CN107455086A - A kind of fruit picking grader and its control method - Google Patents
A kind of fruit picking grader and its control method Download PDFInfo
- Publication number
- CN107455086A CN107455086A CN201710717403.1A CN201710717403A CN107455086A CN 107455086 A CN107455086 A CN 107455086A CN 201710717403 A CN201710717403 A CN 201710717403A CN 107455086 A CN107455086 A CN 107455086A
- Authority
- CN
- China
- Prior art keywords
- fruit
- conveyer mechanism
- conveyer
- signal
- fruitlet
- 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.)
- Pending
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Classifications
-
- 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
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/30—Sorting according to weight with associated counting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Sorting Of Articles (AREA)
Abstract
Present invention is disclosed a kind of fruit picking grader, the small in-car collection frame being provided with for receiving fruit, the car top is provided with charging aperture, the charging aperture connects bracing ring by the slow drop string bag, the bracing ring is provided with cutting mechanism, hand pole one end connects the bracing ring, and the other end is provided with the operator of driving cutting mechanism.The present invention can protect fruit injury-free, and orchard worker will not be caused damage.It can be collected and simple classification, reduce the amount of labour of orchard worker.
Description
Technical field
The present invention relates to agricultural machinery.
Background technology
With the fast development of modern agriculture science and technology, science and technology is combined closely so that scientific and technological agricultural development gesture is must with agricultural
.Fruit industry in agricultural is quickly grown, and people also increasingly increase the demand of fruit.And adopted in peach, apple, pear and other fruits
In plucking, harvesting and classification, which are orchard workers, actually plant two hang-ups that run into, causes to pluck difficulty first, fruit tree is too high, second, water
Fruit classification work is heavy.Existing picking mechanism can not realize protection fruit and fruit classification.
The content of the invention
The technical problems to be solved by the invention are after realizing a kind of fruit picking for aiding in orchard worker to pluck eminence and lower
Fruit simply weigh the device of classification.
To achieve these goals, the technical solution adopted by the present invention is：A kind of fruit picking grader, small in-car are provided with
For receiving the collection frame of fruit, the car top is provided with charging aperture, and the charging aperture connects bracing ring by the slow drop string bag,
The bracing ring is provided with cutting mechanism, and hand pole one end connects the bracing ring, and the other end is provided with the operation of driving cutting mechanism
Device.
The operator is handle, and the handle connects the gear on hand pole top, the rack both sides by wire digging line
Provided with the gear being engaged with, the both sides inside residing bracing ring are respectively equipped with hemispherical blade, and two blades pass through
Rotating shaft is separately fixed at the axle center of two gears.
The small in-car conveyer mechanism being provided with along its axis arrangement, the lower section of described conveyer mechanism one end is provided with
For collecting the collection frame of unqualified fruit, the conveyer mechanism down either side, which is respectively provided with, collects big fruit and fruitlet
Real collection frame, the other end of the conveyer mechanism are provided with the scraping wings in flare openings, the openings of the scraping wings
Sideshake is driven by pusher motor to towards conveyer mechanism, the scraping wings, the conveyer mechanism is by Weighing mechanism branch
Support, the Weighing mechanism export weight signal to controller, the controller output drive signal to conveyer mechanism and pusher
Motor.
The charging aperture is located at the surface of conveyer mechanism, and the conveyer mechanism includes power roller, driven voller, driving
The transmission motor that power roller rotates, and around power roller and the conveyer belt of driven voller, the conveyer belt is flexible net
The braid over braid of trellis, the conveyer belt both sides below the charging aperture are provided with guide plate.
The scraping wings is provided with the position sensor of fruit positional information above collection conveyer belt, the position sensor
Induced signal is exported to controller.
The charging aperture is provided with counter, and it is big to controller, the controller output that the counter exports count signal
Display unit on the data signal of fruit, fruitlet and unqualified fruit to dolly housing is shown.
Peephole is connected by soft metal connecting rod on the bracing ring.
The dolly bottom surface is provided with roller, and described dolly one end is connected with handle, and the housing of the dolly is transparent material,
The both sides and end of the dolly are provided with the hatch door for picking and placeing collection frame.
