CN108142097B - Control system of device is picked to shaddock - Google Patents
Control system of device is picked to shaddock Download PDFInfo
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- CN108142097B CN108142097B CN201711425525.XA CN201711425525A CN108142097B CN 108142097 B CN108142097 B CN 108142097B CN 201711425525 A CN201711425525 A CN 201711425525A CN 108142097 B CN108142097 B CN 108142097B
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- control module
- rod
- cylindrical support
- picking
- driving motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
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- Environmental Sciences (AREA)
- Adjustment And Processing Of Grains (AREA)
- Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
Abstract
The invention belongs to the technical field of fruit tree harvesting, and particularly relates to a control system of a grapefruit picking device, which comprises at least three distance measuring sensors arranged at intervals along the circumferential direction, wherein the signal output ends of the distance measuring sensors are electrically connected with a data processing module, the signal output end of the data processing module is electrically connected with a control module, and the control module is electrically connected with a feed hopper driving motor above a collecting basket; the data processing module can calculate the overall dimension of shaddock according to the signal that each range finding sensor gathered to with this size information routing to control module, control module compares received size information and the size threshold value of the different specification shaddock of storing in the memory, and sends control signal to feeder hopper driving motor according to the comparative result, controls the feeder hopper and moves to the basket check top of depositing corresponding specification shaddock. According to the invention, automatic classification of the grapefruits of different body types is realized through a sensor identification technology, the later screening process of the grapefruits is simplified, and the income of farmers is improved.
Description
Technical Field
The invention belongs to the technical field of fruit tree harvesting, and particularly relates to a control system of a grapefruit picking device.
Background
The grapefruit is one of the most common fruits in daily life, and is favored by consumers due to sweet, crisp and tasty mouthfeel, so that the planting of the grapefruit is popularized in recent years. Compared with other fruits, the shaddock is most obviously characterized in that the volume and the weight of the individual shaddock are large, certain difficulty is brought to picking of the shaddock, and the height of a shaddock tree is generally far higher than that of a normal adult, so that a net bag is fixed in front of a bamboo pole in the traditional method for picking the shaddock, the shaddock is firstly placed in the net bag, and then the net bag is pulled forcibly, so that the shaddock falls off from branches. The defects of the picking mode are as follows: because the weight of shaddock is great, consequently only can pick one to two shaddocks once, just need withdraw the string bag, take out the shaddock in the string bag, so waste time and energy. In addition, the size of the grapefruit cannot be screened when the grapefruit is picked in the prior art, the grapefruit with the size being large and small is often placed together, and the grapefruit is screened in later period manually or sold in batches directly at moderate price, so that the profit rate of the grapefruit is indirectly reduced, and the income of a grower is influenced.
Disclosure of Invention
The invention aims to provide a control system of a grapefruit picking device, which can reduce labor intensity, improve picking efficiency and screen grapefruit.
In order to achieve the purpose, the invention provides the following technical scheme: a control system of a grapefruit picking device comprises a lantern ring, a picking rod and a collecting basket, wherein the lantern ring is arranged at the front end of the picking rod, and the rear end of the picking rod is provided with a part for being held by hands; a feed hopper is arranged above the collecting basket; the lantern ring is communicated with the feed hopper through a guide cylinder made of flexible materials; a clamping mechanism for clamping the grapefruit is arranged below the lantern ring; the clamping mechanism comprises a cylindrical support, and at least two clamping parts are uniformly arranged on the inner wall of the cylindrical support at intervals along the circumferential direction; a push rod is arranged on the outer side of the clamping part, the push rod penetrates to the outer part of the cylindrical support, a guide wheel is arranged at the outer end of the push rod, the axis of the guide wheel is parallel to the axis of the cylindrical support, a circle of pull wire is bound on the outer side of the cylindrical support, one end of the pull wire is fixedly connected with the outer wall of the cylindrical support, the pull wire sequentially bypasses the guide wheel at the outer end of each push rod, and the other end of the pull wire penetrates through a wire sleeve distributed along the length direction of the picking rod and is connected to a driving unit arranged at the rear; the outer side of the clamping part is also provided with a guide rod, the guide rod penetrates through the outer side of the cylindrical support and is in sliding fit with a guide hole formed in the cylindrical support, a flange is arranged at the outer end of the guide rod, and the elastic unit is a pressure spring arranged between the flange and the outer wall of the cylindrical support; the driving unit comprises a winding drum arranged at the rear end of the picking rod and a servo motor used for driving the winding drum to rotate, and a starting button is arranged at the part of the picking rod for being held by a hand; the front end of the picking rod is provided with a connecting part, the connecting part comprises a semi-annular bracket and a connecting rod fixedly connected with the middle part of the semi-annular bracket, the lantern ring is hinged with two ends of the semi-annular bracket through two hinged shafts symmetrically arranged on the outer annular surface, and the connecting rod is fixedly connected with the picking rod; the hinged shaft of the lantern ring is positioned above the gravity center of the lantern ring; the collecting basket is divided into a plurality of chambers by partition plates, the feeding hoppers are movably arranged above the collecting basket, so that the feeding hoppers can alternately move to the positions above the chambers, the chambers are arranged in a straight line, the edge of the upper part of the collecting basket is provided with an electric cylinder, and the feeding hoppers are arranged on a sliding block of the electric cylinder;
the control system comprises at least three distance measuring sensors arranged at intervals along the circumferential direction, a data processing module, a control module and a memory, wherein the signal output end of each distance measuring sensor is electrically connected with the data processing module, the signal output end of the data processing module is electrically connected with the control module, and the control module is electrically connected with a feed hopper driving motor above the collecting basket; the data processing module can calculate the overall dimension of shaddock according to the signal that each range finding sensor gathered to with this size information routing to control module, control module compares received size information and the size threshold value of the different specification shaddock of storing in the memory, and sends control signal to feeder hopper driving motor according to the comparative result, controls the feeder hopper and moves to the basket check top of depositing corresponding specification shaddock.
