CN108142097A - A kind of control system of shaddock picker - Google Patents
A kind of control system of shaddock picker Download PDFInfo
- Publication number
- CN108142097A CN108142097A CN201711425525.XA CN201711425525A CN108142097A CN 108142097 A CN108142097 A CN 108142097A CN 201711425525 A CN201711425525 A CN 201711425525A CN 108142097 A CN108142097 A CN 108142097A
- Authority
- CN
- China
- Prior art keywords
- control module
- shaddock
- feed hopper
- driving motor
- electrically connected
- 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.)
- Granted
Links
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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Adjustment And Processing Of Grains (AREA)
- Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
Abstract
The invention belongs to fruit tree harvesting technique fields, more particularly to a kind of control system of shaddock picker, include the distance measuring sensor of at least three circumferentially spaced settings, the signal output end of the distance measuring sensor is electrically connected with data processing module, the signal output end of data processing module is electrically connected with control module, and control module is electrically connected with collecting the feed hopper driving motor above basket；Data processing module can calculate the overall size of shaddock according to the signal that each distance measuring sensor acquires, and the dimension information is sent to control module, the dimension information received and the size threshold of different size shaddock stored in memory are compared by the control module, and control signal is sent out to feed hopper driving motor according to comparison result, control feed hopper is run to above the basket lattice of storage dimension shaddock.The present invention realizes the automatic subfield of different building shape shaddock by sensor identification technology, simplifies shaddock later stage screening process, improves the income of farmer.
Description
Technical field
The invention belongs to fruit tree harvesting technique fields, and in particular to a kind of control system of shaddock picker.
Background technology
Shaddock is one of fruit most commonly seen in people's daily life, and shaddock is deep by vast because of its sweet sharp and clear mouthfeel
Consumer's likes, therefore the plantation of shaddock was also promoted in recent years.Shaddock compared with other fruit, it is most apparent the characteristics of be
Body volume and weight are larger, this also brings certain difficulty to the picking of shaddock, and the height of grapefruit will generally be far above
The height of normal adult, therefore the method for tradition picking shaddock is that a string bag is fixed in front of bamboo pole, first by shaddock pocket in the string bag
In, it then firmly pulls, so as to which shaddock be made to come off from branch.The defects of this Softening, is：Due to the weight of shaddock
It is larger, therefore once it is only capable of one to two shaddocks of picking, it is necessary to the string bag is retracted, the shaddock in the string bag is taken out, such one
Come time-consuming and laborious.In addition, the prior art will not sieve the build of shaddock when picking shaddock, often big and small
Shaddock put together, wait until later stage artificial screening or directly sold with relatively mild price batch, so led indirectly
The profit margin of shaddock is caused to decline, the income of farmer is impacted.
Invention content
Labor intensity can be reduced the object of the present invention is to provide one kind, improve picking efficiency, and shaddock can be carried out
The control system of the shaddock picker of screening.
To achieve the above object, the present invention provides following technical schemes：A kind of control system of shaddock picker, should
Shaddock picker includes lantern ring, picking lever and collects basket, and the lantern ring is mounted on the front end of picking lever, and picking rod rear end has
The position held for human hand；The top for collecting basket is equipped with feed hopper；Guiding cylinder is made by a flexible material in the lantern ring
It is connected with the feed hopper；The clamp system for clamping shaddock is equipped with below the lantern ring；The clamp system includes one
Shape stent, circumferentially uniform intervals are provided at least two clamping parts on the inner wall of the tubular stent；Outside the clamping part
Side is equipped with push rod, and the push rod is through to the outside of tubular stent, and the outer end of the push rod is equipped with guide wheel, the axis of the guide wheel
Parallel with the axis of tubular stent, the outside bundle of the tubular stent is with a circle bracing wire, one end and the tubular branch of the bracing wire
The outer wall of frame is affixed, and bracing wire bypasses the guide wheel of each push rod outer end successively, and the bracing wire other end is passed through to be laid along picking lever length direction
Line cover and be connected to picking rod rear end setting driving unit；Guide rod is additionally provided on the outside of the clamping part, the guide rod is through to
Tubular stent outer and the pilot hole with being opened up on tubular stent, which are formed, to be slidably matched, and the outer end of the guide rod is equipped with flange, institute
It is the compression spring being arranged between flange and tubular stent outer wall to state Flexible element；The driving unit is included after being arranged on picking lever
The reel at end and the servo motor for reel to be driven to rotate are equipped on the picking lever for the position that human hand is held and open
Dynamic button；The front end of the picking lever be equipped with a connecting portion, the connecting portion include half ring support and with semi-circular branch
Affixed connecting rod in the middle part of frame, the lantern ring are cut with scissors by the both ends of two articulated shaft symmetrically arranged on outer ring surface and semi-circular stent
It connects, the connecting rod and picking lever are affixed；The articulated shaft of told lantern ring is located at the top of lantern ring center of gravity；The collection basket is by partition board