Control method based on described fruit picking grader；
After weight signal to the controller of Weighing mechanism output fruit；
If weight is more than big fruit standard, fruit is delivered at scraping wings by driving conveyer mechanism, and is being received
Stop conveyer mechanism work after position sensor, drive pusher motor to return after the big side oscillation of collecting fruit frame one of placement；
If weight is more than or equal to fruitlet standard and is less than or equal to big fruit standard, driving conveyer mechanism is defeated by fruit
Deliver at scraping wings, and stop conveyer mechanism work after position sensor is received, drive pusher motor to placement fruitlet
Return after the real side oscillation of collection frame one；
If weight is less than fruitlet standard, fruit is delivered to the collection frame of unqualified fruit by driving conveyer mechanism,
Controller stops conveyer mechanism work after acquisition Weighing mechanism has no result real signal.
After counter gets a cumulative signal, numerical value is added to greatly according to the weight signal of current Weighing mechanism
On the accumulated number of fruit, fruitlet or unqualified fruit.
The present invention can protect fruit injury-free, and orchard worker will not be caused damage.It can be collected and simple classification,
Reduce the amount of labour of orchard worker.
Brief description of the drawings
The content of every width accompanying drawing expression in description of the invention and the mark in figure are briefly described below：
Fig. 1 is fruit picking grader structural representation；
Fig. 2 is cutting mechanism structural representation；
Mark in above-mentioned figure is：1st, dolly；2nd, conveyer mechanism；3rd, guide plate；4th, pusher motor；5th, scraping wings；
6th, position sensor；7th, the drop string bag is delayed；8th, cutting mechanism；9th, bracing ring；10th, hand pole；11st, peephole；12nd, rack；13rd, tooth
Wheel；14th, blade.
Embodiment
As shown in figure 1, fruit picking grader is provided with dolly 1, the bottom surface of dolly 1 is provided with roller, and the one end of dolly 1 is connected with drawing
Hand, it is moved easily, the collection frame for being used for receiving fruit is provided with dolly 1, the top of dolly 1 is provided with charging aperture, and charging aperture passes through slow
Drop the string bag 7 and connect bracing ring 9, it is the soft passage that diameter is less than bracing ring 9 to delay the drop string bag 7, delays the drop string bag 7 by flexible
Material manufactures, such as mesh grid, for slowing down fruit decrease speed, protects fruit, bracing ring 9 is provided with cutting mechanism 8, hand pole 10
One end connects the bracing ring 9, and the other end is provided with the operator of driving cutting mechanism 8, can so haul dolly 1 and complete fruit
Collection process.
Operator is handle, and handle connects the gear 13 on the top of hand pole 10 by wire digging line, as shown in Fig. 2 rack 12
Both sides are provided with the gear 13 that is engaged with, and the both sides inside bracing ring 9 are respectively equipped with hemispherical blade 14, and two blades 14 lead to
Cross rotating shaft to be separately fixed at the axle center of two gears 13, drag-line pulled by pinching handle, then cause rack 12 to bottom offset,
Then drive two gears 13 to rotate and realizes suiting for blade 14, complete the action of the lower fruit of cutting, can be with handle or blade 14
Make a return spring, so release handle after, blade 14 can return, regather next fruit.
Fruit due to being collected aloft observes the cutting position of blade 14, states and pass through metal on bracing ring 9 for convenience
Soft connecting rod connects peephole 11, reduces collecting fruit difficulty.
In order to make device that there is the function of classification, and simple in construction, reliable operation, cost of manufacture is reduced, in dolly 1
Provided with the conveyer mechanism 2 arranged along its (dolly 1) axis, charging aperture is located at the surface of conveyer mechanism 2, conveyer belt machine
Structure 2 includes the transmission motor that power roller, driven voller, driving power roller rotate, and surround the conveyer belt of power roller and driven voller,
Conveyer belt is flexible latticed braid over braid, and the conveyer belt both sides below charging aperture are provided with guide plate 3.Fruit can be protected
Honest have certain buffering on the conveyor belt, reduce fruit it is impaired may, while it is defeated using guide plate 3 to be also avoided that fruit is fallen to
Send band outer.
The lower section of the one end of conveyer mechanism 2, which is provided with, is used to collecting the collection frame of unqualified fruit, under the both sides of conveyer mechanism 2
Side is respectively provided with the collection frame for collecting big fruit and fruitlet, and the housing of dolly 1 be transparent material, the both sides of dolly 1 with
End is provided with the hatch door for picking and placeing collection frame, has both facilitated the situation of observation harvesting fruit, has been also convenient for picking and placeing collection frame.