The invention has the technical effects that: according to the invention, automatic classification of the grapefruits of different body types is realized through a sensor identification technology, the later screening process of the grapefruits is simplified, and the income of farmers is improved.
Drawings
FIG. 1 is a functional block diagram of a control system provided by an embodiment of the present invention;
fig. 2 is a schematic perspective view of a picking system provided by an embodiment of the present invention;
fig. 3 is a schematic view of an exploded configuration of a picking system provided by an embodiment of the present invention;
FIG. 4 is a schematic perspective view of a collection device according to an embodiment of the present invention;
fig. 5 is a schematic perspective view of a picking apparatus according to an embodiment of the present invention;
FIG. 6 is a bottom view of a clamping mechanism provided by an embodiment of the present invention;
fig. 7 is a bottom view of the clamping mechanism in the clamped state as provided by the embodiment of the present invention.
Detailed Description
The present invention is described in detail below with reference to the attached drawings.
As shown in fig. 2-7, a grapefruit picking device comprises a collar 10, a picking rod 11 and a collecting basket 20, wherein the collar 10 is arranged at the front end of the picking rod 11, and the rear end of the picking rod 11 is provided with a part for being held by hands; a feed hopper 21 is arranged above the collecting basket 20;
the collar 10 communicates with the feed hopper 21 through a guide cylinder 30 made of a flexible material.
The shaddock that picks down can directly fall into collection basket 20 in through guide cylinder 30, avoided the manual work to get the shaddock, reduced intensity of labour, improved and picked efficiency.
Further, as shown in fig. 5, 6 and 7, a clamping mechanism for clamping the grapefruit is arranged below the collar 10. Preferably, the clamping mechanism comprises a cylindrical support 18, at least two clamping parts 12 are arranged on the inner wall of the cylindrical support 18 at uniform intervals along the circumferential direction, the clamping parts 12 are arranged along the radial direction of the cylindrical support 18 in a reciprocating manner, and a driving unit for driving the clamping parts 12 to reciprocate is arranged on the lantern ring 10 or the picking rod 11. An elastic unit is arranged between the clamping part 12 and the cylindrical support 18, the elastic unit is assembled to generate an outward elastic force along the radial direction of the cylindrical support 18 on the clamping part 12, a push rod 14 is arranged on the outer side of the clamping part 12, the push rod 14 penetrates through the outer part of the cylindrical support 18, a guide wheel 141 is arranged at the outer end of the push rod 14, the axis of the guide wheel 141 is parallel to the axis of the cylindrical support 18, a circle of stay wire 17 is bound on the outer side of the cylindrical support 18, one end of the stay wire 17 is fixedly connected with the outer wall of the cylindrical support 18, the stay wire 17 sequentially bypasses the guide wheel 141 at the outer end of each push rod 14, and the other end of the stay wire 17 penetrates through a wire sleeve 171 arranged along the length direction of the picking rod 11 to a driving unit arranged at. A guide rod 15 is further arranged on the outer side of the clamping portion 12, the guide rod 15 penetrates through the outer side of the cylindrical support 18 and is in sliding fit with a guide hole formed in the cylindrical support 18, a flange is arranged at the outer end of the guide rod 15, and the elastic unit is a pressure spring 16 arranged between the flange and the outer wall of the cylindrical support 18. The driving unit comprises a bobbin 112 arranged at the rear end of the picking rod 11 and a servo motor 113 used for driving the bobbin 112 to rotate, a starting button 111 is arranged at a position on the picking rod 11 for being held by a hand of a user, the starting button 111 and the servo motor 113 are both electrically connected with the control module, and when the starting button 111 sends a starting signal to the control module, the control module controls the servo motor 113 to start. The front end of the picking rod 11 is provided with a connecting part 13, the connecting part 13 comprises a semi-annular bracket and a connecting rod fixedly connected with the middle part of the semi-annular bracket, the lantern ring 10 is hinged with two ends of the semi-annular bracket through two hinged shafts symmetrically arranged on the outer annular surface, and the connecting rod is fixedly connected with the picking rod 11; the hinge axis of the collar 10 is located above the centre of gravity of the collar 10 to ensure that the collar 10 remains in a vertical position regardless of the pitch of the picker bar 11.
