CN107750623B

CN107750623B - Automatic picking device and automatic picking machine

Info

Publication number: CN107750623B
Application number: CN201711142836.5A
Authority: CN
Inventors: 李向争
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-11-17
Filing date: 2017-11-17
Publication date: 2023-08-15
Anticipated expiration: 2037-11-17
Also published as: CN107750623A

Abstract

The application discloses an automatic picking device and an automatic picking machine, which comprise picking units, wherein the picking units comprise picking pieces, the picking pieces are sequentially arranged, picking spaces are formed between adjacent picking pieces, pedicel can enter the picking spaces, and petals and pedicel are separated through relative movement between the picking spaces and the pedicel to realize picking; and the driving unit is connected with the picking unit and can drive the picking unit to move for picking. The application has the beneficial effects that: firstly, through the automatic telescopic structure, the automatic telescopic of the picking piece can be realized, and in the automatic picking process, the shrinkage motion of the picking piece has a protection effect on the plant body to a certain extent, so that the picking piece is beneficial to later cleaning; secondly, through setting up the automatic device of picking of drum-type, can increase the area of action and the continuity of operation of picking to improve the efficiency of automatic picking, reduce the cost of picking, improve economic benefits.

Description

Automatic picking device and automatic picking machine

Technical Field

The application relates to the technical field of automatic picking equipment, in particular to an automatic picking device and an automatic picking machine.

Background

With the development of science and technology in recent years, automatic mechanical equipment gradually starts to replace traditional manual operation, so that not only is the efficiency improved, but also a large amount of labor resources are saved. In the prior art, manual picking is used for picking plants planted in a small agricultural scale, but the manual picking is labor-intensive heavy body labor, and particularly when the plants are subjected to severe weather such as rain, snow, high temperature and the like, a great amount of loss is caused if the plants are not picked in time. With the loss of labor force bonus and the increase of labor force cost, the cost of manual picking is higher and higher, and the economic benefit of planting is reduced. In some large-scale planting picking, if a manual picking mode is adopted, a large amount of manpower is required to be input, and the efficiency is low compared with that of mechanization, so that the requirement of large-scale picking mechanization is increasing.

For plants grown on a large scale, for example: the planting area of chrysanthemum is huge and can be gradually enlarged, but the flowering period of chrysanthemum is shorter, if the chrysanthemum cannot be picked in time, the chrysanthemum will wither quickly, lose its economic value, a large amount of losses are caused, especially, when the rainwater weather is encountered, the chrysanthemum is picked in time, not only withered but also rotten, most of the chrysanthemum is picked by hand, the labor intensity is high, the picking efficiency is low, a large amount of manpower and material resources are wasted, when the manpower and material resources for picking are insufficient, the resulting picking is not timely, thereby causing larger losses, automatic picking machines are present on the market to meet the large-scale picking, but the functions are single, the intelligent degree is not high, the acting area is smaller, therefore the efficiency is lower, and the damage of the picking blades to the chrysanthemum body after picking is larger, the chrysanthemum after picking and collecting is piled together in a clastic or powdery shape, and the collected chrysanthemum is required to be washed due to the fact that part of soil or other impurities can be mixed in the automatic picking process, thus the later large amount of cleaning and the chrysanthemum is difficult to screen, and the large loss is caused, and the utilization rate is reduced to a certain extent.

Disclosure of Invention

This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.

The present application has been made in view of the above-mentioned problems with an automatic picking apparatus and an automatic picking machine.

It is therefore one of the objects of the present application to provide an automatic picking apparatus and which enables automatic retraction of picking members during automatic picking.

In order to solve the technical problems, the application provides the following technical scheme: an automatic picking device comprises a picking unit, wherein the picking unit comprises picking pieces, the picking pieces are sequentially arranged, picking spaces are formed between adjacent picking pieces, pedicel can enter the picking spaces, and petals and pedicel are separated through relative movement between the picking spaces and the pedicel to realize picking; and the driving unit is connected with the picking unit and can drive the picking unit to move for picking.

