices; an inner slide way is arranged at the end part of the connecting device on the hydraulic rod positioned in front; the end part of the connecting device on the hydraulic telescopic device positioned at the rear part is provided with an outer slideway; the front end of the inner slideway is arranged below the picking device, and the tail end of the inner slideway extends downwards in an inclined way and is overlapped on the inner side of the front end of the outer slideway; the tail end of the outer slideway also extends downwards in an inclined way and is placed above the picking frame; the inner slideway is arranged on the outer slideway in a lapping way, so that the integral slideway forms a drawer type structure; the hydraulic rod drives the inner slideway below the hydraulic rod to move back and forth when moving back and forth; and the moving amplitude of the tail end of the inner slide way cannot exceed the range of the front end of the outer slide way.
Preferably, the vertical cross sections of the inner slide and the outer slide are both of inverted trapezoid structures with openings at the upper sides or semicircular structures with openings at the upper sides, and the inner sides of the inner slide and the outer slide are both provided with soft pads.
Preferably, the connecting device is a telescopic rod with a telescopic fixing function; and the end part of the telescopic rod is provided with two fork rods; two ends of the two-head fork rod are respectively hinged and installed at the upper side edges of the inner slideway and the outer slideway through hinge pieces.
Preferably, a waist-shaped groove which is arranged in parallel with the direction of the outer slideway and extends towards the rear side is also arranged on the bottom plate at the front end of the outer slideway; and the outer side of the bottom plate at the tail end of the inner slide way is provided with a limiting rod, the limiting rod penetrates through the kidney-shaped groove, the end part of the limiting rod is also provided with a limiting block, and the width of the limiting block is greater than that of the kidney-shaped groove.
Preferably, the picking device is arranged as picking scissors; and the identification device is set as one or two of color identification device and shape identification device.
Has the advantages that: the invention has the following beneficial effects: the picking device has the greatest advantages that after the picking device shears the fruits, the fruits fall onto the inner slide way and directly fall into the picking frame from the inner slide way to the outer slide way, and the picking device is different from the prior picking robot which needs to be placed into the picking frame through the operation of the mechanical arm and then works, so that the working time can be greatly reduced, and the picking efficiency is improved; the inner slideway and the outer slideway in the device can change along with the position change of the picking device through arrangement, and the rolling angle and position can be adjusted; and current fruit vegetables big-arch shelter is both sides planting fruit tree, consequently this device both sides set up picks the ware, and synchronous working can promote work efficiency by a wide margin.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a view from a in fig. 1.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific examples, which are carried out on the premise of the technical solution of the present invention, and it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1 and 2, a fruit and vegetable picking device with a drawer type slideway comprises a movable base 1, a control device 2 installed on the base 1, a lifting device 3 controlled by the control device 2 to be capable of lifting, and a rotating device 4 controlled by the control device 2, installed at the upper end part of the lifting device 3 and capable of rotating and positioning, wherein the rotating device 4 is provided with an installation seat 5, and two sides of the installation seat 5 are respectively provided with a hydraulic telescopic device 6 controlled by the control device 2; the end part of a hydraulic rod 7 of the hydraulic telescopic device 6 is also provided with a vertical mounting plate 8; a controller 9 which is communicated with the control device 2 is arranged above the vertical mounting plate 8, a picking device 10 is arranged on the controller 9, and an identification device 101 which is communicated with the control device 2 is arranged below the mounting plate 8.
A circle of picking frames 11 which can be taken and placed are also placed on the base 1, and the picking frames 11 are annularly placed for a circle; the hydraulic telescopic device 6 and the hydraulic rod 7 of the hydraulic telescopic device 6 are both provided with a connecting device; and the end of the connecting device on the hydraulic rod 7 positioned in front is provided with an inner slideway 12; the end part of the connecting device on the hydraulic telescopic device 6 positioned at the rear part is provided with an outer slideway 13; the front end of the inner slideway 12 is arranged below the picker 10, and the tail end of the inner slideway 12 extends downwards in an inclined way and is overlapped on the inner side of the front end of the outer slideway 13; the tail end of the outer slideway 13 also extends downwards in an inclined way and is placed above the picking frame 11; the inner slideway 12 is arranged on the outer slideway 13 to form a drawer type structure of the whole slideway; when the hydraulic rod 7 moves back and forth, the inner slideway 12 below the hydraulic rod is driven to move back and forth; and the moving amplitude of the tail end of the inner slideway 12 does not exceed the front end range of the outer slideway 13.
The vertical cross-sections of the inner slide way 12 and the outer slide way 13 are both set to be of an inverted trapezoid with an opened upper side or a semicircular structure with an opened upper side, and the inner sides of the inner slide way 12 and the outer slide way 13 are both provided with soft pads 14.