Further, be provided with at least three range sensor 101 along the even interval of circumference on the interior anchor ring of lantern ring 10, range sensor 101's signal output part is connected with the data processing module electricity, the data processing module can calculate the profile size of shaddock according to the signal that each range sensor 101 gathered, and the data processing module is connected with the control module electricity. Collecting basket 20 is separated by baffle 22 and is a plurality of cavities, feed hopper 21 sets up in the activity of collecting basket 20 top, makes the motion to each cavity top that feed hopper 21 can be alternated, feed hopper 21 is driven by actuating mechanism, actuating mechanism is connected with the control module electricity, control module moves to different cavity tops according to the profile size control feed hopper 21 of the different shaddocks that data processing module sent. The chambers are arranged in a straight line, the driving mechanism is an electric cylinder 23 arranged at the upper edge of the collecting basket 20, the feed hopper 21 is installed on a sliding block 232 of the electric cylinder 23, and a driving motor 231 of the electric cylinder 23 is electrically connected with the control module. As shown in FIG. 3, the feed hopper 21 is detachably connected with the guide cylinder 30. The feed inlet outer ring surface of the feed hopper 21 is provided with a clamping protrusion 211, the lower end of the guide cylinder 30 is provided with a connecting ring 31, and the connecting ring 31 is provided with a limiting rotary groove 311 matched with the clamping protrusion 211. The guide cylinder 30 is made of a cylindrical fabric or a flexible corrugated tube. The bottom of the collecting basket 20 is provided with rollers 201 so as to be freely moved in the orchard.
As shown in fig. 1, the present embodiment provides a control system of the above grapefruit picking device, including at least three distance measuring sensors 101 arranged at intervals along the circumferential direction, and a data processing module 42, a control module 40 and a memory 43, wherein a signal output end of the distance measuring sensor 101 is electrically connected to the data processing module 42, a signal output end of the data processing module 42 is electrically connected to the control module 40, and the control module 40 is electrically connected to a feeding hopper driving motor 231 above the collecting basket 20; data processing module 42 can calculate the overall dimension of shaddock according to the signal that each range finding sensor 101 gathered to with this size information transmission to control module 40, control module 40 compares received size information and the size threshold value of the different specification shaddock of storing in memory 43, and sends control signal to feeder hopper driving motor 231 according to the comparative result, controls feeder hopper 21 and moves to the basket check top of depositing corresponding specification shaddock.
Further, the picking rod picking device further comprises a pressure sensor 41 for detecting the clamping force of the clamping mechanism, the signal output end of the pressure sensor 41 is electrically connected with the control module 40, the control module 40 is electrically connected with a clamping mechanism driving motor 113, and a clamping mechanism starting button 111 on the picking rod 11 is electrically connected with the control module 40; when the control module 40 receives the start signal from the start button 111, the control module 40 controls the clamping mechanism driving motor 113 to start, and at the same time, the control module 40 receives the pressure signal detected by the pressure sensor 41 in real time, and when the detected pressure value reaches the preset maximum pressure stored in the memory 43, the control module 40 controls the clamping mechanism driving motor 113 to stop.