As a preferred embodiment of the automatic picking apparatus according to the present application, wherein: the driving unit further comprises a fixed shaft and a moving part, wherein the moving part is arranged at two ends of the fixed shaft, the moving part further comprises a limiting protrusion, a driving wheel and a second fixing hole, the limiting protrusion is sequentially arranged on the edge of the moving part to form a limiting groove, the driving wheel is arranged on the outer side surface of the moving part, and the second fixing hole is arranged in the limiting groove.

As a preferred embodiment of the automatic picking apparatus according to the present application, wherein: the picking device comprises a picking unit, a guiding assembly, a guiding disc, a fixing shaft, a telescopic unit, a guiding groove and a guiding groove, wherein the telescopic unit is connected with the picking unit, the guiding assembly and the telescopic assembly are further arranged on the telescopic unit, the guiding disc is arranged on the fixing shaft in a penetrating mode, relative rotation between the guiding disc and the fixing shaft is avoided, the edge of the guiding disc is asymmetrically arranged, and the side face of the guiding disc is further provided with the guiding groove along the edge; the telescopic assembly is connected with the guide assembly, the telescopic assembly further comprises a guide block and a telescopic block, the guide block is arranged in the guide groove, and the telescopic block is connected with the guide block.

As a preferred embodiment of the automatic picking apparatus according to the present application, wherein: the telescopic unit further comprises a connecting assembly, wherein the connecting assembly comprises a first connecting rod, an outer connecting block and an inner connecting block, the inner connecting block is arranged on the telescopic block, and the outer connecting block and the inner connecting block are connected through the first connecting rod.

As a preferred embodiment of the automatic picking apparatus according to the present application, wherein: the main body of the picking piece is a triangular pyramid body, and the picking piece further comprises a picking needle head and a fixing head, wherein the picking needle head and the fixing head are respectively arranged at two ends of the main body of the picking piece.

As a preferred embodiment of the automatic picking apparatus according to the present application, wherein: the picking unit further comprises a fixing frame, two ends of the fixing frame are respectively connected with the moving parts, the picking unit further comprises an outer support and an inner support, the outer support is parallel to the inner support, a needle hole and a first fixing hole are further formed in the outer support, the fixing head is fixed on the inner support, the picking needle head penetrates through the needle hole, the outer connecting block is arranged on the outer support, and the telescopic block is connected with the inner support.

As a preferred embodiment of the automatic picking apparatus according to the present application, wherein: the picking units are uniformly arranged on the outer edge of the driving unit to form a roller type picking structure, the telescopic units at two ends are symmetrically arranged and connected through a second connecting rod, and a sealing plate is further arranged outside the roller type picking unit and is arranged at a gap between the adjacent picking units.

Another object of the present application is to provide an automatic picking machine that not only can achieve automatic contraction of picking members in an automatic picking process, but also can achieve driving walking and collecting vibration screening of picked objects.

In order to solve the technical problems, the application provides the following technical scheme: the automatic picking machine comprises the automatic picking device, a supporting unit, a power unit, a conveying unit and a walking unit, wherein the supporting unit is arranged at the front end of the frame body, clamps the automatic picking device and can longitudinally lift the automatic picking device, the power unit comprises a transmission rotating shaft and a driving wheel, and the driving wheel is connected with the transmission wheel; the conveying unit conveys the objects picked by the picking units, and the walking unit is arranged at the bottom of the frame body and controls walking of the frame body.

As a preferable mode of the automatic picking machine according to the application, wherein: the conveying unit comprises a transverse conveying assembly and a longitudinal conveying assembly, wherein the transverse conveying assembly is arranged at the bottom of the picking unit, and the conveying unit further comprises a transverse conveying belt, a transverse conveying track and transverse pushing plates, the transverse pushing plates are arranged on the transverse conveying belt at intervals, and the transverse conveying belt is positioned in the transverse conveying track; the vertical conveying assembly is arranged on one side of the horizontal conveying assembly and comprises a vertical conveying belt, a vertical conveying rail and a vertical pushing plate, the vertical conveying rail is arranged below one side of the horizontal conveying rail, picking objects fall onto the vertical conveying belt from the horizontal conveying belt, and the picking objects are conveyed upwards by the vertical pushing plate.

