CN108476741A - A kind of indirect labor picks the small mechanical devices and its application method of various fruits - Google Patents
A kind of indirect labor picks the small mechanical devices and its application method of various fruits Download PDFInfo
- Publication number
- CN108476741A CN108476741A CN201810465466.7A CN201810465466A CN108476741A CN 108476741 A CN108476741 A CN 108476741A CN 201810465466 A CN201810465466 A CN 201810465466A CN 108476741 A CN108476741 A CN 108476741A
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- fruit
- manipulator
- tray
- picking
- cutting mechanism
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 213
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 238000004806 packaging method and process Methods 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The present invention proposes that a kind of indirect labor picks the small mechanical devices and its application method of various fruits, and the mechanical device includes control module, picking trolley and remote control；The picking trolley includes walking chassis and divides fruit tray, lifting platform and manipulator at walking chassis；The lifting platform supports manipulator and adjusts its height；Multiple fruit entrances are uniformly provided at described point of fruit tray；One end of the manipulator is fixed at lifting platform, and the other end, which is telescopically located at, to be divided above fruit tray and the end is equipped with cutting mechanism；When fruit-picking, manipulator coordinates with walking chassis, lifting platform, so that cutting mechanism is located at the surface for dividing fruit tray fruit entrance, after cutting mechanism cuts fruit according to the telecommand of remote control, the fruit cut falls into the fruit entrance of point fruit tray；The present invention can be remotely controlled with mobile phone, be suitble to use in a variety of farm landform.
Description
Technical field
The present invention relates to agricultural machinery technological field, especially a kind of indirect labor picks the small-sized machine dress of various fruits
It sets and its application method.
Background technology
China is also used as the largest fruit in the world country of consumption as the largest fruit in the world producing country.But the water in China
Fruit picking mechanization of operation degree is very low, and working efficiency, reduces the labour cost of peasant, therefore fruit is adopted in order to better improve
Plucking the small mechanical devices that operation picks various fruits to indirect labor has extensive demand.This indirect labor's picking is a variety of
The small mechanical devices of fruit have his itself unique distinction：They are typically all in outside work, and operating environment is poor, still
In precision aspect but without industrial robot requirement high like that；The operator of this kind of mechanical device is not special technology people
Member, but ordinary peasant, so cannot have too complicated technology, nor can have too high price.Indirect labor
Aggravation and industrial rapid development of the present Research of the small mechanical devices of various fruits with aging of population are picked, I
The human resources of state agriculturally gradually decrease, therefore the small mechanical devices of various fruits are picked for indirect labor
Develop necessary.
Invention content
The present invention proposes that a kind of indirect labor picks the small mechanical devices and its application method of various fruits, can be with mobile phone
It is remotely controlled, is suitble to use in a variety of farm landform.
The present invention uses following technical scheme.
A kind of indirect labor picks the small mechanical devices of various fruits, and the mechanical device includes control module, picking
Trolley and remote control；The picking trolley includes walking chassis and divides fruit tray, lifting platform and machinery at walking chassis
Hand；The lifting platform supports manipulator and adjusts its height；Multiple fruit entrances are uniformly provided at described point of fruit tray；The machinery
One end of hand is fixed at lifting platform, and the other end, which is telescopically located at, to be divided above fruit tray and the end is equipped with cutting mechanism；Pick water
When fruit, manipulator coordinates with walking chassis, lifting platform, so that cutting mechanism is located at the surface for dividing fruit tray fruit entrance, works as shearing
After mechanism cuts fruit according to the telecommand of remote control, the fruit cut falls into the fruit entrance of point fruit tray.
Described point of fruit tray level is set at picking trolley；After the fruit cut falls into the fruit entrance of point fruit tray, institute
Point fruit tray rotation is stated until next fruit entrance in disk reaches below cutting mechanism.
The fruit inlet is equipped with fruit packaging bag；Described point of fruit tray is adjacent with conveyance conduit；When the fruit cut
After falling into the fruit packaging bag of fruit entrance, divide fruit tray rotation that the fruit packaging bag for having fruit is made to reach at conveyance conduit and send
To fruit collecting box.
