CN108419521A - A kind of novel apple-picking and sorting equipment and method - Google Patents

Abstract

The invention discloses a new type of apple picking and sorting device and method, which includes a walking apple basket, a telescopic rod group, a rotatable picking head, a sorting and collecting mechanism, a walking apple basket that can walk on the ground, a telescopic rod group and a walking The apple basket is hinged, and the end of the telescopic rod group is equipped with a rotatable picking head, and the walking apple basket is fixedly connected with the sorting and collecting mechanism. When working, push the walking apple basket under the apple tree, turn the telescopic pole group and adjust its length to make it close to the apples on the tree, grab the apples by adjusting the space angle of the rotatable picking head, pick them off, and Send it to the sorting and collecting mechanism to realize the sorting and collecting of large and small apples. The device uses 3UPS parallel mechanism, flexible bowl cover and pneumatic adsorption mechanism design to simulate the way of picking apples with the cooperation of human wrist and fingers, and realizes high-efficiency and non-damage apple picking. Orchard picking of fragile fruits such as peaches, apples, pears, etc.

Description

A novel apple picking and sorting device and method

technical field

The invention relates to a novel apple picking and sorting device and method, which is especially suitable for orchard picking of fruits that grow at high places and have fragile skins, such as peaches, apples, pears and the like.

Background technique

In 2014, my country's apple planting area and total output reached 2.22 million hectares and 38.49 million tons respectively, both accounting for 50% of the world's total output in that year, and showing an increasing trend year by year. In 2016, the total apple output reached 43.8 million tons. As the production of apples increases year by year, the workload of harvesting will also continue to increase.

Since the working environment of picking robots is changeable, mainly in unstructured environments, the requirements for intelligence are much higher than those of machines in other fields. Although high-end picking robots are easy to use, there are still many problems. For example, manipulators for picking apples Robotic grasping can cause damage to the skin and internal tissues of the apple. The turntable-type apple sweeping machine is simple, rough, and efficient, but it does a lot of damage to the apples. The Abundant Robotics company in the United States has developed a "vacuum cleaner" type picking machine, which is large in size and easy to inhale branches and leaves. These picking machines all have defects such as complex structure, high price, bulky and inconvenient to carry. Therefore, at present, most of the apple picking in my country is carried out by hand. However, apple trees usually grow vigorously, with tall crowns, and the tree height can reach 15 meters. Under cultivation conditions, the height is generally about 3 to 5 meters. During the picking process, there are problems such as climbing and picking danger, low efficiency, small picking range, and high labor intensity. , the picking cost accounts for about 50% to 70% of the cost, and the labor intensity and labor cost are relatively high. Moreover, because the skins of general apples, pears and other fruits are fragile and soft, improper picking can easily cause damage to the surface or interior of the fruit, resulting in rot in the subsequent storage and transportation of fresh fruits.

Therefore, there is an urgent need in the market for an economical, easy-to-operate and portable small apple-assisted manual picking mechanism to achieve the goals of reducing the burden on fruit farmers, improving work efficiency, energy saving and environmental protection, and reducing apple damage.

Contents of the invention

The purpose of the invention is to overcome the deficiencies of the prior art and provide a novel apple picking and sorting device and method.

A new type of apple picking and sorting device is characterized in that it includes a walking apple basket, a telescopic pole group, a rotatable picking head, a sorting and collecting mechanism,

One end of the telescopic rod group is hinged with the walking apple basket, and the other end of the telescopic rod group is equipped with a rotatable picking head, and the walking apple basket is fixedly connected with the sorting and collecting mechanism; the telescopic rod group includes a hinge connecting rod; the rotatable picking head includes a Hooke hinge , moving pair, spherical hinge, moving platform, driving motor, fixed platform, air valve, air pipe, flexible bowl cover, suction cup, the connecting rod is hinged through the hinge and the walking apple basket, the connecting rod has a telescopic function, and the rotatable picking head is located at the connecting The top of the rod; one end of several rod-shaped moving pairs is connected to the side of the fixed platform by a Hooke hinge, and the other end of several rod-shaped moving pairs is connected to the moving platform by a ball joint. The platform is fixedly connected, and the air valve connects several trachea, the end of the trachea is socketed with the suction cup, and the suction cup is evenly fixed on the wall of the soft bowl sleeve,