As a preferable mode of the automatic picking machine according to the application, wherein: still include the receiving element, the receiving element includes shale shaker box, guide box and vibrating subassembly, a plurality of stacks the shale shaker box has accommodation space, the guide box set up in the shale shaker box with between the longitudinal conveyor belt, will the picking object that drops on the longitudinal conveyor belt is guided to collect in the shale shaker box, the vibrating subassembly set up in the below of shale shaker box.

The application has the beneficial effects that: according to the automatic picking device and the automatic picking machine, firstly, the automatic telescoping structure can realize the automatic telescoping of the picking piece, and the automatic picking device and the automatic picking machine have a certain protection effect on the plant body due to the shrinkage motion in the automatic picking process, so that the later cleaning is facilitated; secondly, through setting up the automatic device of picking of drum-type, can increase the area of action and the continuity of operation of picking to improve the efficiency of automatic picking, reduce the cost of picking, improve economic benefits.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:

fig. 1 is a schematic view showing the overall structure of a picking space in an automatic picking apparatus according to a first embodiment of the present application;

fig. 2 is a schematic overall structure of the automatic picking apparatus according to the first embodiment of the present application;

FIG. 3 is a schematic view showing the overall structure of picking members in the automatic picking apparatus according to the first embodiment of the present application;

fig. 4 is a schematic view showing the overall structure of a fixing frame in the automatic picking device according to the first embodiment of the present application;

FIG. 5 is a schematic view showing the overall structure of moving parts in the automatic picking apparatus according to the first embodiment of the present application;

fig. 6 is a schematic view showing the overall structure of a telescopic unit in the automatic picking apparatus according to the second embodiment of the present application;

FIG. 7 is a schematic view showing the overall structure of a guide assembly in the automatic picking apparatus according to the second embodiment of the present application;

FIG. 8 is a schematic view showing the overall structure of a connecting assembly in the automatic picking apparatus according to the second embodiment of the present application;

fig. 9 is a schematic view showing the overall structure of a second connecting rod in the automatic picking apparatus according to the second embodiment of the present application;

fig. 10 is a schematic overall structure of an automatic picking apparatus according to a third embodiment of the present application;

FIG. 11 is a schematic side cross-sectional overall construction of an automatic picking apparatus according to a third embodiment of the present application;

FIG. 12 is a schematic view showing the overall structure of a closure plate in the automatic picking apparatus according to the third embodiment of the present application;

fig. 13 is a schematic view showing the overall structure of an automatic picking machine according to a fourth embodiment of the present application;

FIG. 14 is a schematic view showing the overall structure of a power unit in an automatic picking machine according to a fourth embodiment of the present application;

FIG. 15 is a schematic view showing the overall structure of a transverse conveying assembly in an automatic picking machine according to a fifth embodiment of the present application;

fig. 16 is a schematic view showing the overall structure of a longitudinal conveying assembly in an automatic picking machine according to a fifth embodiment of the present application.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.

Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Further, in describing the embodiments of the present application in detail, the cross-sectional view of the device structure is not partially enlarged to a general scale for convenience of description, and the schematic is only an example, which should not limit the scope of protection of the present application. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.