Separate in multiple chambers, the feed hopper is collecting activity setting above basket, feed hopper is enable alternately to move to each chamber
Top, each chamber are arranged in "-" type, and the collection basket top edge is provided with an electric cylinders, and the feed hopper is mounted on should
On the sliding block of electric cylinders；
Control system includes the distance measuring sensor of at least three circumferentially spaced settings and data processing module, control
Module and memory, the signal output end of the distance measuring sensor are electrically connected with data processing module, the data processing module
Signal output end be electrically connected with control module, control module with collect basket above feed hopper driving motor be electrically connected；It is described
Data processing module can calculate the overall size of shaddock, and the dimension information is sent out according to the signal that each distance measuring sensor acquires
It send to control module, the control module is by the dimension information received and the size of different size shaddock stored in memory
Threshold value is compared, and sends out control signal to feed hopper driving motor according to comparison result, and control feed hopper is run to storage
Above the basket lattice of dimension shaddock.
The technical effects of the invention are that：The present invention realizes the automatic of different building shape shaddock by sensor identification technology
Subfield simplifies shaddock later stage screening process, improves the income of farmer.
Description of the drawings
Fig. 1 is the functional block diagram for the control system that the embodiment of the present invention is provided；
Fig. 2 is the dimensional structure diagram for the picker system that the embodiment of the present invention is provided；
Fig. 3 is the decomposition texture schematic diagram for the picker system that the embodiment of the present invention is provided；
Fig. 4 is the dimensional structure diagram for the collection device that the embodiment of the present invention is provided；
Fig. 5 is the dimensional structure diagram for the picker that the embodiment of the present invention is provided；
Fig. 6 is the bottom view for the clamp system that the embodiment of the present invention is provided；
Fig. 7 is the bottom view of clamp system clamped condition that the embodiment of the present invention is provided.
Specific embodiment
The present invention is described in detail below in conjunction with attached drawing.
As illustrated in figs. 2-7, a kind of shaddock picker collects basket 20 including a lantern ring 10 and a picking lever 11 and one,
The lantern ring 10 is mounted on the front end of picking lever 11, and 11 rear end of picking lever has the position held for human hand；The collection basket 20
Top be equipped with feed hopper 21；
The lantern ring 10 is made guiding cylinder 30 by a flexible material and is connected with the feed hopper 21.
The shaddock picked can be collected by the way that cylinder 30 is guided to fall directly into basket 20, avoided and manually taken shaddock, reduce
Labor intensity, improves picking efficiency.
Further, as shown in Fig. 5,6,7,10 lower section of lantern ring is equipped with the clamp system for clamping shaddock.It is preferred that
, the clamp system includes a tubular stent 18, on the inner wall of the tubular stent 18 circumferentially uniform intervals be provided with to
Few two clamping parts 12, diametrically reciprocate setting of the clamping part 12 along tubular stent 18, the lantern ring 10 or picking lever
11 are equipped with the driving unit for clamping part 12 to be driven to move back and forth.Bullet is equipped between the clamping part 12 and tubular stent 18
Property unit, Flexible element fitted to be and clamping part 12 can be generated along 18 radially outer elastic force of tubular stent, the clamping
The outside in portion 12 is equipped with push rod 14, and the push rod 14 is through to the outside of tubular stent 18, and the outer end of the push rod 14, which is equipped with, leads
Wheel 141, the axis of the guide wheel 141 is parallel with the axis of tubular stent 18, and the outside bundle of the tubular stent 18 is with a circle
Bracing wire 17, one end of the bracing wire 17 and the outer wall of tubular stent 18 are affixed, and bracing wire 17 bypasses leading for each 14 outer end of push rod successively
Wheel 141,17 other end of bracing wire pass through the line laid along 11 length direction of picking lever set 171 and are connected to the setting of 11 rear end of picking lever
Driving unit.12 outside of clamping part is additionally provided with guide rod 15, and the guide rod 15 is through to 18 outside of tubular stent and and tubular
The pilot hole composition opened up on stent 18 is slidably matched, and the outer end of the guide rod 15 is equipped with flange, and the Flexible element is setting
Compression spring 16 between 18 outer wall of flange and tubular stent.The driving unit includes the reel for being arranged on 11 rear end of picking lever
112 and the servo motor 113 for reel 112 to be driven to rotate, the position held for human hand on the picking lever 11 be equipped with
Start button 111, the start button 111 and servo motor 113 are electrically connected with control module, when start button 111 is to control
When molding block sends out enabling signal, control module control servo motor 113 starts.The front end of the picking lever 11 is equipped with a connection
Portion 13, the connecting portion 13 include half ring support and the connecting rod affixed with semi-circular mid-stent, the lantern ring 10
It is hinged by the both ends of two articulated shaft symmetrically arranged on outer ring surface and semi-circular stent, the connecting rod is solid with picking lever 11
It connects；The articulated shaft of told lantern ring 10 is located at the top of 10 center of gravity of lantern ring, with this come ensure no matter picking lever 11 how pitching, it is described
Lantern ring 10 can all keep vertical posture always.