Gyroscope is equipped at the manipulator to measure the posture of manipulator；When fruit-picking, lifting platform is manipulator
It is raised to fruit picking height, Arm expanding is until cutting mechanism reaches fruit picking operation position, and manipulator is from control module
Place obtains height where manipulator, and manipulator is finely tuned by control module and picked according to the present level and gradient of manipulator
Carriage walking chassis and cutting mechanism position are so that cutting mechanism is located at the surface for dividing fruit tray fruit entrance.
The walking chassis is crawler-type traveling chassis.
The remote control is the mobile phone that APP is remotely controlled equipped with picking trolley.
The mobile phone sends telecommand in a manner of bluetooth communication to picking trolley.
Described point of fruit tray is horizontally placed at a large-scale driven gear, picking trolley divide by fruit tray be equipped with driving gear with point
The driven gear of fruit tray is engaged to drive a point fruit tray to horizontally rotate.
A kind of indirect labor picks the small mechanical devices application method of various fruits, the user of the mechanical device
Method includes the following steps successively；
A1, the lower section for waiting for fruit-picking is marched to remote control control picking trolley；
A2, manipulator is risen to remote control control lifting platform and is waited for above fruit-picking, Arm expanding is until cutting mechanism
Reach fruit picking operation position；
A3, manipulator according to the present level and gradient of manipulator, by control module finely tune picking carriage walking chassis and
Cutting mechanism position is so that cutting mechanism is located at the surface for dividing fruit tray fruit entrance；
A4, with the cutting mechanism of remote control control machinery hand, under fruit shears and falling into immediately below cutting mechanism and divide fruit tray
Fruit entrance falls into the packaging bag that point fruit of fruit tray fruit entrance is directly entered fruit inlet；
A5, divide fruit tray to rotate with remote control control, next fruit entrance is gone to immediately below cutting mechanism, while handle has
The fruit entrance of fruit is rotated to conveyance conduit, and the packaging bag for then having fruit is detached from fruit inlet and through delivery pipe
It send to fruit collecting box in road.
The present invention is advantageous in that：This product designs, and is suitable for universal farm and orchard.On the one hand, it is entirely
Machine is picked, as long as people play mobile phone, can be achieved with the picking of fruit；On the other hand, present fruits picking mechanical
Device, picking are all separated with packaging, will not be completed at the same time, this product compensates for this defect just, utilizes turntable
Packaging bag is turned into the line exit, has often picked a fruit, fallen into packaging bag, completed the picking of fruit, turntable by rotation
On have the holes of 6 installation packaging bags, therefore the efficiency of packaging can be greatly improved.
Divide right over fruit tray fruit entrance since the present invention can be such that cutting mechanism is dynamically located at, it can be fully
The different terrain of different farms is adapted to, though manipulator makes cutting mechanism deviate in lifting action, or because landform tilts
Degree is big and cutting mechanism is made to deviate fruit entrance, and device of the present invention can be also adaptively adjusted, and make the cutter of manipulator
Structure returns back to right over fruit entrance.
Description of the drawings
The present invention is described in more detail with reference to the accompanying drawings and detailed description：
Attached drawing 1 is the schematic diagram of the picking trolley of the present invention；
Attached drawing 2 is another schematic diagram of the present invention；
In figure：1- driving gears；2- driven gears；3- fruit collecting box；4- cutting mechanisms；5- lifting platforms；6- walking chassis；
100- fruit；101- divides fruit tray；102- fruit entrances；103- manipulators；104- conveyance conduits；105- fruit packaging bags.
Specific implementation mode
As shown in Figure 1, 2, a kind of indirect labor picks the small mechanical devices of various fruits, and the mechanical device includes control
Molding block, picking trolley and remote control；The picking trolley includes walking chassis 6 and divides fruit tray at walking chassis 6
101, lifting platform 5 and manipulator 103；The lifting platform 5 supports manipulator 103 and adjusts its height；It is equal at described point of fruit tray 101
It is even to be equipped with multiple fruit entrances 102；One end of the manipulator 103 is fixed at lifting platform, and the other end is telescopically located at and divides
Above the fruit tray and end is equipped with cutting mechanism 4；When fruit-picking, manipulator 103 coordinates with walking chassis 6, lifting platform 5, makes to cut
It cuts mechanism 4 and is located at the surface for dividing 101 fruit entrance 102 of fruit tray, when cutting mechanism 4 is cut according to the telecommand of remote control
After fruit 100, the fruit 100 cut falls into the fruit entrance 102 of point fruit tray 101.