The other end of conveyer mechanism 2 is provided with the scraping wings 5 in flare openings, and the opening direction direction of scraping wings 5 passes
Tape-feed 2, scraping wings 5 drive sideshake by pusher motor 4, and conveyer mechanism 2 is supported by Weighing mechanism, and Weighing mechanism is defeated
Go out weight signal to controller, controller output drive signal to conveyer mechanism 2 and pusher motor 4.Scraping wings 5 is provided with and adopted
Collect the position sensor 6 of fruit positional information above conveyer belt, the position sensor 6 exports induced signal to controller.It is real
The classification of fruit is now plucked, and it is simple in construction.
In order to facilitate the quantity of harvesting fruit is calculated, charging aperture is provided with counter, and the counter output count signal is extremely
Controller, the display unit that controller is exported on data signal to the housing of dolly 1 of big fruit, fruitlet and unqualified fruit show
Show.
The specific control method of controller is as follows：
After weight signal to the controller of Weighing mechanism output fruit；
If weight is more than big fruit standard, fruit is delivered at scraping wings 5 by driving conveyer mechanism 2, and is being received
Stop conveyer mechanism 2 after to position sensor 6 to work, driving pusher motor 4 is to after placing the big side oscillation of collecting fruit frame one
Return；
If weight is more than or equal to fruitlet standard and is less than or equal to big fruit standard, conveyer mechanism 2 is driven by fruit
It is delivered at scraping wings 5, and stops conveyer mechanism 2 after position sensor 6 is received and work, driving pusher motor 4 is to putting
Put return after the side oscillation of fruitlet collection frame one；
If weight is less than fruitlet standard, fruit is delivered to the collection frame of unqualified fruit by driving conveyer mechanism 2,
Controller stops conveyer mechanism 2 after acquisition Weighing mechanism has no result real signal and worked.
After counter gets a cumulative signal, numerical value is added to greatly according to the weight signal of current Weighing mechanism
On the accumulated number of fruit, fruitlet or unqualified fruit.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that present invention specific implementation is not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Enter and the design of the present invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (10)
- A kind of 1. fruit picking grader, it is characterised in that：The small in-car collection frame being provided with for receiving fruit, the small roof Portion is provided with charging aperture, and the charging aperture connects bracing ring by the slow drop string bag, and the bracing ring is provided with cutting mechanism, hand pole one End connects the bracing ring, and the other end is provided with the operator of driving cutting mechanism.
- 2. fruit picking grader according to claim 1, it is characterised in that；The operator is handle, the handle Connect the gear on hand pole top by wire digging line, the rack both sides are provided with the gear being engaged with, inside residing bracing ring Both sides be respectively equipped with hemispherical blade, two blades are separately fixed at by rotating shaft at the axle center of two gears.
- 3. fruit picking grader according to claim 1 or 2, it is characterised in that；The small in-car is provided with along its axis The conveyer mechanism of line arrangement, the lower section of described conveyer mechanism one end are provided with the collection frame for being used for collecting unqualified fruit, institute State conveyer mechanism down either side and be respectively provided with the collection frame for collecting big fruit and fruitlet, the conveyer mechanism it is another One end is provided with the scraping wings in flare openings, the opening direction of the scraping wings towards conveyer mechanism, the scraping wings by Pusher motor drives sideshake, and the conveyer mechanism is supported by Weighing mechanism, and the Weighing mechanism output weight signal is extremely Controller, the controller output drive signal to conveyer mechanism and pusher motor.
- 4. fruit picking grader according to claim 3, it is characterised in that；The charging aperture is located at conveyer mechanism Surface, the conveyer mechanism include the transmission motor that power roller, driven voller, driving power roller rotate, and around power The conveyer belt of roller and driven voller, the conveyer belt are flexible latticed braid over braid, the conveying below the charging aperture Band both sides are provided with guide plate.
- 5. fruit picking grader according to claim 4, it is characterised in that；The scraping wings is provided with collection conveyer belt The position sensor of top fruit positional information, the position sensor export induced signal to controller.
- 6. fruit picking grader according to claim 5, it is characterised in that；The charging aperture is provided with counter, described Counter exports count signal to controller, the controller and exports the data signal of big fruit, fruitlet and unqualified fruit Display unit on to dolly housing is shown.
- 7. fruit picking grader according to claim 6, it is characterised in that；Connected on the bracing ring by soft metal Bar connects peephole.
- 8. the fruit picking grader according to claim 6 or 7, it is characterised in that；The dolly bottom surface is provided with roller, institute State dolly one end and be connected with handle, the housing of the dolly is transparent material, and the both sides and end of the dolly, which are provided with, picks and places receipts Collect the hatch door of frame.
