CN108177813A - Automatic transporting boxing apparatus on a kind of Kiwi berry picking robot - Google Patents
Automatic transporting boxing apparatus on a kind of Kiwi berry picking robot Download PDFInfo
- Publication number
- CN108177813A CN108177813A CN201810165179.4A CN201810165179A CN108177813A CN 108177813 A CN108177813 A CN 108177813A CN 201810165179 A CN201810165179 A CN 201810165179A CN 108177813 A CN108177813 A CN 108177813A
- Authority
- CN
- China
- Prior art keywords
- fruit
- basket
- case
- kiwi berry
- picking robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B37/00—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged
- B65B37/005—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged by endless belts or chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B1/30—Devices or methods for controlling or determining the quantity or quality or the material fed or filled
- B65B1/32—Devices or methods for controlling or determining the quantity or quality or the material fed or filled by weighing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
- B65B25/046—Packaging fruit or vegetables in crates or boxes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
Abstract
The invention discloses automatic transporting boxing apparatus on a kind of Kiwi berry picking robot, it is related to mechanization in industrialized agriculture, automatic field, including extension type collection fruit basket, supporting mechanism, fruit conveyer belt, feed belt, fruit case transport rolling rod and control system.The scalable collection fruit basket is made of fixed structure and retractable structure, makes collection fruit basket that can be fixed on moving with it on end effector, so as to fulfill the undertaking of fruit；The fruit conveyer belt forms fruit boxing mechanism with feed belt, so as to fulfill the automatic boxing process of fruit；The fruit case transport rolling rod and control system composition fruit case carrier structure, process is unloaded so as to fulfill fruit case.Automatic transporting boxing apparatus is easy to operate on Kiwi berry picking robot, easy to use, it can be achieved that kiwifruit fruit is cased after being plucked after plucking and unmanned with automating, the raising picking fruit efficiency of fruit case loading and unloading.
Description
Technical field
The present invention is disclosed on a kind of Kiwi berry picking robot in fruit automatic conveying device more particularly to agricultural robot
Rear fruit automatic conveying device is plucked, belongs to agricultural machinery technological field.
Background technology
Kiwi berry supplier in China's is all the peasant household of some small scales and dispersion at present.Production scale is less than normal, for being permitted
Lack management enthusiasm for more peasant households due to cultivated area is small.Production of fruit small scale is brought of high cost, and industrialization level is low,
It is difficult to form the advantage of scale and scale and benefit, so as to hinder the comprehensive input of industry and development.Meanwhile China's Kiwi berry produces
Introduction, innovation, the research of supporting technology seriously lag behind the demand of industry development, these factors all restrict Kiwi berry industry
Development.
Carrying vanning after Kiwi berry picking is not only related to the fruit quality of Kiwi berry in itself, while also to Kiwi berry
The working efficiency important of picking robot, not only efficiency is low for the mode of the existing man power encasement largely taken
Under, and labor intensity is larger, operation is heavy, is unfavorable for realizing the automation of Kiwi berry production operation.Therefore, a Mi is developed
Monkey peach automatic transporting recrater is conducive to mitigate the labor intensity of orchard worker's operation.
Invention content
The problems such as in the prior art, the degree of automation is low, and fruit mechanical damage degree is higher, the purpose of the present invention exists
It is relatively artificial to carry in providing automatic conveying device on Kiwi berry picking robot, automation mechanized operation is realized, is substantially increased
Efficiency reduces cost of labor, reduces fruit damage ratio, for realize needle Kiwi berry pluck after the mechanization carried, automation and
Intelligence provides condition.
The technical scheme adopted by the invention to solve the technical problem is that：
Automatic transporting boxing apparatus on Kiwi berry picking robot, including extension type collection fruit basket, supporting mechanism, fruit recrater
Structure, fruit case carrying mechanism and control system.
It is characterized in that：The scalable collection fruit basket is made of fixed structure and retractable structure, and fruit basket top, which is equipped with, to hang
Hook makes collection fruit basket that can be fixed on moving with it on end effector, to realize the undertaking of fruit, it is made smoothly to fall into collection fruit
In basket.