Described point of fruit tray level is set at picking trolley；After the fruit cut falls into the fruit entrance of point fruit tray, institute
Point fruit tray rotation is stated until next fruit entrance in disk reaches below cutting mechanism.
The fruit inlet is equipped with fruit packaging bag；Described point of fruit tray is adjacent with conveyance conduit；When the fruit cut
After falling into the fruit packaging bag of fruit entrance, divide fruit tray rotation that the fruit packaging bag 105 for having fruit 100 is made to reach conveyance conduit
At 104 and send to fruit collecting box 3.
Gyroscope is equipped at the manipulator to measure the posture of manipulator；When fruit-picking, lifting platform is manipulator
It is raised to fruit picking height, Arm expanding is until cutting mechanism reaches fruit picking operation position, and manipulator is from control module
Place obtains height where manipulator, and manipulator is finely tuned by control module and picked according to the present level and gradient of manipulator
Carriage walking chassis and cutting mechanism position are so that cutting mechanism is located at the surface for dividing fruit tray fruit entrance.
The walking chassis is crawler-type traveling chassis.
The remote control is the mobile phone that APP is remotely controlled equipped with picking trolley.
The mobile phone sends telecommand in a manner of bluetooth communication to picking trolley.
Described point of fruit tray 101 is horizontally placed at a large-scale driven gear 2, and picking trolley is dividing by fruit tray equipped with driving gear
1 engages with the driven gear 2 of fruit tray is divided to drive point fruit tray 101 to horizontally rotate.
A kind of indirect labor picks the small mechanical devices application method of various fruits, the user of the mechanical device
Method includes the following steps successively；
A1, the lower section for waiting for fruit-picking is marched to remote control control picking trolley；
A2, manipulator is risen to remote control control lifting platform and is waited for above fruit-picking, Arm expanding is until cutting mechanism
Reach fruit picking operation position；
A3, manipulator according to the present level and gradient of manipulator, by control module finely tune picking carriage walking chassis and
Cutting mechanism position is so that cutting mechanism is located at the surface for dividing fruit tray fruit entrance；
A4, with the cutting mechanism of remote control control machinery hand, under fruit shears and falling into immediately below cutting mechanism and divide fruit tray
Fruit entrance falls into the packaging bag that point fruit of fruit tray fruit entrance is directly entered fruit inlet；
A5, divide fruit tray to rotate with remote control control, next fruit entrance is gone to immediately below cutting mechanism, while handle has
The fruit entrance of fruit is rotated to conveyance conduit, and the packaging bag for then having fruit is detached from fruit inlet and through delivery pipe
It send to fruit collecting box in road.
In this example, fruit tray fruit inlet is divided to determine fruit packaging bag so that machinery is clamping, when the fruit packaging for accommodating fruit
When bag is divided fruit tray to go to conveyance conduit inlet, machinery folder release fruit packaging bag makes the fruit packaging bag for accommodating fruit
Into conveyance conduit and it is sent in fruit collecting box.
Claims (9)
1. a kind of indirect labor picks the small mechanical devices of various fruits, it is characterised in that：The mechanical device includes control
Module, picking trolley and remote control；The picking trolley includes walking chassis and divides fruit tray, lifting at walking chassis
Platform and manipulator；The lifting platform supports manipulator and adjusts its height；Multiple fruit entrances are uniformly provided at described point of fruit tray；
One end of the manipulator is fixed at lifting platform, and the other end, which is telescopically located at, to be divided above fruit tray and the end is equipped with cutter
Structure；When fruit-picking, manipulator and walking chassis, lifting platform coordinate, make cutting mechanism be located at divide fruit tray fruit entrance just on
Side, after cutting mechanism cuts fruit according to the telecommand of remote control, the fruit that the fruit cut falls into point fruit tray enters
Mouthful.
2. a kind of indirect labor according to claim 1 picks the small mechanical devices of various fruits, it is characterised in that：Institute
Point fruit tray level is stated to be set at picking trolley；It is described that fruit tray is divided to revolve after the fruit cut falls into the fruit entrance of point fruit tray
Turn until next fruit entrance in disk reaches below cutting mechanism.
