CN108419521A - A kind of novel apple-picking and sorting equipment and method - Google Patents
A kind of novel apple-picking and sorting equipment and method Download PDFInfo
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- CN108419521A CN108419521A CN201810469365.7A CN201810469365A CN108419521A CN 108419521 A CN108419521 A CN 108419521A CN 201810469365 A CN201810469365 A CN 201810469365A CN 108419521 A CN108419521 A CN 108419521A
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- sieve plate
- basket
- walking
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 235000011430 Malus pumila Nutrition 0.000 claims abstract description 111
- 235000015103 Malus silvestris Nutrition 0.000 claims abstract description 111
- 244000141359 Malus pumila Species 0.000 claims abstract description 85
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 210000000707 wrist Anatomy 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000012216 screening Methods 0.000 claims description 7
- 241000486406 Trachea Species 0.000 claims description 3
- 210000003437 trachea Anatomy 0.000 claims description 3
- 241000220225 Malus Species 0.000 claims 23
- 238000000926 separation method Methods 0.000 claims 1
- 210000002615 epidermis Anatomy 0.000 abstract description 5
- 235000014443 Pyrus communis Nutrition 0.000 abstract description 4
- 240000001987 Pyrus communis Species 0.000 abstract description 4
- 239000002420 orchard Substances 0.000 abstract description 4
- 244000144730 Amygdalus persica Species 0.000 abstract description 3
- 235000006040 Prunus persica var persica Nutrition 0.000 abstract description 3
- 238000004088 simulation Methods 0.000 abstract description 2
- 230000002195 synergetic effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 244000081841 Malus domestica Species 0.000 description 3
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- 238000004519 manufacturing process Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 241000288105 Grus Species 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000021022 fresh fruits Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
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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
- A01D46/22—Baskets or bags attachable to the picker
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/28—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/46—Constructional details of screens in general; Cleaning or heating of screens
- B07B1/4609—Constructional details of screens in general; Cleaning or heating of screens constructional details of screening surfaces or meshes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B4/00—Separating solids from solids by subjecting their mixture to gas currents
- B07B4/02—Separating solids from solids by subjecting their mixture to gas currents while the mixtures fall
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B9/00—Combinations of apparatus for screening or sifting or for separating solids from solids using gas currents; General arrangement of plant, e.g. flow sheets
Abstract
The invention discloses a kind of novel apple-pickings and sorting equipment and method, including walking apple basket, telescopic rod group, rotatable picking head, sorting collecting mechanism, walking apple basket can walk on the ground, telescopic rod group and walking apple basket are hinged, telescopic rod group end is equipped with rotatable picking head, and walking apple basket is fixedly connected with sorting collecting mechanism.When work, walking apple basket is shifted onto under apple tree, telescopic rod group is rotated and adjusts its length, make its apple on tree, captures apple by adjusting the space angle of rotatable picking head, taken, and it is sent into sorting collecting mechanism, realize the categorised collection to big griggles.The device by the mechanism design simulation of 3UPS parallel institutions, flexible bowl set and pneumatic suction human wrist and finger synergistic effect win apple in the way of, realize high efficiency, undamaged apple-picking, orchard picking suitable for fruit grown to eminence and epidermis fragility, such as peach, apple, pear.
Description
Technical field
The present invention relates to a kind of novel apple-picking and sorting equipment and method, it is being particularly suitable for growing eminence and
The fruit of epidermis fragility, such as peach, apple, pear orchard picking.
Background technology
China's cultivated area of the apple in 2014 and total output respectively reach 2,220,000 hectares and 38,490,000 tons, account for current year generation
The 50% of boundary's total output, and in growth trend year by year, apple total output in 2016 is up to 43,800,000 tons.Year by year with apple production
Rise, workload when harvesting also will constantly rise.