The supporting mechanism is located at collection fruit basket lower section, by support fixed set fruit basket, realizes the company between collection fruit basket and vehicle body
It connects.
The fruit boxing mechanism includes servo motor, strip projected parts, fruit conveyer belt and feed belt, fruit transport
It takes the strip projected parts having and prevents fruit from directly falling and mechanical damage is caused in fruit case, while fruit conveyer belt is using flexible
Padded coaming lowers and makes scratch due to fruit and conveyer belt collide with during transport.Feed belt is driven by motor, and realization follows
Ring operates, and fruit conveyer belt is driven gently to transport fruit to fruit case.
The fruit case carrying mechanism is made of fruit case travelling belt, fruit case transport rolling rod, reaches setting value in fruit case weight
Afterwards, fruit case transport rolling rod is triggered by control system, forms tilt angled down, and fruit case is slid via rolling is mixed to ground.
The beneficial effects of the invention are as follows：
The present apparatus realizes that kiwifruit fruit, to the transportational process of fruit case, while can also be completed fruit case by picking end effector
By picking robot vehicle body up to the handling process on ground.Extension type collection fruit basket can be achieved to follow the work(of picking end effector
Can, reach the subsequent transportation after fruit, the neglected loading of fruit will not occur.Sensor realizes the real-time detection to fruit case weight,
Control system is precisely controlled whole device realization.Entire mechanism will be by that will collect fruit basket, fruit conveyer belt, feed belt, fruit case
Transport rolling rod and control system are integrated, to realize that kiwifruit fruit carries the mechanization of vanning, automation after plucking.The macaque
Automatic transporting boxing apparatus is realizes that Kiwi berry picks the high efficiency of harvest industry, intelligence provides item on peach picking robot
Part.
Description of the drawings
Fig. 1 is the overall structure diagram of automatic transporting boxing apparatus on Kiwi berry picking robot provided by the invention；
Fig. 2 is extension type collection fruit basket structure schematic diagram provided by the invention；
Fig. 3 is fruit boxing mechanism schematic diagram provided by the invention；
Fig. 4 is fruit case carrying mechanism schematic diagram provided by the invention；
Drawing reference numeral explanation：1-extension type Ji Guokuang mechanisms, 2-support construction, 3-fruit, 4-fruit of boxing mechanism case are carried
Mechanism, 5-fruit case hook, 6-extension type fruit box body, 7-servo motor, 8-conveyer belt strip projected parts, 9-fruit fortune
Defeated band, 10-feed belt, 11-picking robot wheel, 12-picking robot car body, 13-fruit case, the transport of 14-fruit case
Belt, 15-fruit case transport rolling rod.
Specific embodiment
Referring to Fig. 1, automatic transporting boxing apparatus includes extension type collection fruit basket, fruit on a kind of Kiwi berry picking robot
Boxing mechanism and fruit case carrying mechanism.
Extension type collection fruit basket ontology 6 is made of Wrinkled aluminum foil material, and a pair of of hook such as 5 is equipped in fruit frame side can will
Collection fruit basket hangs over end effector base side, ensures that the movement of end effector can be followed, fruit is via end effector
After picking, directly fall with collecting in fruit basket.
Fruit boxing mechanism is made of fruit conveyer belt 9, feed belt 10 and servo motor.Fruit is from extension type
Collect fruit basket lower end to leak out, fall into fruit boxing mechanism 3.Strip projected parts structure 7 on fruit conveyer belt can prevent fruit straight
It connects and falls among fruit case, feed belt 10 is driven by servo motor, the movement of fruit conveyer belt 9 is realized, so as to drive fruit
The transmission of conveyer belt 9, fruit make its cycle upward after falling into fruit case, continuous firing.
Fruit is persistently fallen among fruit case, and fruit case weight is detected in real time by the weight sensor for being mounted on its bottom,
When fruit weight reaches setting value, signal is sent out by control system, fruit case bottom support plate generates inclination, and fruit case is along by carrying
Fruit case transport rolling rod 15 in mechanism 4 is rolled to ground.