Preferably, the collection and sorting mechanism includes a connecting frame, an apple falling pipe, a pipe bracket, a fruit leaf separation pipe, a fan, a fan motor, a sieve plate, a sieve plate shaft, and a sieve plate motor;

One end of the connecting frame is fixedly connected to the walking collection basket, and the other end is fixedly connected to the pipe bracket. The pipe bracket fixedly supports the falling apple pipe. The end of the falling apple pipe is connected to the fruit leaf separation pipe. And the opening of one end is larger than the other end, the fan and the fan motor are installed on the frame, and the fan is facing the large opening of the fruit leaf separation pipe, the two ends of the sieve plate shaft are fixed on the frame through bearings, and one end is connected with the sieve plate motor, the sieve plate The shaft of the sieve plate and the sieve plate is fixedly connected; a round hole is opened on the sieve plate.

Preferably, the telescopic rod set also includes an adjustment handle, a reel, an adjustment rope, and a take-up wheel; the connecting rod is composed of a multi-section rod body, the adjustment handle is connected with the take-up wheel, and the take-up wheel is located at the bottom of the connecting rod end, the adjustment rope is wound between the take-up wheel and the winding wheel, the winding wheel is located on the connecting rod, and the rotation of the winding wheel drives the multi-section rod body of the connecting rod to expand and contract.

Preferably, there are some wheels at the bottom of the walking apple basket, which can walk on the ground.

Preferably, a laser fuse is provided on the outer wall of the soft bowl cover. When the apple handle is relatively thick, or other large branches and leaves interfere with picking, the laser fuse can be used to fuse the fruit handle with the visual system to assist extract.

Preferably, the diameter of the circular hole on the sieve plate is smaller than the diameter of the big apple but larger than the diameter of the small apple. Apples of various sizes can be screened out by setting screening mechanisms with different hole diameters, so as to play a sorting function.

Preferably, the number of the rod-shaped moving pairs is three; the number of the trachea is three; the number of suction cups is the same as that of the trachea.

The invention also discloses a picking and sorting method of the novel apple picking and sorting device, the steps of which are as follows:

1) Push the walking apple basket under the apple tree, and control the extension or contraction of the connecting rod, so that the rotatable picking head connected to the end of the telescopic rod group reaches the vicinity of the apples;

2) The drive motors drive the telescopic movements of the respective mobile pairs. Since the fixed platform is fixed at the end of the telescopic rod group, the movable platform realizes the flexible rotation similar to the human wrist, and the soft bowl sleeve fixed on the movable platform fits an apple of any shape;

4) When the soft bowl cover fits the apple, the air valve opens, the suction cup sucks air, provides negative pressure, sucks the apple, and then pulls down the telescopic rod group to realize the picking of the apple.

5) After the apples are picked by the rotatable picking head, put the apples into the falling apple pipe. When the apples reach the fruit-leaf separation pipe, the wind blown by the fan can blow out the scattered branches and leaves mixed in the apples through the small opening, and the apples can continue to fall from the pipe. When the apple falls with a big mouth, the wind force can also reduce the falling speed of the apple, so as to prevent the apple from falling damage due to excessive speed;

6) When the apples fall into the sieve plate in the frame, the sieve plate motor drives the sieve plate to swing up and down in a small range through the sieve plate shaft to realize the screening movement. There are dense circles with a diameter smaller than the diameter of the big apple but larger than the diameter of the small apple on the sieve plate Big apples can stay on the sieve plate, while small apples can be screened and fall into the walking apple basket, so as to play the function of sorting.

The apple picking and sorting device of the present invention can realize high-efficiency and non-damaging apple picking. This device uses 3UPS parallel mechanism, flexible bowl cover and pneumatic adsorption mechanism design to simulate the way of picking apples with the cooperation of human wrist and fingers. And use auxiliary laser to fuse the fruit handle, pipe to drop apples, wind deceleration to prevent apples from falling and damage, wind to separate apples and branches and leaves, sieve plate to screen apples of different sizes and other mechanical structures, through the combination design of sound, light, gas and electricity, It realizes the integrated operation of picking, collecting and sorting apples, especially suitable for orchard picking of fruits that grow at high altitudes and have fragile skins, such as peaches, apples, pears, etc.