Fig. 1 to 2 are schematic views showing the overall structure of an automatic picking apparatus according to a first embodiment of the present application, in order to automatically and mechanically pick objects to be picked, such as large-scale chrysanthemums, instead of conventional manual picking, thereby reducing labor costs and improving picking efficiency, in this embodiment, the automatic picking apparatus includes a picking unit 100 and a driving unit 200. Specifically, the picking unit 100 further includes a picking member 101 and a fixing frame 102, the picking members 101 are sequentially arranged in the fixing frame 102, the picking members 101 are sequentially arranged, a picking space S is formed between adjacent picking members 101, pedicel can enter the picking space S, and petals and pedicel are separated through relative movement between the picking space S and the pedicel, so that picking is achieved; and a driving unit 200 connected to the picking unit 100, capable of driving the movement of the picking unit 100 to pick. Here, the picking members 101 are sequentially arranged and fixed in the fixing frame 102, and the picking members 101 are capable of picking objects to be picked, which corresponds to a blade moving during cutting, for example, the picking members 101 use the ground as a reference surface, pick objects to be picked on the ground by moving in a vertical direction or a horizontal direction, and in a vertical and horizontal direction, in this embodiment, pick objects in a combination of vertical and horizontal directions, that is, by rotating the picking members 101, and implement rotation by the driving unit 200. Further, the driving unit 200 is connected to the picking unit 100, and further includes a fixed shaft 201 and a moving member 202, the moving member 202 is rotatably disposed at two ends of the fixed shaft 201, and two ends of the fixed frame 102 are respectively connected to the moving member 202. Here, the moving member 202 is a rotating disc, and the rotating member 202 rotates to drive the picking unit 100 to rotate, thereby forming a drum-type picking structure.

Referring to fig. 3, in order to achieve the picking effect of the picking member 101 and reduce the manufacturing cost thereof, the main body of the picking member 101 is preferably a triangular pyramid, and further includes a picking needle 101a and a fixing head 101b, wherein the picking needle 101a and the fixing head 101b are respectively disposed at two ends of the main body of the picking member 101, and the middle main body of the picking member 101 is a triangular pyramid, so that the manufacturing cost can be reduced, and three pyramids formed on the outer surface of the picking member are comparably sharp, so that the object to be picked planted on the ground can be easily cut off and picked, and the picking needle 101a can penetrate into the ground, so that the picking of the object to be picked is more sufficient, the waste of resources is avoided, and the yield is improved. Further, referring to fig. 4, the fixing frame 102 further includes an outer frame 102a and an inner frame 102b, where the outer frame 102a and the inner frame 102b are disposed in parallel, a pinhole 102a-1 and a first fixing hole 102a-2 are further disposed on the outer frame 102a, and the fixing head 101b is fixed on the inner frame 102b, where the picking needle 101a passes through the pinhole 102a-1, and a portion of the body of the picking needle 101a is a triangular pyramid, and when the fixing head 101b is fixed, the picking needle 101a passes through the pinhole 102a-1, and the triangular pyramid structure can also reduce the contact area between the body of the picking needle 101a and the pinhole 102a-1, so as to reduce wear during movement, thereby improving the service life. The two ends of the fixing frame 102 can be fixedly connected with the moving part 202 through the first fixing holes 102a-2, so that the rotation of the moving part 202 drives the fixing frame 102 to rotate, and the picking pieces 101 sequentially arranged on the fixing frame 102 rotate to pick. Still further, referring to fig. 5, the moving part 202 in this embodiment further includes a limiting protrusion 202a, a driving wheel 202b and a second fixing hole 202c, where the limiting protrusion 202a is sequentially disposed on the edge of the moving part 202 to form a limiting groove, the driving wheel 202b is disposed on the outer side surface of the moving part 202, the second fixing hole 202c is disposed in the limiting groove, and when the first fixing hole 102a-2 and the second fixing hole 202c are fastened correspondingly by bolts, the outer bracket 102a is fixed in the limiting groove and limited by the limiting groove, so as to realize connection between the moving part 202 and the fixing frame 102.