The connecting device is a telescopic rod 15 with a telescopic fixing function; and the end of the telescopic rod 15 is provided with a two-head fork rod 16; the two-head fork rod 16 is hinged at both ends thereof to the upper edges of the inner and outer slideways 12 and 13 by hinges 17.
A waist-shaped groove 18 which is arranged in parallel with the direction of the outer slideway 13 and extends towards the rear side is also arranged on the bottom plate at the front end of the outer slideway 13; a limiting rod 19 is arranged on the outer side of the bottom plate at the tail end of the inner slideway 12, the limiting rod 19 penetrates through the kidney-shaped groove 18, a limiting block 20 is further arranged at the end part of the limiting rod 19, and the width of the limiting block 20 is greater than that of the kidney-shaped groove 18; the picker 10 is arranged as picking scissors; the recognition device 101 is configured as one or two of a color recognition device and a shape recognition device.
The picking device has the greatest advantages that after the picking device shears the fruits, the fruits fall onto the inner slide way and directly fall into the picking frame from the inner slide way to the outer slide way, and the picking device is different from the prior picking robot which needs to be placed into the picking frame through the operation of the mechanical arm and then works, so that the working time can be greatly reduced, and the picking efficiency is improved; and the inner slideway and the outer slideway in the device can change along with the position change of the picking device through arrangement, and can adjust the rolling angle and position.
The lifting device can adjust the height position of the picking device, the end part of the lifting device is provided with the rotating seat, the position of the picking device can be adjusted through rotation, the hydraulic rod of the hydraulic telescopic device can be telescopic forwards and backwards and can also adjust the position of the picking device, the devices can be programmed, adjusted and controlled through the control device, and the picking device and the identification device which are arranged at the front end of the hydraulic rod can identify and pick fruits; the function of the above-mentioned devices is prior art, so the present invention is not described in detail.
The drawer type slide ways are mainly used for enabling the picking device to synchronously move along with the picking device when the picking device moves back and forth along with the hydraulic rod, and the inclination angles of the two slide ways can be adjusted; in order to keep the two slideways together all the time, a kidney-shaped groove is also arranged on the outer slideway, and the inner slideway is provided with a limiting rod penetrating through the kidney-shaped groove and a limiting block arranged at the end part of the limiting rod.
When the device is integrally adjusted and is rotationally adjusted, the picking frame is arranged in an arc shape for placing a circle, the outer slide way is arranged on the hydraulic telescopic device, the hydraulic telescopic device can rotate along with the outer slide way, the inner slide way and the outer slide way also rotate along with the outer slide way, the front position and the rear position of the outer slide way are unchanged, only the rotation angle can be changed during rotation, but no matter which angle is rotated, the rear end of the outer slide way is always positioned above the picking frame, so that the fruit and vegetable can be ensured to roll down into the picking frame no matter how the picking frame is rotationally adjusted; in the same way, the outer slideway can be ensured to be always positioned above the picking frame when being adjusted up and down, and picking is ensured.
The device has the difficulties that how to ensure that fruits cut by the picking device can fall into the picking frame from the slideway when the hydraulic rod is adjusted forwards and backwards, firstly, the picking device can fall into the slideway after cutting off the fruits, therefore, the hydraulic rod is provided with the inner slideway, the front end of the inner slideway is arranged below the picking device, the fruits fall at the front end of the inner slideway after being cut off by the picking device, and the hydraulic telescopic device is provided with the outer slideway for the convenience of the forward and backward adjustment of the inner slideway, the whole slideway is arranged in sections and is lapped forwards and backwards, and the whole structure is drawer-type; the connecting device for connecting the two slideways is also provided with two setting modes, firstly, the connecting device is set to be connected with the fixed rod, the two slideways are also fixedly connected with the fixed rod in an inclined angle mode, and the inner slideway and the outer slideway can generate height difference during front-back adjustment, so that the conveying and conveying of fruits are not facilitated; the connecting device is set to be a telescopic rod with a telescopic function and is set to be a hinged mode, and the telescopic rod has two advantages, namely, the inclination angle can be adjusted, so that fruits can fall conveniently; when the hydraulic rod is adjusted forwards and backwards, the two slideways can change positions, and the hinged mode is favorable for adjusting the change of the positions; in addition, in order to prevent the height difference between the inner slide way and the outer slide way and realize synchronous movement and adjustment, the waist-shaped groove and the limiting rod are arranged, the inner slide way and the outer slide way are connected together through the limiting of the waist-shaped groove and the limiting rod, but the front and back adjustment of the inner slide way is not hindered, so that the picking frame can fall into the picking frame more conveniently after picking.