Further, when the control module 40 detects that the start signal of the start button 111 disappears, the control module 40 first determines whether the feeding hopper 21 has moved to the target position according to the operation parameters of the driving motor 231 of the feeding hopper 21, if the feeding hopper 21 has moved to the target position, the control module 40 directly controls the clamping mechanism driving motor 113 to perform reverse reset, and if the feeding hopper 21 has not moved to the target position, the control module 40 controls the clamping mechanism driving motor 113 to perform reverse reset after waiting for the feeding hopper 21 to reach the target position.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. A control system of a grapefruit picking device comprises a lantern ring, a picking rod and a collecting basket, wherein the lantern ring is arranged at the front end of the picking rod, and the rear end of the picking rod is provided with a part for being held by hands; a feed hopper is arranged above the collecting basket; the lantern ring is communicated with the feed hopper through a guide cylinder made of flexible materials; a clamping mechanism for clamping the grapefruit is arranged below the lantern ring; the clamping mechanism comprises a cylindrical support, and at least two clamping parts are uniformly arranged on the inner wall of the cylindrical support at intervals along the circumferential direction; a push rod is arranged on the outer side of the clamping part, the push rod penetrates to the outer part of the cylindrical support, a guide wheel is arranged at the outer end of the push rod, the axis of the guide wheel is parallel to the axis of the cylindrical support, a circle of pull wire is bound on the outer side of the cylindrical support, one end of the pull wire is fixedly connected with the outer wall of the cylindrical support, the pull wire sequentially bypasses the guide wheel at the outer end of each push rod, and the other end of the pull wire penetrates through a wire sleeve distributed along the length direction of the picking rod and is connected to a driving unit arranged at the rear; a guide rod is further arranged on the outer side of the clamping part, the guide rod penetrates through the outer side of the cylindrical support and is in sliding fit with a guide hole formed in the cylindrical support, a flange is arranged at the outer end of the guide rod, an elastic unit is arranged between the clamping part and the cylindrical support, and the elastic unit is a pressure spring arranged between the flange and the outer wall of the cylindrical support; the driving unit comprises a winding drum arranged at the rear end of the picking rod and a servo motor used for driving the winding drum to rotate, and a starting button is arranged at the part of the picking rod for being held by a hand; the front end of the picking rod is provided with a connecting part, the connecting part comprises a semi-annular bracket and a connecting rod fixedly connected with the middle part of the semi-annular bracket, the lantern ring is hinged with two ends of the semi-annular bracket through two hinged shafts symmetrically arranged on the outer annular surface, and the connecting rod is fixedly connected with the picking rod; the hinged shaft of the lantern ring is positioned above the gravity center of the lantern ring; the collecting basket is divided into a plurality of chambers by partition plates, the feeding hoppers are movably arranged above the collecting basket, so that the feeding hoppers can alternately move to the positions above the chambers, the chambers are arranged in a straight line, the edge of the upper part of the collecting basket is provided with an electric cylinder, and the feeding hoppers are arranged on a sliding block of the electric cylinder;
the method is characterized in that: the control system comprises at least three distance measuring sensors arranged at intervals along the circumferential direction, a data processing module, a control module and a memory, wherein the signal output end of each distance measuring sensor is electrically connected with the data processing module, the signal output end of the data processing module is electrically connected with the control module, and the control module is electrically connected with a feed hopper driving motor above the collecting basket; the data processing module can calculate the overall dimension of shaddock according to the signal that each range finding sensor gathered to with this size information routing to control module, control module compares received size information and the size threshold value of the different specification shaddock of storing in the memory, and sends control signal to feeder hopper driving motor according to the comparative result, controls the feeder hopper and moves to the basket check top of depositing corresponding specification shaddock.
2. The control system of a grapefruit picking device according to claim 1, characterized in that: the picking rod is characterized by further comprising a pressure sensor for detecting the clamping force of the clamping mechanism, the signal output end of the pressure sensor is electrically connected with the control module, the control module is electrically connected with the clamping mechanism driving motor, and a clamping mechanism starting button on the picking rod is electrically connected with the control module; when the control module receives a starting signal sent by the starting button, the control module controls the clamping mechanism driving motor to start, meanwhile, the control module receives a pressure signal detected by the pressure sensor in real time, and when the detected pressure value reaches a preset maximum pressure stored in the memory, the control module controls the clamping mechanism driving motor to stop.
3. The control system of a grapefruit picking device according to claim 2, characterized in that: when the control module detects that a starting signal of the starting button disappears, the control module firstly judges whether the feeding hopper runs to the target position according to the running parameters of the feeding hopper driving motor, if the feeding hopper runs to the target position, the control module directly controls the clamping mechanism driving motor to reversely reset, and if the feeding hopper does not run to the target position, the control module controls the clamping mechanism driving motor to wait for the feeding hopper to reach the target position and then reversely reset.
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 CN108142097A (en) | 2018-06-12 |
| CN108142097B true CN108142097B (en) | 2021-05-18 |
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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 |
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| Country | Link |
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| CN (1) | CN108142097B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112121922B (en) * | 2020-10-14 | 2024-05-14 | 郑州知风电气科技有限公司 | Dandelion seed collection system |
Family Cites Families (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 |
| CN104982155B (en) * | 2015-07-08 | 2016-10-05 | 衢州乐创节能科技有限公司 | A kind of rod-type mandarin orange device for picking |
| CN107046940B (en) * | 2017-06-20 | 2019-11-15 | 山东省果树研究所 | A kind of apple-picking self-grading device and its application |
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2017
- 2017-12-25 CN CN201711425525.XA patent/CN108142097B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN108142097A (en) | 2018-06-12 |
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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. |
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Granted publication date: 20210518 Termination date: 20211225 |
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| CF01 | Termination of patent right due to non-payment of annual fee |