Fig. 6 is a schematic overall structure of a telescopic unit in an automatic picking apparatus according to a second embodiment of the present application, in order to implement telescopic operation of a picking member 101 in a pinhole 102a-1, not only can a picking object be protected by a cutter, and the yield is improved, which is beneficial to later screening, but also the safety of the operation can be improved by telescopic operation of the picking member 101, which is different from the first embodiment in this embodiment: the automatic picking apparatus provided by the present application further includes a telescopic unit 300 connected to the picking unit 100 to drive the telescopic movement of the picking member 101. Specifically, the telescopic unit 300 further includes a guide assembly 301 and a telescopic assembly 302, wherein the guide assembly 301 further includes a guide disc 301a, the guide disc 301a is penetratingly disposed on the fixed shaft 201, and no relative rotation occurs between the two, and the edge of the guide disc 301a is asymmetrically disposed, and the side surface thereof is further provided with a guide groove 301a-1 along the edge; the telescopic assembly 302 is connected with the guide assembly 301, and further comprises a guide block 302a and a telescopic block 302b, wherein the guide block 302a is arranged in the guide groove 302b, and the telescopic block 302b is connected with the guide block 302a to form an automatic telescopic structure. In this embodiment, the automatic telescopic structure includes a guide assembly 301 and a telescopic assembly 302, specifically, the guide assembly 301 further includes a guide disc 301a and a fixed shaft 201, where the guide disc 301a is disposed on the fixed shaft 201 in a penetrating manner, and is fixed by a limiting component in a limiting manner, the guide disc 301a and the fixed shaft 201 cannot rotate relatively, and the fixed shaft 201 does not rotate axially, in this embodiment, the edge of the guide disc 301a is asymmetrically disposed, that is, an asymmetric disc, a guide groove 302b along the edge is further disposed on a side surface of the guide disc, a groove trend of the guide groove 302b is consistent with that of the edge of the guide disc 301a, and an asymmetric annular guide groove 302b is formed, and has a protruding portion and a shrinking portion, which form an telescopic guide path. The telescopic assembly 302 is connected with the guide assembly 301, and further comprises a guide block 302a and a telescopic block 302b, wherein the guide block 302a is arranged in the guide groove 302b and can slide in the guide groove 302b, the telescopic block 302b is connected with the guide block 302a, based on the fixed connection of the guide disc 301a and the fixed shaft 201, relative rotation does not occur, when the guide block 302a moves along the guide groove 302b under the action of external force, due to the asymmetric structure of the guide groove 302b, the movement track of the guide block 302b is limited by the guide groove 302b, the guide block 302a passes through the protruding part and the shrinking part respectively, so that the guide block 302a protrudes and stretches on the plane where the guide disc 301a is located, namely, the center point distance between the guide block 302a and the guide disc 301a changes, and the guide block 302a is connected with the telescopic block 302 b.

Referring to fig. 7 to 9, in order to realize the automatic telescopic structure capable of driving the picking member 101 of the picking unit 100 to automatically stretch and retract, in this embodiment, the picking unit further includes a connection assembly 400, specifically, the telescopic unit 300 further includes a connection assembly 400 disposed on the fixing frame 102, and includes a first connection rod 401, an outer connection block 402, and an inner connection block 403, where the outer connection block 402 is disposed on the outer support 102a, the inner connection block 403 is disposed on the telescopic block 302b, and the telescopic block 302b is connected with the inner support 102b, the outer connection block 402 and the inner connection block 403 are connected by the first connection rod 401, and the first connection rod 401 is fixedly connected with the outer connection block 402, and the first connection rod 401 is connected with the inner connection block 403 by a movable hole 403c, and the first connection rod 401 is capable of sliding in the movable hole 403c to realize stretching and retracting. The process of realizing the extension and retraction of the fixing frame 102 is as follows: when the guide block 302a moves in the guide groove 302b according to the limited track, the telescopic block 302b is driven to bulge and stretch out and draw back on the plane where the guide disk 301a is located, the fixing frame 102 is perpendicular to the plane where the guide disk 301a is located, the telescopic block 302b is connected with the first connecting rod 401, the fixing frame 102 and the telescopic block 302b synchronously move relative to the guide disk 301a, when the telescopic block 302b moves to the bulge, the telescopic frame 302b is located above the bulge, at the moment, the distance between the telescopic block 302b and the guide disk 301a is increased, so that the first connecting rod 401 is driven to change the distance between the first connecting rod 402 and the second connecting rod 402, the change of the distance between the outer support 102a and the inner support 102b is realized, and the telescopic picking piece 101 is driven to stretch out and draw back in the pinhole 102 a-1. Based on the above, in this embodiment, the picking member 101 is a cutting member of the automatic picking device, and can stretch out and draw back in the fixing frame 102 and cut the picking object, which is an optimization in this embodiment, and is a rectangular triangular pyramid, the sharp pyramid edge can cut the picking object, and the contact area with the pinhole 102a-1 is reduced in the stretch movement, the friction loss is reduced, the service life is prolonged, the picking object is protected by shrinking after the cutting operation is completed, and the yield of the picking object is improved.