Automatic transporting boxing apparatus is realized on the basis of Kiwi berry picking robot on a kind of Kiwi berry picking robot
On will pluck after vanning and fruit case loading and unloading mechanization, automation.
Claims (5)
1. a kind of automatic transporting boxing apparatus on Kiwi berry picking robot, including extension type collection fruit basket, supporting mechanism, fruit
Boxing mechanism, fruit case carrying mechanism and control system.
2. automatic transporting boxing apparatus on Kiwi berry picking robot according to claim 1 it is characterized in that：It is described can
Flexible collection fruit basket is made of fixed structure and retractable structure, and fruit basket top is equipped with hook, makes collection fruit basket that can be fixed on end
With moving with it on actuator, to realize the undertaking of fruit, it is made smoothly to fall into collection fruit basket.
3. automatic transporting boxing apparatus on Kiwi berry picking robot according to claim 1 it is characterized in that：The branch
Support mechanism is located at collection fruit basket lower section, by support fixed set fruit basket, realizes the connection between collection fruit basket and vehicle body.
4. automatic transporting boxing apparatus on Kiwi berry picking robot according to claim 1 it is characterized in that：The fruit
Actual load draw box mechanism includes servo motor, strip projected parts, fruit conveyer belt and feed belt, the strip having on fruit conveyer belt
Protrusion prevents fruit from directly falling and mechanical damage is caused in fruit case, while fruit conveyer belt is lowered using flexible buffer material
Scratch is made due to fruit and conveyer belt collide with during transport, feed belt is driven by motor, realizes cycle operation, drives fruit
Real conveyer belt gently transports fruit to fruit case.
5. automatic transporting boxing apparatus on Kiwi berry picking robot according to claim 1 it is characterized in that：The fruit
Case carrying mechanism is made of fruit case travelling belt, fruit case transport rolling rod, after fruit case weight reaches setting value, fruit case transport rolling rod
It is triggered by control system, forms tilt angled down, fruit case is slid via rolling is mixed to ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810165179.4A CN108177813A (en) | 2018-02-27 | 2018-02-27 | Automatic transporting boxing apparatus on a kind of Kiwi berry picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810165179.4A CN108177813A (en) | 2018-02-27 | 2018-02-27 | Automatic transporting boxing apparatus on a kind of Kiwi berry picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108177813A true CN108177813A (en) | 2018-06-19 |
Family
ID=62552855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810165179.4A Pending CN108177813A (en) | 2018-02-27 | 2018-02-27 | Automatic transporting boxing apparatus on a kind of Kiwi berry picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108177813A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113767977A (en) * | 2021-09-13 | 2021-12-10 | 贵州省现代农业发展研究所 | Fresh kiwi fruit coating and irradiation synergistic fresh-keeping equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4520617A (en) * | 1982-01-11 | 1985-06-04 | J. I. Case Company | Cotton harvester |
| US4888941A (en) * | 1989-02-06 | 1989-12-26 | Gerber Curtis E | Fruit harvesting machine |
| CN104686072A (en) * | 2015-02-15 | 2015-06-10 | 广东省农业科学院蚕业与农产品加工研究所 | Device for picking up high-altitude litchis |
| CN107031911A (en) * | 2017-05-23 | 2017-08-11 | 西北农林科技大学 | Apple is transmitted and boxing mechanism |
-
2018
- 2018-02-27 CN CN201810165179.4A patent/CN108177813A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4520617A (en) * | 1982-01-11 | 1985-06-04 | J. I. Case Company | Cotton harvester |
| US4888941A (en) * | 1989-02-06 | 1989-12-26 | Gerber Curtis E | Fruit harvesting machine |
| CN104686072A (en) * | 2015-02-15 | 2015-06-10 | 广东省农业科学院蚕业与农产品加工研究所 | Device for picking up high-altitude litchis |
| CN107031911A (en) * | 2017-05-23 | 2017-08-11 | 西北农林科技大学 | Apple is transmitted and boxing mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113767977A (en) * | 2021-09-13 | 2021-12-10 | 贵州省现代农业发展研究所 | Fresh kiwi fruit coating and irradiation synergistic fresh-keeping equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180619 |