Since the working environment of picking robot is changeable, based on non-structure environment, therefore degree is required to intelligentized
Far above other field machine, and high-end picking robot is although handy, but still remains many problems, for example, manipulator
The crawl of apple-picking machine can cause apple epidermis and interior tissue to damage.Rotating disc type sweeps apple machine, simple and crude, efficiency
Height, but it is bigger for the damage of apple.The Abundant Robotics companies in the U.S. have developed a kind of " dust catcher " formula
Machine is picked, volume is big, and is easy sucking branches and leaves.These picking machines all have that complicated, expensive, body is huge not
The defects of Portable belt, therefore, China's apple-picking mostly uses greatly the mode of picked by hand and carries out at present.But apple tree usually grows
Vigorous, tree crown is tall and big, sets height up to 15 meters, generally high 3~5 meters or so under cultivation condition, is adopted in the presence of climbing in picking process
The problems such as dangerous, efficiency is low, picking range is small, labor intensity is big is plucked, picking expense accounts for about the 50%~70% of cost, labour
Intensity and labour cost are higher.Moreover, because general apple, pear and other fruits epidermis are fragile, soft, inappropriate picking is easily made
At the damage of fruit surface or inside, fresh fruit is caused to occur to rot in subsequent transporting procedures.
Therefore, it is badly in need of a economical and practical, easy to operation and carrying small-sized apple indirect labor picking mechanical in the market
Device, achieving the purpose that mitigate orchard worker's human body burden, improving working efficiency, energy conservation and environmental protection and reducing apple damage.
Invention content
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of novel apple-picking and sorting equipment and side
Method.
A kind of novel apple-picking and sorting equipment, it is characterised in that including walking apple basket, telescopic rod group, rotatable
Picking head, sorting collecting mechanism,
Telescopic rod group one end and walking apple basket are hinged, and the telescopic rod group other end is equipped with rotatable picking head, apple of walking
Basket is fixedly connected with sorting collecting mechanism；Telescopic rod group includes articulation piece connecting rod；Rotatable picking head includes Hooke's hinge, movement
Pair, flexural pivot, moving platform, driving motor, fixed platform, air valve, tracheae, soft bowl set, sucker, connecting rod pass through articulation piece and walking apple
Fruit basket is hinged, and there is connecting rod Telescopic, rotatable picking head to be located at connecting rod top；One end of several rod-shaped prismatic pairs and
Fixed platform side is hinged with Hooke, and the other end of several rod-shaped prismatic pairs is connected with flexural pivot with moving platform, driving motor and shifting
Dynamic pair can be drivingly connected, and soft bowl set and moving platform are connected, and air valve connects several tracheaes, and tracheae end is socketed with sucker, sucker
It is uniformly fixed on the wall surface of soft bowl set,
Preferably, the collection mechanism for sorting includes link, falls apple pipeline, conduit bracket, fruit leaf separating pipe, wind
Fan, fan electromotor, sieve plate, sieve plate axis, sieve plate motor；
One end of link and walking collect basket and are connected, and the other end and conduit bracket are connected, and conduit bracket is fixed support and fallen
Apple pipeline falls apple pipe end and connects fruit leaf separating pipe, and fruit leaf separating pipe both ends are equipped with opening, and one end open is more than separately
One end, fan and fan electromotor are mounted on basket, and the big mouth of fan face fruit leaf separating pipe, and the both ends of sieve plate axis pass through bearing
It is fixed on basket, and one end is connect with sieve plate motor, sieve plate and sieve plate axis are connected；Circular hole is offered on sieve plate.
Preferably, the telescopic rod group further includes release handle, reel, adjusting rope, take-up pulley；The connecting rod by
The multistage body of rod forms, and release handle is connected with take-up pulley, and take-up pulley is located at connecting rod bottom end, and adjusting rope is around in take-up pulley and reel
Between, reel is located in connecting rod, and reel rotation drives the multistage body of rod of connecting rod flexible.
Preferably, several wheels are arranged at walking apple basket bottom, can walk on the ground.
Preferably, soft bowl set outer wall is equipped with laser blown device, and when encountering, apple handle is thicker, or has other big
When branches and leaves interference is won, vision system can be coordinated to fuse to carpopodium using laser blown device, auxiliary is won.
Preferably, the Circularhole diameter on the sieve plate is less than Big Apple diameter but is more than griggles diameter.It can be by setting
The sorting mechanism for setting different Circularhole diameters filters out the apple of all size, to play the function of sorting.