Description of drawings

Fig. 1 is the overall schematic diagram of apple picking and sorting device of the present invention;

Fig. 2 is the schematic diagram of the telescoping rod group of apple picking and sorting device of the present invention;

Fig. 3 is the schematic diagram of the rotatable picking head of the apple picking and sorting device of the present invention;

Fig. 4 is the upper schematic diagram of the sorting and collecting mechanism of the apple picking and sorting device of the present invention;

Fig. 5 is the lower schematic diagram of the sorting and collecting mechanism of the apple picking and sorting device of the present invention;

Fig. 6 is the schematic diagram that the apple picking and sorting device of the present invention screens large and small apples;

In the figure, walking apple basket 1, telescopic rod group 2, rotatable picking head 3, sorting and collecting mechanism 4, hinge 21, adjusting handle 22, reel 23, adjusting rope 24, take-up reel 25, connecting rod 26 , Hooke hinge 31, moving pair 32, ball hinge 33, moving platform 34, driving motor 35, fixed platform 36, air valve 37, air pipe 38, soft bowl cover 39, laser fuse 310, suction cup 311, connecting frame 41, Falling apple pipeline 42, pipeline bracket 43, fruit leaf separation pipe 44, fan 45, fan motor 46, sieve plate 47, sieve plate shaft 48, sieve plate motor 49.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments of the specification.

As shown in Figure 1, in a specific embodiment of the present invention, apple picking and sorting device comprises walking apple basket 1, telescopic pole group 2, rotatable picking head 3, sorting and collecting mechanism 4, walking apple basket 1 bottom Four wheels are arranged, can walk on the ground, telescopic rod group 2 and walking apple basket 1 are hinged, and the end of rod group 2 is equipped with rotatable picking head 3, and walking apple basket 1 is fixedly connected with sorting and collecting mechanism 4. When working, push the walking apple basket 1 under the apple tree, turn the telescopic rod group 2 and adjust its length to make it close to the apples on the tree, grab the apples by adjusting the space angle of the rotatable picking head 3, and pick them down, and sent to the sorting and collecting mechanism 4 to realize the sorting and collecting of large and small apples.

As shown in Figure 2, in another specific embodiment of the present invention, the telescopic rod set 2 includes a hinge 21, an adjustment handle 22, a reel 23, an adjustment rope 24, a take-up reel 25, a connecting rod 26, and the connecting rod 26 is hinged with the walking apple basket 1 through the hinge 21, and the adjustment handle 22 is fixedly connected with the take-up wheel 25, as shown in the right side of Figure 2, the connecting rod 26 is divided into several sections, and the adjustment rope 24 is wound around the reel 23 and the take-up wheel. On the wire wheel 25, and pass through each connecting rod 26 in sequence, when working, the adjustment handle 22 and the take-up wheel 25 rotate clockwise and counterclockwise to realize the retracting operation of the adjusting rope, thereby driving the connecting rods 26 of different numbers to realize Corresponding elongation or contraction movement makes the rotatable picking head 3 that is connected at the end of the rod group reach near the apples.