- 9. the control method based on the fruit picking grader any one of claim 6-8, it is characterised in that；After weight signal to the controller of Weighing mechanism output fruit；If weight is more than big fruit standard, fruit is delivered at scraping wings by driving conveyer mechanism, and is receiving position Stop conveyer mechanism work after sensor, drive pusher motor to return after the big side oscillation of collecting fruit frame one of placement；If weight is more than or equal to fruitlet standard and is less than or equal to big fruit standard, fruit is delivered to by driving conveyer mechanism At scraping wings, and stop conveyer mechanism work after position sensor is received, driving pusher motor is paid to fruitlet is placed Return after the collection side oscillation of frame one；If weight is less than fruitlet standard, fruit is delivered to the collection frame of unqualified fruit, control by driving conveyer mechanism Device stops conveyer mechanism work after acquisition Weighing mechanism has no result real signal.
- 10. control method according to claim 9, it is characterised in that；After counter gets a cumulative signal, root Numerical value is added on the accumulated number of big fruit, fruitlet or unqualified fruit according to the weight signal of current Weighing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717403.1A CN107455086A (en) | 2017-08-21 | 2017-08-21 | A kind of fruit picking grader and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710717403.1A CN107455086A (en) | 2017-08-21 | 2017-08-21 | A kind of fruit picking grader and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN107455086A true CN107455086A (en) | 2017-12-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710717403.1A Pending CN107455086A (en) | 2017-08-21 | 2017-08-21 | A kind of fruit picking grader and its control method |
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| Country | Link |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108284074A (en) * | 2017-12-30 | 2018-07-17 | 浙江工贸职业技术学院 | A kind of screening plant of citrus picking robot |
| CN108633478A (en) * | 2018-07-05 | 2018-10-12 | 桂林电子科技大学 | A kind of fruit picking device and pluck fruit method |
| CN108684311A (en) * | 2018-06-29 | 2018-10-23 | 华南理工大学 | A kind of tree unboiled water fruit indirect labor's picking mechanical based on crank block movement |
| CN108942992A (en) * | 2018-09-28 | 2018-12-07 | 福建工程学院 | With synchronous shear functional machinery hand |
| CN110192472A (en) * | 2019-03-25 | 2019-09-03 | 山东交通学院 | Both arms apple-picking circle is classified collecting robot people |
| CN110404807A (en) * | 2019-08-29 | 2019-11-05 | 中北大学 | A kind of intelligence fruit buffering classified collection device |
| CN113424704A (en) * | 2021-06-22 | 2021-09-24 | 新昌向天农业科技有限公司 | Tea leaf picking device |
| CN114747617A (en) * | 2022-05-19 | 2022-07-15 | 安徽工业大学 | Intelligent fruit picking and corrosion preventing vehicle |
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|---|---|---|---|---|
| CN108284074A (en) * | 2017-12-30 | 2018-07-17 | 浙江工贸职业技术学院 | A kind of screening plant of citrus picking robot |
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| CN108684311A (en) * | 2018-06-29 | 2018-10-23 | 华南理工大学 | A kind of tree unboiled water fruit indirect labor's picking mechanical based on crank block movement |
| CN108633478A (en) * | 2018-07-05 | 2018-10-12 | 桂林电子科技大学 | A kind of fruit picking device and pluck fruit method |
| CN108942992A (en) * | 2018-09-28 | 2018-12-07 | 福建工程学院 | With synchronous shear functional machinery hand |
| CN108942992B (en) * | 2018-09-28 | 2023-04-14 | 福建工程学院 | Manipulator with synchronous shearing function |
| CN110192472A (en) * | 2019-03-25 | 2019-09-03 | 山东交通学院 | Both arms apple-picking circle is classified collecting robot people |
| CN110192472B (en) * | 2019-03-25 | 2024-02-27 | 山东交通学院 | Round grading collection robot for picking apples with two arms |
| CN110404807A (en) * | 2019-08-29 | 2019-11-05 | 中北大学 | A kind of intelligence fruit buffering classified collection device |
| CN110404807B (en) * | 2019-08-29 | 2021-07-16 | 中北大学 | Intelligent fruit buffering and classifying collection device |
| CN113424704A (en) * | 2021-06-22 | 2021-09-24 | 新昌向天农业科技有限公司 | Tea leaf picking device |
| CN114747617A (en) * | 2022-05-19 | 2022-07-15 | 安徽工业大学 | Intelligent fruit picking and corrosion preventing vehicle |
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Application publication date: 20171212 |
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