Preferably, the quantity of the rod-shaped prismatic pair is 3；The tracheae has three；Sucker number is identical as tracheae.
The invention also discloses a kind of picking of novel apple-picking and sorting equipment and method for sorting, steps
It is as follows：
1) walking apple basket is shifted onto under apple tree, the elongation of control connecting rod or contraction, makes to be connected to telescopic rod group end
The rotatable picking head at end reaches near apple；
2) driving motor drives respective prismatic pair stretching motion, since fixed platform is fixed on telescopic rod group end, moves flat
Platform realizes the flexible rotating of similar human body wrist, is connected in the apple of the soft bowl set fitting arbitrary shape on moving platform；
4) when soft bowl covers fitting apple, air valve is opened, and sucker air-breathing provides negative pressure, apple is sucked, then will stretch
Bar group pulls down, and realizes winning for apple,
5) after rotatable picking head picking to apple, apple is put into and falls apple pipeline, when apple reaches fruit leaf separating pipe
When, the wind of fan blowout can be blown out the branches and leaves at random being mingled in apple by osculum, and apple can then continue from great Kou
It falls, wind-force can also play the role of reducing apple speed of fall, prevent apple from causing to fall damage since speed is excessive；
6) when apple falls into the sieve plate in frame, sieve plate motor drives sieve plate to swing by a small margin up and down by sieve plate axis, real
Now screening movement, is provided with intensive circular hole of the diameter less than Big Apple diameter but more than griggles diameter on sieve plate, and Big Apple can be with
It rests on sieve plate, and griggles can then be fallen on inside walking apple basket by screening, to play the function of sorting.
High efficiency, undamaged apple-picking may be implemented in the apple-picking and sorting equipment of the present invention, and the present apparatus utilizes
The mechanism design simulation of 3UPS parallel institutions, flexible bowl set and pneumatic suction human wrist and finger synergistic effect win apple
Mode, and being fused carpopodium using auxiliary laser, pipeline falls apple, wind-force slow down anti-apple fall it is impaired, wind-force detach apple and
Branches and leaves, sieve plate sieve the mechanical structures such as different size apple, are designed by the combination of sound, light, gas, electricity, realize apple
Win, collect, sort integration operation, be particularly suitable for fruit grown to eminence and epidermis fragility, as peach, apple,
The orchard picking of pear etc..
Description of the drawings
Fig. 1 is the general illustration of apple-picking of the present invention and sorting equipment；
Fig. 2 is apple-picking of the present invention and the schematic diagram of sorting equipment telescopic rod group；
Fig. 3 is apple-picking of the present invention and the schematic diagram of the rotatable picking head of sorting equipment；
Fig. 4 is the top schematic diagram that apple-picking of the present invention and sorting equipment sort collecting mechanism；
Fig. 5 is the lower part schematic diagram that apple-picking of the present invention and sorting equipment sort collecting mechanism；
Fig. 6 is apple-picking of the present invention and the schematic diagram of the big griggles screening of sorting equipment；
In figure, walking apple basket 1, rotatable picking head 3, sorting collecting mechanism 4, articulation piece 21, is adjusted telescopic rod group 2
Handle 22, adjusting rope 24, take-up pulley 25, connecting rod 26, Hooke's hinge 31, prismatic pair 32, flexural pivot 33, moving platform 34, drives reel 23
Dynamic motor 35, air valve 37, tracheae 38, soft bowl set 39, laser blown device 310, sucker 311, link 41, falls apple at fixed platform 36
Fruit pipeline 42, conduit bracket 43, fruit leaf separating pipe 44, fan 45, fan electromotor 46, sieve plate 47, sieve plate axis 48, sieve plate motor
49。
Specific implementation mode
The present invention will be further described with embodiment with reference to the accompanying drawings of the specification.