As shown in Figure 3, in another specific embodiment of the present invention, the rotatable picking head 3 includes a Hooke hinge 31, a moving pair 32, a ball hinge 33, a moving platform 34, a drive motor 35, a fixed platform 36, and an air valve. 37. Trachea 38, flexible bowl cover 39, laser fuse 310, suction cup 311, the rod-shaped moving pair 32 on the three sides and the side of the fixed platform 36 are connected by a Hooke hinge 31, and the other side of the moving pair 32 is connected by a ball hinge 33 is connected with the moving platform 34, the driving motor 35 and the moving pair 32 can be driven and connected, the soft bowl cover 39 is fixedly connected with the moving platform 34, the air valve 37 is connected with three air pipes 38, and the end of the air pipe is socketed with three suction cups 311, and the suction cups are uniform. Be fixed on the wall surface of flexible bowl cover 39. When working, the drive motor 35 drives the telescopic movement of the respective mobile pairs 32. Since the fixed platform 36 is fixed at the end of the telescopic rod group 2, the compound movement of the branch chain of the three Hooke hinges—the mobile pair—the ball hinge and the reasonable adjustment rod Long, the moving platform 36 can realize the flexible rotation similar to the wrist of the human body, so the soft bowl cover 39 fixed on the moving platform 36 can fit apples of any shape. When the soft bowl cover 39 fits the apple, the air valve 37 opens, The three suction cups 311 inhale, provide great negative pressure, and suck the apple, so as to achieve the effect of holding the apple with human fingers, and then pull down the telescopic rod group 2 to realize the picking of the apple. When it is thick, or there are other large branches and leaves that interfere with the picking, the laser fuse 310 can be used to fuse the fruit stalk with the vision system to assist in picking.

As shown in Figures 4 and 5, in a specific embodiment of the present invention, the collection and sorting mechanism 4 includes a connecting frame 41, an apple falling pipe 42, a pipe bracket 43, a fruit leaf separation pipe 44, a fan 45, and a fan motor 46 , the sieve plate 47, the sieve plate shaft 48, the sieve plate motor 49, one end of the connecting frame 41 is fixedly connected with the walking collection basket 1, and the other end is fixedly connected with the pipeline bracket 43, and the pipeline bracket 43 fixedly supports the falling apple pipeline 42, the falling apple pipeline 42, the The end of the apple pipeline 42 is connected to the fruit leaf separation pipe 44, the fan 45 and the fan motor 46 are installed on the casing, and aligned with the fruit leaf separation pipe 44 nozzles, the two ends of the sieve plate shaft 48 are fixed on the casing by bearings, and One end is connected with the sieve plate motor 49, and the end of the sieve plate 47 is fixedly connected with the sieve plate shaft 48. The falling apple pipeline 42 and the fruit leaf separation pipe are all made of engineering resin, with light weight and high strength. Both ends are open, and the opening at one end of the fallen apple is larger than the opening of the fallen branches and leaves. When the apples fell into the fruit-leaf separating pipe 44, the fan 45 rotated. The scattered branches and leaves mixed in the apple can be blown out through the small mouth, while the apple can continue to fall from the big mouth. In addition, the wind force can also reduce the falling speed of the apple to prevent the apple from falling damage due to excessive speed. When the apple falls into the When the sieve plate 47 is in the frame, the sieve plate motor 49 drives the sieve plate to swing up and down in a small range through the sieve plate shaft 48 to realize the screening movement. The shape and connection details of the sieve plate part are shown in Figure 6. Dense round holes smaller than the diameter of the big apple but larger than the diameter of the small apple, the big apple can stay on the sieve plate 47, while the small apple can fall into the second layer of baskets through continuous sifting movement, and can be set by setting different round hole diameters. The screening mechanism screens out apples of various sizes, thereby performing the function of sorting.

Claims (7)