Fig. 10 to 12 are schematic views showing the overall structure of an automatic picking apparatus according to a third embodiment of the present application, in which, in order to increase the picking contact area and the picking efficiency, the difference between the present embodiment and the fourth embodiment is that: the automatic picking device includes multiple sets of holders 102. Specifically, a plurality of picking members 101 are evenly arranged and set up in outer support 102a and inner support 102b, and the three constitutes a set of mount 102, and a plurality of sets of mounts 102 evenly arrange between drive unit 200 and form the cylinder structure that multiunit mount 102 was picked in the replacement, and connect through second connecting rod 500 between the telescopic unit 300 symmetry setting at both ends, second connecting rod 500 can make the motion at both ends keep in step, and this kind of mode is through increasing the continuity of picking area of contact and operation to great improvement picks efficiency. Referring to fig. 11, there is shown a side sectional view of the automatic picking apparatus in this embodiment, in which picking member 101 is in an extended state when guide block 302a moves in guide groove 301a-1 to a relatively convex portion on guide plate 301a, and accordingly, picking member 101 is in a retracted state when guide block 302a moves in guide groove 301a-1 to a relatively concave portion on guide plate 301a, and each group of picking members 101 is located at different positions on guide groove 301a-1 including both extended and retracted states, and the telescopic lengths are different in the same state at different positions. Referring to fig. 12, a drum-type structure formed by sequentially and annularly arranging a plurality of picking units 100 is further provided with a sealing plate 103 at a gap between adjacent picking units 100, which can prevent flowers during picking from falling into the gap and entering the automatic picking device, thereby improving yield by reducing falling rate.

Fig. 13 to 14 are schematic views showing the overall structure of an automatic picking machine according to a fourth embodiment of the present application, in order to achieve automatic contraction of picking members during automatic picking, and also achieve driving and walking of operators and collecting, vibrating and screening of picked objects, the difference between this embodiment and the third embodiment is that: the automatic picking machine further comprises a supporting unit 600, a power unit 700, a conveying unit 800 and a walking unit 900, specifically, wherein the supporting unit 600 is arranged at the front end of the frame body A, clamps the automatic picking device in the embodiment and can longitudinally lift, the lifting mode is adopted, for example, a screw rod lifting mode is adopted, and the automatic picking device is matched with transverse movement to pick at various depths, so that the picking is more sufficient; further, the power unit 700 includes a driving shaft 701 and a driving wheel 702, the driving shaft 701 is driven to rotate by a motor, the driving shaft 701 drives the driving wheel 702 to run, the driving wheel 702 is connected with the driving wheel 202b, the driving wheel 202b is arranged on the outer side surface of the moving part 202, the driving wheel 702 drives the driving wheel 202b to rotate, the driving wheel 202b drives the moving part 202 to rotate, the moving part 202 drives the fixing frame 102 to rotate, at this time, the guide block 302a moves in the guide groove 301a-1, and the picking piece 101 stretches in the fixing frame 102; further, the conveying unit 800 can convey the object picked by the picking unit 100, and the walking unit 900 is disposed at the bottom of the frame body a to control the walking of the object, where, for example, a crawler walking mode can be adopted, so that different terrains can be adapted, limitations of the automatic picking machine due to terrains are avoided, and an operator can drive the automatic picking machine to pick in walking in this embodiment. Referring to fig. 14, the automatic picking machine further includes a receiving unit 1000, and the receiving unit 1000 includes a vibrating screen box 1001, a guide box 1002, and a vibrating assembly 1003. Specifically, a plurality of stacked vibrating screen boxes 1001 have a storage space, a guide box 1002 is arranged between the vibrating screen boxes 1001 and the longitudinal conveying belt 802a, picking objects falling on the longitudinal conveying belt 802a are guided into the vibrating screen boxes 1001 to be collected, a vibrating assembly 1003 is arranged below the vibrating screen boxes 1001, the vibrating assembly 1003 is realized by a motor and a swinging rod, the motor drives the swinging of the swinging rod, the vibrating screen boxes 1001 are connected with the swinging rod, and accordingly vibration occurs, and collected picking objects are subjected to vibration screening.