Further, circumferentially uniform intervals are provided at least three distance measuring sensors on the inner ring surface of the lantern ring 10
101, the signal output end of the distance measuring sensor 101 is electrically connected with data processing module, and the data processing module being capable of root
The profile size of shaddock is calculated according to the signal of each distance measuring sensor 101 acquisition, data processing module is electrically connected with control module.Institute
It states collection basket 20 by partition board 22 to be separated in multiple chambers, the feed hopper 21 is collecting activity setting above basket 20, making feed hopper
21 can alternately move to above each chamber, and the feed hopper 21 is driven by driving mechanism, the driving mechanism and control mould
Block is electrically connected, and the overall size control feed hopper 21 for the different shaddocks that the control module is sent according to data processing module moves
To above different chambers.Each chamber is arranged in "-" type, and the driving mechanism is to collect 20 top edge of basket to set
One electric cylinders 23, the feed hopper 21 are mounted on the sliding block 232 of the electric cylinders 23, driving motor 231 and the control of the electric cylinders 23
Module is electrically connected.As shown in figure 3, it is detachable connection between the feed hopper 21 and guiding cylinder 30.The feed hopper 21
Feed inlet outer ring surface is equipped with card convex 211, and the lower end of the guiding cylinder 30 is equipped with a connection ring 31, is opened up in the connection ring 31
There is the limiting spin slot 311 to cooperation with the card convex 211.The guiding cylinder 30 is made of tubular fabric or flexible bellow.Institute
It states and collects 20 bottom of basket equipped with idler wheel 201, in order to be moved freely in orchard.
As shown in Figure 1, the control system of above-mentioned shaddock picker is present embodiments provided, including at least three circumferentially
Spaced distance measuring sensor 101 and data processing module 42, control module 40 and memory 43, the ranging sensing
The signal output end of device 101 is electrically connected with data processing module 42, the signal output end of the data processing module 42 and control
Module 40 is electrically connected, and control module 40 is electrically connected with collecting the feed hopper driving motor 231 of 20 top of basket；The data processing mould
Block 42 can calculate the overall size of shaddock, and the dimension information is sent to according to the signal that each distance measuring sensor 101 acquires
Control module 40, the ruler of different size shaddock that the control module 40 will store in the dimension information received and memory 43
Very little threshold value is compared, and sends out control signal to feed hopper driving motor 231 according to comparison result, and control feed hopper 21 is run
To above the basket lattice of storage dimension shaddock.
Further, the pressure sensor 41 for detecting clamp system clamping force, the pressure sensor 41 are further included
Signal output end be electrically connected with control module 40, the control module 40 is electrically connected with clamp system driving motor 113, picking
Clamp system start button 111 on bar 11 is electrically connected with control module 40；It is sent out when control module 40 receives start button 111
During the enabling signal gone out, control module 40 controls clamp system driving motor 113 to start, and at the same time, control module 40 is real-time
Receive the pressure signal arrived that pressure sensor 41 detects, when the pressure value that detects reach stored in memory 43 it is default most
During big pressure, control module 40 controls clamp system driving motor 113 to stop.