As shown in Figure 1, in one particular embodiment of the present invention, apple-picking and sorting equipment include walking apple basket
1, telescopic rod group 2, rotatable picking head 3, sorting collecting mechanism 4, there are four wheels for 1 bottom of walking apple basket, can be on ground
Upper walking, telescopic rod group 2 and walking apple basket 1 are hinged, and 2 end of bar group is equipped with rotatable picking head 3, walking apple basket 1 and point
Collecting mechanism 4 is picked to be fixedly connected.When work, walking apple basket 1 is shifted onto under apple tree, rotation telescopic rod group 2 simultaneously adjusts its length
Degree makes its apple on tree, captures apple by adjusting the space angle of rotatable picking head 3, taken, and send
Enter to sort collecting mechanism 4, realizes the categorised collection to big griggles.
As shown in Fig. 2, in another specific embodiment of the present invention, telescopic rod group 2 includes articulation piece 21, release handle
22, reel 23, adjusting rope 24, take-up pulley 25, connecting rod 26, connecting rod 26 is hinged by articulation piece 21 and walking apple basket 1,
Release handle 22 and take-up pulley 25 are connected, and as illustrated at the right side of figure 2, it is several sections that connecting rod 26, which is divided, and adjusting rope 24 is wrapped in reel
23 and take-up pulley 25 on, and sequence is by every section of connecting rod 26, when work, passes through the suitable inverse time of release handle 22 and take-up pulley 25
The retractable operation to adjusting rope is realized in needle rotation, to drive the connecting rod 26 of different joint numbers to realize corresponding elongation or shrink
Movement makes the rotatable picking head 3 for being connected to bar group end reach near apple.
As shown in figure 3, in another specific embodiment of the present invention, rotatable picking head 3 includes Hooke's hinge 31, movement
Pair 32, flexural pivot 33, moving platform 34, driving motor 35, fixed platform 36, air valve 37, tracheae 38, soft bowl set 39, laser blown device
310, sucker 311, the rod-shaped prismatic pair 32 of three sides and 36 side of fixed platform are connected with Hooke's hinge 31, prismatic pair 32 it is another
Side is connected with flexural pivot 33 and moving platform 34, and driving motor 35 and prismatic pair 32 can be drivingly connected, and soft bowl set 39 and moving platform 34 are solid
Even, air valve 37 connects three tracheaes 38, and tracheae end is socketed with three suckers 311, and sucker is uniformly fixed in the wall of soft bowl set 39
On face.When work, driving motor 35 drives 32 stretching motion of respective prismatic pair, since fixed platform 36 is fixed on telescopic rod group 2
End, by the branch compound motions of three Hooke's hinge --- prismatic pair --- flexural pivots and rationally adjustment bar is long, moving platform
36 may be implemented the flexible rotating of similar human body wrist, thus are connected in the set of the soft bowl on moving platform 36 39 and can be bonded arbitrary shape
The apple of shape, when 39 fitting apple of soft bowl set, air valve 37 is opened, and three 311 air-breathings of sucker provide great negative pressure, by apple
Fruit is sucked, and to achieve the effect that the anthropoid finger of class holds apple, then pulls down telescopic rod group 2, realizes plucking for apple
It takes, when encountering, apple handle is thicker, or when having other big branches and leaves interference to win, and vision system can be coordinated to use laser blown device
310 pairs of carpopodiums fuse, and auxiliary is won.