Fig. 15 to 16 are schematic views showing the overall structure of a conveying unit in an automatic picking machine according to a fifth embodiment of the present application, in order to achieve conveying of a picked object into a vibrating screen box 1001, the difference between this embodiment and the fourth embodiment is that: the transport unit 800 includes a lateral transport assembly 801 and a longitudinal transport assembly 802. Specifically, the transverse conveying assembly 801 is disposed at the bottom of the picking unit 100, and further includes a transverse conveying belt 801a, a transverse conveying track 801b, and a transverse pushing plate 801c, where the transverse pushing plate 801c is disposed on the transverse conveying belt 801a at intervals, and the transverse conveying belt 801a is located in the transverse conveying track 801 b; the corresponding longitudinal conveying assembly 802 is disposed on one side of the transverse conveying assembly 801, and includes a longitudinal conveying belt 802a, a longitudinal conveying rail 802b and a longitudinal pushing plate 802c, wherein the longitudinal conveying rail 802b is disposed below one side of the transverse conveying rail 801b, and the picking object falls onto the longitudinal conveying belt 802a from the transverse conveying belt 801a and is conveyed upward by the longitudinal pushing plate 802 c. The conveying process is as follows: picking is performed by the picking unit 100, firstly, after picking the object, the picking member 101 is rotated to connect the picking object to the upper side of the transverse conveying assembly 801, then the picking member 101 continues to move to stretch and retract, at this time, the picking object falls onto the surface of the transverse conveying belt 801a on the transverse conveying assembly 801, is pushed to the tail end of the transverse conveying track 801b through the limit of the transverse pushing plate 801c, and the longitudinal conveying assembly 802 is arranged below the transverse conveying track 801b, at this time, the picking object falls into the longitudinal conveying assembly 802, so that the picking object falls into the guide box 1002, and the conveying process after picking is completed.

It should be noted that the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application, which is intended to be covered in the scope of the claims of the present application.

Claims

1. An automatic picking machine, characterized in that: comprising the steps of (a) a step of,

the picking unit (100) comprises picking pieces (101), wherein the picking pieces (101) are sequentially arranged, picking spaces (S) are formed between adjacent picking pieces (101), pedicel can enter the picking spaces (S), and petals and pedicel are separated through relative movement between the picking spaces (S) and the pedicel to achieve picking;

the driving unit (200) is connected with the picking unit (100) and can drive the picking unit (100) to move for picking;

the telescopic unit (300) is connected with the picking unit (100), the telescopic unit (300) further comprises a guide assembly (301) and a telescopic assembly (302), the guide assembly (301) further comprises a guide disc (301 a), the guide disc (301 a) is arranged on the fixed shaft (201) in a penetrating mode, relative rotation does not occur between the guide disc and the guide disc, the edge of the guide disc (301 a) is asymmetrically arranged, a guide groove (301 a-1) along the edge is further formed in the side face of the guide disc, the telescopic assembly (302) is connected with the guide assembly (301), the telescopic assembly further comprises a guide block (302 a) and a telescopic block (302 b), the guide block (302 a) is arranged in the guide groove (301 a-1), and the telescopic block (302 b) is connected with the guide block (302 a).

