CN108541448A - A kind of picking machine - Google Patents
A kind of picking machine Download PDFInfo
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- CN108541448A CN108541448A CN201810665121.6A CN201810665121A CN108541448A CN 108541448 A CN108541448 A CN 108541448A CN 201810665121 A CN201810665121 A CN 201810665121A CN 108541448 A CN108541448 A CN 108541448A
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- plate
- baffle
- mounting plate
- picking
- strut
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention provides a kind of picking machine, belongs to pineapple picked technology field.A kind of picking machine includes wheel group, vehicle frame, mounting plate, picking component, collection assembly and control system.Wheel group is installed on vehicle frame and wheel group is located at the lower section of vehicle frame, and mounting plate is set to the side of the separate wheel group of vehicle frame, and picking component is set to the side of mounting plate and for cutting off carpopodium.Collection assembly includes manipulator and collects basket, collects one end that basket is set to the separate picking component of mounting plate, and manipulator is set to mounting plate, is collected in basket for the fruit on mounting plate to be transferred to.Control system includes control centre and image identifying instrument, and control centre and image identifying instrument and manipulator are electrically connected.This picking machine can carry out the picking of pineapple by picking component, then be transferred to the pineapple after picking by control system control machinery hand and collect in basket, improve the picking efficiency of pineapple.
Description
Technical field
The present invention relates to pineapple picked technology fields, in particular to a kind of picking machine.
Background technology
With the raising of economic continuous development and science and technology, industry-by-industry has larger development, is generally formed
The development pattern of large-scale production, planting industry are exactly typical case therein.In such circumstances, planting industry is realized in each production link
Mechanization, automation have become inexorable trend.
Fruit and vegetable picking is a most time-consuming, most laborious link in fruits and vegetables production, and the labour of input accounts for about entirely
50% to the 70% of fruits and vegetables production process, there are labor intensity for traditional manually picking greatly, working environment has certain danger
The drawbacks such as dangerous, picking efficiency is relatively low, busy farming season difficult hired laborer.
It is reported that there are no special, ripe efficient pineapples to assist picking machine currently on the market.Still use traditional people
Work picks or relies on manpower by some simple instruments to pick.There are two types of main Softenings, and one is by cutter
The carpopodium for pineapple break apart by chopping pineapple harvests fruit, but this method there are certain requirements experience, and no it will cause felling
Carpopodium is long, needs secondary operation, and after the felling for carrying out a period of time, operator will carry out cutter special disinfection；
Another kind manually twists off carpopodium to rely on, because the place that pineapple fruit is connect with carpopodium is more fragile, by torsion, can make
It is twisted off, but labor intensity bigger, less efficient.
Invention content
The purpose of the present invention is to provide a kind of picking machines, can be picked to pineapple, and be collected.
Realization that the present invention adopts the following technical solutions：
A kind of picking machine, including wheel group, vehicle frame, mounting plate, picking component, collection assembly and control system；
Wheel group is installed on vehicle frame and wheel group is located at the lower section of vehicle frame, and mounting plate is set to the separate wheel group of vehicle frame
Side, picking component are set to the side of mounting plate and for cutting off carpopodium；
Collection assembly includes manipulator and collects basket, collects one end that basket is set to the separate picking component of mounting plate, machine
Tool hand is set to mounting plate, is collected in basket for the fruit on mounting plate to be transferred to；
Control system includes control centre and image identifying instrument, control centre and image identifying instrument, manipulator and picking
Component is electrically connected.
Further, in preferred embodiments of the present invention, above-mentioned manipulator include power plant, the first strut, second
Bar, third strut and handgrip, the first strut are slidably connected with mounting plate, and the second strut is vertically arranged and one end of the second strut connects
It is connected to the first strut, third strut is slidably connected to the second strut and third strut is laterally arranged, and one end of handgrip is slidably connected
In third strut, the other end is electrically connected with power plant for capturing fruit, control centre for controlling the first strut, third branch
Bar and handgrip sliding.
Further, in preferred embodiments of the present invention, above-mentioned handgrip includes grabbing bar and multiple grippers, grab one end of bar with
Third strut is slidably connected, and multiple grippers are arranged in other end rotation, and control centre's control gripper firmly grasps fruit or unclamps fruit.
Further, in preferred embodiments of the present invention, above-mentioned picking component includes chain saw, driving device and gear set,
Driving device is drivingly connected in gear set, and gear set is set to mounting plate, and chain saw is set around gear set and chain saw is for cutting fruit
Handle, driving device are electrically connected with control centre.
Further, in preferred embodiments of the present invention, above-mentioned wheel group includes three groups of spacing side by side setting, vehicle frame packet
Three of spacing side by side setting are included, a wheel group is installed on a vehicle frame, and mounting plate is set on three vehicle frames, and the two of chain saw
End is located at the both sides of mounting plate.
Further, in preferred embodiments of the present invention, one end of the separate chain saw of above-mentioned mounting plate is provided with handle, peace
The side of the close chain saw of loading board is arranged at intervals with multiple sawtooth, and one end of the separate mounting plate of sawtooth is downwardly inclined.