Claims (3)
1. The utility model provides a fruit vegetables harvesting device with drawer type slide, includes mobilizable base (1), installs controlling means (2) on base (1), is controlled elevating gear (3) of liftable by controlling means (2), is installed at elevating gear (3) upper end and rotatable positioning's rotary device (4) by controlling that controlling means (2) are controlled, its characterized in that: the rotating device (4) is provided with an installation seat (5), and both sides of the installation seat (5) are provided with hydraulic telescopic devices (6) controlled by the control device (2); a vertical mounting plate (8) is also mounted at the end part of a hydraulic rod (7) of the hydraulic telescopic device (6); a controller (9) which is communicated with the control device (2) is arranged above the vertical mounting plate (8), a picking device (10) is arranged on the controller (9), and an identification device (101) which is communicated with the control device (2) is arranged below the mounting plate (8);
a circle of picking frames (11) which can be taken and placed are also placed on the base (1), and the picking frames (11) are placed in an annular shape for one circle; the hydraulic telescopic device (6) and a hydraulic rod (7) of the hydraulic telescopic device (6) are both provided with a connecting device; an inner slide way (12) is arranged at the end part of the connecting device on the hydraulic rod (7) positioned in front; the end part of the connecting device on the hydraulic telescopic device (6) positioned at the rear part is provided with an outer slideway (13); the front end of the inner slideway (12) is arranged below the picking device (10), and the tail end of the inner slideway (12) extends downwards in an inclined way and is overlapped on the inner side of the front end of the outer slideway (13); the tail end of the outer slideway (13) also extends downwards in an inclined way and is placed above the picking frame (11); the inner slideway (12) is arranged on the outer slideway (13) in a lapping way to enable the whole slideway to form a drawer type structure; the hydraulic rod (7) drives the inner slideway (12) below the hydraulic rod to move back and forth when moving back and forth; the moving amplitude of the tail end of the inner slide way (12) cannot exceed the range of the front end of the outer slide way (13);
the vertical sections of the inner slide way (12) and the outer slide way (13) are both of inverted trapezoid structures with openings at the upper sides or semicircular structures with openings at the upper sides, and the inner sides of the inner slide way (12) and the outer slide way (13) are both provided with cushions (14);
the connecting device is a telescopic rod (15) with a telescopic fixing function; and the end part of the telescopic rod (15) is provided with a two-head fork rod (16); two ends of the two-head fork rod (16) are respectively hinged and installed at the upper side edges of the inner slideway (12) and the outer slideway (13) through a hinge piece (17).
2. The fruit and vegetable picking device with the drawer type slide way as claimed in claim 1, wherein: a waist-shaped groove (18) which is arranged in parallel with the direction of the outer slideway (13) and extends towards the rear side is also arranged on the bottom plate at the front end of the outer slideway (13); and the outer side of the bottom plate at the tail end of the inner slideway (12) is provided with a limiting rod (19), the limiting rod (19) penetrates through the kidney-shaped groove (18), the end part of the limiting rod (19) is also provided with a limiting block (20), and the width of the limiting block (20) is greater than that of the kidney-shaped groove (18).
3. The fruit and vegetable picking device with the drawer type slide way as claimed in claim 1, wherein: the picking device (10) is arranged as picking scissors; and the recognition device (101) is set as one or two of a color recognition device and a shape recognition device.
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 |
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| Publication Number | Publication Date |
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| CN107241970A CN107241970A (en) | 2017-10-13 |
| CN107241970B true CN107241970B (en) | 2020-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710626142.2A Active CN107241970B (en) | 2017-07-27 | 2017-07-27 | Fruit and vegetable picking device with drawer type slide way |
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Families Citing this family (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 |
| CN115380740B (en) * | 2022-09-22 | 2024-01-19 | 浙江工业大学之江学院 | Automatic plant mill of picking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102124866B (en) * | 2011-01-19 | 2013-05-29 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN103891471B (en) * | 2012-12-26 | 2016-12-28 | 李晟哲 | Negative pressure Xi Zhaiding road landing-type fruit picking machine structure and fruit picking method |
| US8635845B1 (en) * | 2013-03-05 | 2014-01-28 | Ryan S. Palm | Rotary brush harvesters and methods of using the same |
| CN205017875U (en) * | 2015-10-13 | 2016-02-10 | 冯锦川 | Gather slide device of fruit |
| CN105393706B (en) * | 2015-12-23 | 2017-08-04 | 北京工业大学 | Tendril class single fruit fruit and vegetable picking machinery 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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