The drive unit (200) further comprises a fixed shaft (201) and a moving part (202);

the moving parts (202) are arranged at two ends of the fixed shaft (201), wherein the moving parts (202) further comprise limiting protrusions (202 a), driving wheels (202 b) and second fixed holes (202 c), the moving parts (202) are rotating discs, and the rotating parts (202) rotate to drive the picking units (100) to rotate, so that a drum-type picking structure is formed;

the limiting protrusions (202 a) are sequentially arranged on the edge of the moving part (202) to form limiting grooves, the driving wheel (202 b) is arranged on the outer side surface of the moving part (202), and the second fixing holes (202 c) are arranged in the limiting grooves;

the telescopic unit (300) further comprises a connecting assembly (400) comprising a first connecting rod (401), an outer connecting block (402) and an inner connecting block (403);

the inner connecting block (403) is arranged on the telescopic block (302 b), and the outer connecting block (402) and the inner connecting block (403) are connected through the first connecting rod (401);

the main body of the picking piece (101) is a triangular pyramid body, and the picking piece further comprises a picking needle head (101 a) and a fixing head (101 b), wherein the picking needle head (101 a) and the fixing head (101 b) are respectively arranged at two ends of the main body of the picking piece (101);

the picking unit (100) further comprises a fixing frame (102), wherein two ends of the fixing frame (102) are respectively connected with the moving part (202), and the picking unit further comprises an outer bracket (102 a) and an inner bracket (102 b);

the outer support (102 a) and the inner support (102 b) are arranged in parallel, a needle hole (102 a-1) and a first fixing hole (102 a-2) are further formed in the outer support (102 a), the fixing head (101 b) is fixed on the inner support (102 b), and the picking needle head (101 a) penetrates through the needle hole (102 a-1);

the outer connecting block (402) is arranged on the outer bracket (102 a), and the telescopic block (302 b) is connected with the inner bracket (102 b);

the picking units (100) are uniformly arranged on the outer edges of the driving units (200) to form a drum-type picking structure, the telescopic units (300) at two ends are symmetrically arranged and connected through a second connecting rod (500), and a sealing plate (103) is arranged outside the drum-type picking unit, and is arranged at a gap between the adjacent picking units (100);

the device also comprises a supporting unit (600), a power unit (700), a conveying unit (800) and a walking unit (900);

the automatic picking device comprises a frame body (A), a supporting unit (600), a power unit (700) and a conveying unit (800), wherein the supporting unit (600) is arranged at the front end of the frame body (A), clamps the automatic picking device and can longitudinally lift, the power unit (700) comprises a transmission rotating shaft (701) and a driving wheel (702), the driving wheel (702) is connected with a driving wheel (202 b), the conveying unit (800) conveys objects picked by the picking unit (100), the walking unit (900) is arranged at the bottom of the frame body (A) and controls the walking of the frame body (A), and the walking unit (900) adopts a crawler walking mode;

the conveying unit (800) comprises a transverse conveying assembly (801) and a longitudinal conveying assembly (802), the transverse conveying assembly (801) is arranged at the bottom of the picking unit (100), the conveying unit further comprises a transverse conveying belt (801 a), a transverse conveying track (801 b) and a transverse pushing plate (801 c), the transverse pushing plate (801 c) is arranged on the transverse conveying belt (801 a) at intervals, and the transverse conveying belt (801 a) is positioned on the transverse conveying track (801 b);

the longitudinal conveying assembly (802) is arranged on one side of the transverse conveying assembly (801) and comprises a longitudinal conveying belt (802 a), a longitudinal conveying rail (802 b) and a longitudinal pushing plate (802 c), the longitudinal conveying rail (802 b) is located below one side of the transverse conveying rail (801 b), and picking objects fall onto the longitudinal conveying belt (802 a) from the transverse conveying belt (801 a) and are conveyed upwards by the longitudinal pushing plate (802 c).

2. The automatic picking machine of claim 1 wherein: comprises a containing unit (1000), wherein the containing unit (1000) comprises a vibrating screen box (1001), a guide box (1002) and a vibrating assembly (1003);

the vibrating screen boxes (1001) of a plurality of stacks are provided with storage spaces, the guide boxes (1002) are arranged between the vibrating screen boxes (1001) and the longitudinal conveying belts (802 a), picking objects falling on the longitudinal conveying belts (802 a) are guided into the vibrating screen boxes (1001) to be collected, and the vibrating assemblies (1003) are arranged below the vibrating screen boxes (1001).