As shown in Figure 4,5, in one particular embodiment of the present invention, mechanism for sorting 4 is collected to include link 41, fall apple
Fruit pipeline 42, conduit bracket 43, fruit leaf separating pipe 44, fan 45, fan electromotor 46, sieve plate 47, sieve plate axis 48, sieve plate motor
49, one end of link 41 and walking collect basket 1 and are connected, and the other end and conduit bracket 43 are connected, and conduit bracket 43 fixes support
Apple pipeline 42 is fallen, 42 end of apple pipeline is fallen and connects fruit leaf separating pipe 44, fan 45 and fan electromotor 46 on the basket, and
It is directed at 44 nozzle of fruit leaf separating pipe, the both ends of sieve plate axis 48 are fixed on by bearing on basket, and one end connects with sieve plate motor 49
It connects, the end of sieve plate 47 and sieve plate axis 48 are connected.It falls apple pipeline 42 and fruit leaf separating pipe is all made of engineering resin manufacture, quality
Gently, intensity is high, and when work, after the picking to apple of rotatable picking head 3, apple is put by rotating platform falls apple pipeline 42, fruit
Leaf separating pipe both ends are all open, and fall the opening of the opening more than cladoptosis leaf of apple one end, when apple drops into fruit leaf separating pipe
When 44, fan 45 rotates, since fruit quality is bigger than branches and leaves, inertia bigger, so, the wind that fan 45 is blown out can will be in apple
The branches and leaves at random being mingled with are blown out by osculum, and apple can then continue to fall from great Kou, in addition, wind-force can also play reduction
The effect of apple speed of fall prevents apple from causing to fall damage since speed is excessive, when apple falls into the sieve plate 47 in frame
When, sieve plate motor 49 by sieve plate axis 48 drive sieve plate swing by a small margin up and down, realize screening movement, the shape of sieve plate part and
Joint detail is as shown in fig. 6, be provided with intensive circular hole of the diameter less than Big Apple diameter but more than griggles diameter, greatly on sieve plate 47
Apple can rest on sieve plate 47, and griggles can then be fallen on by constantly screening movement in second layer basket, Ke Yitong
It crosses and the sorting mechanisms of different Circularhole diameters is set filters out the apple of all size, to play the function of sorting.
Claims (7)
1. a kind of novel apple-picking and sorting equipment, it is characterised in that including walking apple basket (1), telescopic rod group (2), can
Picking head (3), sorting collecting mechanism (4) are rotated,
Telescopic rod group (2) one end and walking apple basket (1) are hinged, and telescopic rod group (2) other end is equipped with rotatable picking head (3),
Walking apple basket (1) is fixedly connected with sorting collecting mechanism (4)；
Telescopic rod group (2) includes articulation piece (21) connecting rod (26)；
Rotatable picking head (3) includes Hooke's hinge (31), prismatic pair (32), flexural pivot (33), moving platform (34), driving motor
(35), fixed platform (36), air valve (37), tracheae (38), soft bowl set (39), sucker (311),
Connecting rod (26) is hinged by articulation piece (21) and walking apple basket (1), and connecting rod (26) has Telescopic, rotatably
Picking head (3) is located at connecting rod (26) top；
One end and fixed platform (36) side of several rod-shaped prismatic pairs (32) are connected with Hooke's hinge (31), several rod-shaped prismatic pairs
(32) the other end is connected with flexural pivot (33) and moving platform (34), and driving motor (35) and prismatic pair (32) can be drivingly connected, soft
Bowl set (39) and moving platform (34) are connected, and air valve (37) connects several tracheaes (38), and tracheae end is socketed with sucker (311),
Sucker is uniformly fixed on the wall surface of soft bowl set (39).
2. novel apple-picking and sorting equipment according to claim 1, it is characterised in that the collection sorter
Structure (4) includes link (41), falls apple pipeline (42), conduit bracket (43), fruit leaf separating pipe (44), fan (45), fan
Motor (46), sieve plate (47), sieve plate axis (48), sieve plate motor (49)；
One end of link (41) and walking collect basket (1) and are connected, and the other end and conduit bracket (43) are connected, conduit bracket (43)
Fixed support falls apple pipeline (42), falls apple pipeline (42) end and connects fruit leaf separating pipe (44), fruit leaf separating pipe (44) both ends
It is equipped with opening, and one end open is more than the other end, fan (45) and fan electromotor (46) are mounted on basket, and fan (45)
Face fruit leaf separating pipe (44) big mouth, the both ends of sieve plate axis (48) are fixed on by bearing on basket, and one end and sieve plate motor
(49) it connects, sieve plate (47) and sieve plate axis (48) are connected；Sieve plate offers circular hole on (47).
3. novel apple-picking and sorting equipment according to claim 1, it is characterised in that the telescopic rod group (2)
Further include release handle (22), reel (23), adjusting rope (24), take-up pulley (25)；The connecting rod (26) is by the multistage body of rod
Composition, release handle (22) are connected with take-up pulley (25), and take-up pulley (25) is located at connecting rod (26) bottom end, and adjusting rope (24) is around in receipts
Between line wheel (25) and reel (23), reel (23) is located in connecting rod (26), and reel (23) rotation drives connecting rod
(26) the multistage body of rod is flexible.