Further, when control module 40 detects that the enabling signal of start button 111 disappears, control module 40 is first
Judge whether feed hopper 21 has been run to target location according to the operating parameter of 21 driving motor 231 of feed hopper, if feed hopper 21
It has run to target location, then control module 40 directly controls the reversion of clamp system driving motor 113 and resets, if feed hopper 21 is still
Not running to target location, then control module 40 controls clamp system driving motor 113 that feed hopper 21 is waited for reach target location
Invert reset again afterwards
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of shaddock picker, which includes lantern ring, picking lever and collects basket, and the lantern ring is mounted on and adopts
The front end of bar is plucked, picking rod rear end has the position held for human hand；The top for collecting basket is equipped with feed hopper；The lantern ring
Guiding cylinder is made by a flexible material to connect with the feed hopper；The clamping machine for clamping shaddock is equipped with below the lantern ring
Structure；The clamp system includes a tubular stent, and circumferentially uniform intervals are provided at least two on the inner wall of the tubular stent
A clamping part；The outside of the clamping part is equipped with push rod, and the push rod is through to the outside of tubular stent, the outer end of the push rod
Equipped with guide wheel, the axis of the guide wheel is parallel with the axis of tubular stent, and the outside bundle of the tubular stent encloses bracing wire with one,
One end of the bracing wire and the outer wall of tubular stent are affixed, and bracing wire bypasses the guide wheel of each push rod outer end, the bracing wire other end successively
The driving unit of picking rod rear end setting is covered and is connected to across the line laid along picking lever length direction；On the outside of the clamping part also
Equipped with guide rod, the guide rod is through to tubular stent outer and the composition of the pilot hole with being opened up on tubular stent is slidably matched, institute
The outer end for stating guide rod is equipped with flange, and the Flexible element is the compression spring being arranged between flange and tubular stent outer wall；The drive
Moving cell includes the reel for being arranged on picking rod rear end and the servo motor for reel to be driven to rotate, the picking lever
On for human hand hold position be equipped with start button；The front end of the picking lever is equipped with a connecting portion, and the connecting portion includes one
Semi-circular stent and the connecting rod affixed with semi-circular mid-stent, the lantern ring pass through on outer ring surface symmetrically arranged two
The both ends of articulated shaft and semi-circular stent are hinged, and the connecting rod and picking lever are affixed；The articulated shaft of told lantern ring is located at lantern ring
The top of center of gravity；The collection basket is separated by partition board in multiple chambers, and the feed hopper is collecting activity setting above basket, make into
Hopper can be moved to alternately above each chamber, and each chamber is arranged in "-" type, the collection basket top edge setting
There are an electric cylinders, the feed hopper is mounted on the sliding block of the electric cylinders；
It is characterized in that：Control system includes the distance measuring sensor of at least three circumferentially spaced settings and data processing mould
Block, control module and memory, the signal output end of the distance measuring sensor are electrically connected with data processing module, at the data
The signal output end of reason module is electrically connected with control module, and control module is electrically connected with collecting the feed hopper driving motor above basket
It connects；The data processing module can calculate the overall size of shaddock according to the signal that each distance measuring sensor acquires, and by the ruler
Very little information is sent to control module, and the control module is by the dimension information received and the different size shaddock stored in memory
The size threshold of son is compared, and sends out control signal, control feed hopper fortune to feed hopper driving motor according to comparison result
Above row to the basket lattice of storage dimension shaddock.
2. shaddock picker according to claim 1, it is characterised in that：It further includes to detect clamp system clamping force
Pressure sensor, the signal output end of the pressure sensor is electrically connected with control module, the control module and clamping machine
Structure driving motor is electrically connected, and the clamp system start button on picking lever is electrically connected with control module；When control module receives
During the enabling signal that start button is sent out, control module control clamp system driving motor starts, at the same time, control module
The pressure signal arrived of real-time reception pressure sensor detection, when the pressure value that detects reach stored in memory it is default most
During big pressure, control module control clamp system driving motor stops.