1. A novel apple picking and sorting device, characterized in that it comprises a walking apple basket (1), a telescopic rod group (2), a rotatable picking head (3), a sorting and collecting mechanism (4), One end of the telescopic rod group (2) is hinged to the walking apple basket (1), the other end of the telescopic rod group (2) is equipped with a rotatable picking head (3), and the walking apple basket (1) is fixedly connected to the sorting and collecting mechanism (4) ; Telescopic rod group (2) comprises hinge (21) connecting rod (26); The rotatable picking head (3) includes a Hooke hinge (31), a moving pair (32), a spherical hinge (33), a moving platform (34), a driving motor (35), a fixed platform (36), and an air valve (37) , trachea (38), soft bowl cover (39), suction cup (311), The connecting rod (26) is hinged with the walking apple basket (1) through the hinge (21), the connecting rod (26) has a telescopic function, and the rotatable picking head (3) is positioned at the top of the connecting rod (26); One end of several rod-shaped moving pairs (32) is connected to the side of the fixed platform (36) by Hooke hinges (31), and the other end of several rod-shaped moving pairs (32) is connected to the moving platform (34) by spherical hinges (33) , the driving motor (35) and the mobile pair (32) can be driven and connected, the flexible bowl cover (39) is fixedly connected with the moving platform (34), and the air valve (37) is connected to several air pipes (38), and the end of the air pipe is connected to the suction cup ( 311) socket connection, suction cup is evenly affixed on the wall surface of soft bowl cover (39). 2. The novel apple picking and sorting device according to claim 1, characterized in that the collection and sorting mechanism (4) includes a connecting frame (41), an apple falling pipeline (42), a pipeline bracket (43 ), fruit leaf separation pipe (44), fan (45), fan motor (46), sieve plate (47), sieve plate shaft (48), sieve plate motor (49); One end of the connecting frame (41) is fixedly connected with the walking collection basket (1), and the other end is fixedly connected with the pipeline bracket (43), and the pipeline bracket (43) fixedly supports the falling apple pipeline (42), and the falling apple pipeline (42) The end is connected to the fruit leaf separation pipe (44), and the fruit leaf separation pipe (44) two ends are all provided with openings, and one end opening is larger than the other end, the fan (45) and the fan motor (46) are installed on the basket, and the fan ( 45) Facing the large mouth of the fruit and leaf separation pipe (44), the two ends of the sieve plate shaft (48) are fixed on the basket through bearings, and one end is connected to the sieve plate motor (49), and the sieve plate (47) and the sieve plate shaft (48) connects firmly; Offer circular hole on the sieve plate (47). 3. The novel apple picking and sorting device according to claim 1, characterized in that the telescopic rod set (2) also includes an adjustment handle (22), a winding wheel (23), an adjustment rope (24) , take-up wheel (25); described connecting rod (26) is made up of multi-section rod body, and adjustment handle (22) links to each other with take-up wheel (25), and take-up wheel (25) is positioned at connecting rod (26) bottom, The adjustment rope (24) is wound between the take-up wheel (25) and the winding wheel (23), the winding wheel (23) is located on the connecting rod (26), and the rotating of the winding wheel (23) drives the connecting rod (26) The multi-section rod body is telescopic. 4. The novel apple picking and sorting device according to claim 1, characterized in that a laser fuse (310) is provided on the outer wall of the soft bowl cover (39). 5. The novel apple picking and sorting device according to claim 1, characterized in that the diameter of the round hole on the sieve plate (47) is smaller than the diameter of a large apple but larger than that of a small apple. 6. The novel apple picking and sorting device according to claim 1, characterized in that the number of said rod-shaped moving pairs (32) is 3; said trachea (38) has three; suction cups (311) The same number as the trachea. 7. a kind of picking and sorting method of novel apple picking and sorting device described in claim 1, is characterized in that the steps are as follows: 1) Push the walking apple basket (1) under the apple tree, and control the extension or contraction of the connecting rod (26), so that the rotatable picking head (3) connected to the end of the telescopic rod group reaches near the apples; 2) The drive motor (35) drives the telescopic movement of the respective mobile pairs (32). Since the fixed platform (36) is fixed at the end of the telescopic rod group (2), the movable platform (36) realizes the flexible rotation similar to the human wrist, and is fixed on the The soft bowl cover (39) on the moving platform (36) fits apples of any shape; 4) When the soft bowl cover (39) fits the apple, the air valve (37) opens, the suction cup (311) sucks air, provides negative pressure, sucks the apple, and then pulls down the telescopic rod group (2) to realize the apple's extract, 5) After the rotatable picking head (3) picks the apples, put the apples into the falling apple pipe (42). Scattered branches and leaves are blown out through the small mouth, while the apples can continue to fall from the big mouth, and the wind can also reduce the falling speed of the apples, preventing the apples from falling damage due to excessive speed; 6) When apples fall into the sieve plate (47) in the frame, the sieve plate motor (49) drives the sieve plate to swing up and down in a small range through the sieve plate shaft (48) to realize the screening movement. The sieve plate (47) is provided with a diameter Dense round holes smaller than the diameter of the big apples but larger than the diameter of the small apples, the big apples can stay on the sieve plate (47), while the small apples can be screened and fall into the walking apple basket (1), thus playing the function of sorting .