4. novel apple-picking and sorting equipment according to claim 1, it is characterised in that the soft bowl set (39)
Outer wall is equipped with laser blown device (310).
5. novel apple-picking and sorting equipment according to claim 1, it is characterised in that on the sieve plate (47)
Circularhole diameter is less than Big Apple diameter but is more than griggles diameter.
6. novel apple-picking and sorting equipment according to claim 1, it is characterised in that the rod-shaped prismatic pair
(32) quantity is 3；The tracheae (38) has three；Sucker (311) number is identical as tracheae.
7. the picking of novel apple-picking and sorting equipment and method for sorting described in a kind of claim 1, it is characterised in that step
It is rapid as follows：
1) walking apple basket (1) is shifted onto under apple tree, control connecting rod (26) is extended or shunk, and makes to be connected to telescopic rod group
The rotatable picking head (3) of end reaches near apple；
2) driving motor (35) drives respective prismatic pair (32) stretching motion, since fixed platform (36) is fixed on telescopic rod group
(2) end, moving platform (36) realize the flexible rotating of similar human body wrist, soft bowl set (39) patch being connected on moving platform (36)
Close the apple of arbitrary shape；
4) when soft bowl set (39) is bonded apple, air valve (37) is opened, and sucker (311) air-breathing provides negative pressure, apple is sucked,
Then telescopic rod group (2) are pulled down, realize winning for apple,
5) after rotatable picking head (3) picking to apple, apple is put into and falls apple pipeline (42), when apple reaches the separation of fruit leaf
When managing (44), the wind of fan (45) blowout can be blown out the branches and leaves at random being mingled in apple by osculum, and apple then can be with
Continuation is fallen from great Kou, and wind-force can also play the role of reducing apple speed of fall, prevent apple from being made since speed is excessive
It is damaged at falling；
6) when apple falls into sieve plate (47) in frame, sieve plate motor (49) drives sieve plate up and down by a small margin by sieve plate axis (48)
It swings, realizes screening movement, intensive circular hole of the diameter less than Big Apple diameter but more than griggles diameter is provided on sieve plate (47),
Big Apple can rest on sieve plate (47), and griggles can then fall on walking apple basket (1) inside by screening, to rise
To the function of sorting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469365.7A CN108419521A (en) | 2018-05-16 | 2018-05-16 | A kind of novel apple-picking and sorting equipment and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469365.7A CN108419521A (en) | 2018-05-16 | 2018-05-16 | A kind of novel apple-picking and sorting equipment and method |
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| Publication Number | Publication Date |
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| CN108419521A true CN108419521A (en) | 2018-08-21 |
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ID=63163177
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| CN201810469365.7A Pending CN108419521A (en) | 2018-05-16 | 2018-05-16 | A kind of novel apple-picking and sorting equipment and method |
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| CN108934451A (en) * | 2018-08-28 | 2018-12-07 | 黄河科技学院 | Tree Fruit picking robot |
| CN109005999A (en) * | 2018-10-08 | 2018-12-18 | 辽宁科技大学 | A kind of fruit picking and eminence branch trimmer |
| CN109287270A (en) * | 2018-09-21 | 2019-02-01 | 徐州盛斗士生物科技有限公司 | A kind of prickly pear picking vehicle |
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| CN109757216A (en) * | 2019-03-20 | 2019-05-17 | 齐鲁工业大学 | A kind of flexibility antisitic defect fruit auxiliary picker |
| CN110961343A (en) * | 2019-11-12 | 2020-04-07 | 杭州三意农业开发有限公司 | Classification type automatic screening device for sweet and sour lining production line |
| CN111201886A (en) * | 2020-03-13 | 2020-05-29 | 河北农业大学 | Novel telescopic wild jujube picking and cleaning device |
| CN111386855A (en) * | 2020-05-07 | 2020-07-10 | 范雪灵 | Apple picking mechanism, handheld apple picker and apple picking device |
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