3. shaddock picker according to claim 2, it is characterised in that：When control module detects opening for start button
During dynamic blackout, control module judges whether feed hopper has been run to mesh according to the operating parameter of feed hopper driving motor first
Cursor position, if feed hopper has been run to target location, control module directly controls the reversion of clamp system driving motor and resets, if
Feed hopper is not yet run to target location, then control module control clamp system driving motor waits for feed hopper to reach target location
Invert reset again afterwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711425525.XA CN108142097B (en) | 2017-12-25 | 2017-12-25 | Control system of device is picked to shaddock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711425525.XA CN108142097B (en) | 2017-12-25 | 2017-12-25 | Control system of device is picked to shaddock |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108142097A true CN108142097A (en) | 2018-06-12 |
| CN108142097B CN108142097B (en) | 2021-05-18 |
Family
ID=62462576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711425525.XA Expired - Fee Related CN108142097B (en) | 2017-12-25 | 2017-12-25 | Control system of device is picked to shaddock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108142097B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112121922A (en) * | 2020-10-14 | 2020-12-25 | 郑州知风电气科技有限公司 | Dandelion seed collection system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191016692A (en) * | 1910-07-13 | 1911-07-06 | Fred Randall | An Improved Appliance for Gathering Fruit. |
| CN2860045Y (en) * | 2005-11-04 | 2007-01-24 | 邓潔西 | Fruit picking classifier |
| CN104412779A (en) * | 2013-09-06 | 2015-03-18 | 张传生 | Tomato harvesting, sorting and transporting device |
| CN104982155A (en) * | 2015-07-08 | 2015-10-21 | 衢州乐创节能科技有限公司 | Rod type orange picking device |
| CN107046940A (en) * | 2017-06-20 | 2017-08-18 | 山东省果树研究所 | A kind of apple-picking self-grading device and its application |
-
2017
- 2017-12-25 CN CN201711425525.XA patent/CN108142097B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191016692A (en) * | 1910-07-13 | 1911-07-06 | Fred Randall | An Improved Appliance for Gathering Fruit. |
| CN2860045Y (en) * | 2005-11-04 | 2007-01-24 | 邓潔西 | Fruit picking classifier |
| CN104412779A (en) * | 2013-09-06 | 2015-03-18 | 张传生 | Tomato harvesting, sorting and transporting device |
| CN104982155A (en) * | 2015-07-08 | 2015-10-21 | 衢州乐创节能科技有限公司 | Rod type orange picking device |
| CN107046940A (en) * | 2017-06-20 | 2017-08-18 | 山东省果树研究所 | A kind of apple-picking self-grading device and its application |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112121922A (en) * | 2020-10-14 | 2020-12-25 | 郑州知风电气科技有限公司 | Dandelion seed collection system |
| CN112121922B (en) * | 2020-10-14 | 2024-05-14 | 郑州知风电气科技有限公司 | Dandelion seed collection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108142097B (en) | 2021-05-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109156161A (en) | A kind of fertile mandarin orange picking robot of intelligence | |
| CN207124939U (en) | A kind of tree-shaped flower seed automatic collecting device | |
| CN108781762B (en) | Efficient strawberry picking robot and picking method | |
| CN108781735A (en) | A kind of pepper harvesting machine | |
| CN108142097A (en) | A kind of control system of shaddock picker | |
| CN115013661A (en) | Anoectochilus roxburghii growth detection system combining image processing technology | |
| CN108093856A (en) | A kind of shaddock picker system | |
| CN108311403A (en) | A kind of shaddock sorting collection device | |
| CN209234310U (en) | A kind of fruit picker | |
| CN201142851Y (en) | Net for collecting multiple Chinese chestnut plants | |
| CN209376231U (en) | A kind of fruit tree high-altitude picker | |
| CN112753368A (en) | Safflower picking device | |
| CN208462389U (en) | A kind of manual power assisting pineapple picking machine | |
| CN108184421A (en) | A kind of shaddock picker | |
| CN208540445U (en) | Peanut picks up machine for picking fruits picker | |
| CN207692417U (en) | Rotary forest seed collection device | |
| CN216254040U (en) | Blueberry harvester | |
| CN207978386U (en) | Collaboration fruits picking mechanical hand is grabbed in a kind of suction | |
| CN109051923A (en) | A kind of high-efficient semiautomatic arched shed winder is put away sports equipment all-in-one machine and its control method | |
| CN205142900U (en) | Wonderful machine of multipurpose tealeaves | |
| CN208648286U (en) | A kind of high-efficient semiautomatic arched shed winder is put away sports equipment all-in-one machine | |
| CN208191376U (en) | Mobile citrus picker | |
| CN208175397U (en) | A kind of integrated electric fruit of picking collection twists device and picking | |
| CN209268057U (en) | A kind of automation Chinese date picker | |
| CN208323682U (en) | A kind of bamboo material braiding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210430 Address after: 226600 group 2, Haigang village, laobagang Binhai New Area (jiaoxie town), Hai'an City, Nantong City, Jiangsu Province Applicant after: Nantong li'anjian Intelligent Technology Co.,Ltd. Address before: 246003 Changqing Industrial Park, Yingjiang District, Anqing, Anhui Applicant before: ANHUI LANXI ENGINEERING TECHNOLOGY DEVELOPMENT Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210518 Termination date: 20211225 |