3. a kind of indirect labor according to claim 2 picks the small mechanical devices of various fruits, it is characterised in that：Institute
It states fruit inlet and is equipped with fruit packaging bag；Described point of fruit tray is adjacent with conveyance conduit；Enter when the fruit cut falls into fruit
After the fruit packaging bag of mouth, divides fruit tray rotation that the fruit packaging bag for having fruit is made to reach at conveyance conduit and send to fruit and collect
Case.
4. a kind of indirect labor according to claim 1 picks the small mechanical devices of various fruits, it is characterised in that：Institute
It states and is equipped with gyroscope at manipulator to measure the posture of manipulator；When fruit-picking, manipulator is raised to fruit by lifting platform
Plucking height, for Arm expanding until cutting mechanism reaches fruit picking operation position, manipulator obtains machinery from control module
Height where hand, manipulator finely tune picking carriage walking bottom according to the present level and gradient of manipulator by control module
Disk and cutting mechanism position are so that cutting mechanism is located at the surface for dividing fruit tray fruit entrance.
5. a kind of indirect labor according to claim 1 picks the small mechanical devices of various fruits, it is characterised in that：Institute
It is crawler-type traveling chassis to state walking chassis.
6. a kind of indirect labor according to claim 1 picks the small mechanical devices of various fruits, it is characterised in that：Institute
It is the mobile phone that APP is remotely controlled equipped with picking trolley to state remote control.
7. a kind of indirect labor according to claim 6 picks the small mechanical devices of various fruits, it is characterised in that：Institute
It states mobile phone and telecommand is sent to picking trolley in a manner of bluetooth communication.
8. a kind of indirect labor according to claim 1 picks the small mechanical devices of various fruits, it is characterised in that：Institute
It states a point fruit tray to be horizontally placed at a large-scale driven gear, picking trolley is equipped with driving gear and divides the driven of fruit tray dividing by fruit tray
Gear is engaged to drive a point fruit tray to horizontally rotate.
9. a kind of indirect labor picks the small mechanical devices application method of various fruits, it is characterised in that：According to claim 3
The application method of the mechanical device includes the following steps successively；
A1, the lower section for waiting for fruit-picking is marched to remote control control picking trolley；
A2, manipulator is risen to remote control control lifting platform and is waited for above fruit-picking, Arm expanding is until cutting mechanism
Reach fruit picking operation position；
A3, manipulator according to the present level and gradient of manipulator, by control module finely tune picking carriage walking chassis and
Cutting mechanism position is so that cutting mechanism is located at the surface for dividing fruit tray fruit entrance；
A4, with the cutting mechanism of remote control control machinery hand, under fruit shears and falling into immediately below cutting mechanism and divide fruit tray
Fruit entrance falls into the packaging bag that point fruit of fruit tray fruit entrance is directly entered fruit inlet；
A5, divide fruit tray to rotate with remote control control, next fruit entrance is gone to immediately below cutting mechanism, while handle has
The fruit entrance of fruit is rotated to conveyance conduit, and the packaging bag for then having fruit is detached from fruit inlet and through delivery pipe
It send to fruit collecting box in road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465466.7A CN108476741B (en) | 2018-05-16 | 2018-05-16 | Small mechanical device for assisting in manually picking various fruits and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465466.7A CN108476741B (en) | 2018-05-16 | 2018-05-16 | Small mechanical device for assisting in manually picking various fruits and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108476741A true CN108476741A (en) | 2018-09-04 |
| CN108476741B CN108476741B (en) | 2023-11-28 |
Family
ID=63354344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810465466.7A Active CN108476741B (en) | 2018-05-16 | 2018-05-16 | Small mechanical device for assisting in manually picking various fruits and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108476741B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109302885A (en) * | 2018-09-28 | 2019-02-05 | 三明学院 | A kind of fruit picking robot |
| CN109305408A (en) * | 2018-09-17 | 2019-02-05 | 张石磊 | A kind of express delivery box package machine |
| CN114027031A (en) * | 2021-10-09 | 2022-02-11 | 安徽集萃智造机器人科技有限公司 | Grape picking robot |
| CN115316126A (en) * | 2022-08-02 | 2022-11-11 | 华南农业大学 | Device is picked to shaddock |
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| CN109305408A (en) * | 2018-09-17 | 2019-02-05 | 张石磊 | A kind of express delivery box package machine |
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| CN115316126A (en) * | 2022-08-02 | 2022-11-11 | 华南农业大学 | Device is picked to shaddock |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108476741B (en) | 2023-11-28 |
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