Further, in preferred embodiments of the present invention, above-mentioned picking machine further includes baffle plate assembly, and baffle plate assembly includes the
One baffle, second baffle, third baffle and fourth gear plate, first baffle and fourth gear plate are respectively arranged at the both sides of mounting plate,
Second baffle and third baffle may be contained within mounting plate and between first baffle and fourth gear plates, second baffle and third gear
One end of the close sawtooth of plate connects, and the other end extends towards both sides.
Further, in preferred embodiments of the present invention, above-mentioned mounting plate between first baffle and second baffle
Position be provided with the first mounting hole, be provided with the first vibrating screen on the first mounting hole, mounting plate is located at third baffle and the
The position of four baffles is provided with the second mounting hole, and the second vibrating screen is provided on the second mounting hole.
Further, in preferred embodiments of the present invention, above-mentioned baffle plate assembly further includes connecting plate, and the side of connecting plate connects
It connects and mounting plate, the both ends of connecting plate is connect with second baffle and third baffle respectively, make connecting plate, second baffle, third gear
Mounting groove is formed between plate and mounting plate, driving device is set in mounting groove.
Further, in preferred embodiments of the present invention, above-mentioned vehicle frame includes upper plate, lower plate, the first frame, the second frame
Frame, the first sliding rack and the second sliding rack, lower plate are connect with wheel group, and upper plate is connect with mounting plate, and the first sliding rack is installed on
The upper surface of lower plate, the second sliding rack are installed on the lower surface of upper plate, the first frame and the second frame articulation, and the one of the first frame
End is hinged with upper plate, and the other end is slideably positioned in the first sliding rack, and one end of the second frame and lower plate are hinged, and other end sliding is set
It is placed in the second sliding rack.
The advantageous effect of picking machine that presently preferred embodiments of the present invention provides is：During pineapple is picked, wheel group exists
Pineapple rolls in ground, and picking machine is made to push ahead, and after picking component touch carpopodium, carpopodium is cut off, is adopted to pineapple
It plucks, then is sent on the fixed collection basket of fixing piece by transfer assembly, pineapple is picked and is collected, pineapple picking efficiency
It is high.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings and also belong to protection scope of the present invention.
Fig. 1 is the first structure schematic diagram of picking machine provided in an embodiment of the present invention；
Fig. 2 is the second structural schematic diagram of picking machine provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram that component is picked in picking machine provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of baffle plate assembly in picking machine provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of collection assembly in picking machine provided in an embodiment of the present invention；
Fig. 6 is the attachment structure schematic diagram between wheel group and vehicle frame in picking machine provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of vehicle frame in picking machine provided in an embodiment of the present invention；
Fig. 8 is the functional block diagram of control system in picking machine provided in an embodiment of the present invention.
Icon：100- picking machines；200- handles；300- wheel groups；400- vehicle frames；500- mounting plates；600- is adopted
Pluck component；700- baffle plate assemblies；800- collection assemblies；900- control systems；610- chain saws；620- driving devices；
630- gear sets；640- chain guide plates；631- gears；710- first baffles；720- second baffles；730- third baffles；
740- fourth gear plates；210- left support bars；212- right support bars；213- connecting rods；510- sawtooth；750- connecting plates；
751- mounting grooves；The first mounting holes of 520-；The first vibrating screens of 521-；The second mounting holes of 530-；The second vibrating screens of 531-；
810- manipulators；820- collects basket；The first struts of 811-；The second struts of 812-；813- third struts；814- handgrips；
815- grabs bar；816- grippers；410- upper plates；420- lower plates；The first frames of 430-；The second frames of 440-；450- first
Sliding rack；The second sliding racks of 460-；The first side plates of 451-；The second side plates of 452-；453- first end plates；454- first is slided
Dynamic slot；The second sliding grooves of 455-；456- threaded holes；457- screws；461- third side plates；The 4th side plates of 462-；463-
Third sliding groove；310- front-wheels；320- trailing wheels；330- wheel actuators；340- chains；910- control centres；920-
Image identifying instrument；930- first motors；The second motors of 940-；950- third motors；The 4th motors of 960-；970- the 5th
Motor；The 6th motors of 980-；The 7th motors of 990-.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the present invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of the selected implementation of the present invention
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
Embodiment
It please refers to Fig.1 and Fig. 2, picking machine 100 includes handle 200, wheel group 300, vehicle frame 400, mounting plate 500, picking
Component 600, baffle plate assembly 700, collection assembly 800 and control system 900.
Wheel group 300 is installed on vehicle frame 400 and wheel group 300 is located at the lower section of vehicle frame 400, and mounting plate 500 is set to vehicle
The side of the separate wheel group 300 of frame 400, during pineapple is picked, wheel group 300 rolls in pineapple ground, makes picking machine
100 push ahead.
Optionally, wheel group 300 include spacing side by side setting three groups, vehicle frame 400 include spacing side by side setting three,
One wheel group 300 is installed on a vehicle frame 400, and mounting plate 500 is set on three vehicle frames 400.Picking machine 100 can be to two
Row pineapple is picked.
Optionally, two groups of wheel groups 300 can be arranged in picking machine 100, correspondingly, two vehicle frames 400 are arranged, to a line spinach
Trailing plants is picked, and four groups of wheel groups 300 can also be arranged, and four vehicle frames 400 such as pick at the three row pineapples.
Picking component 600 is set to the side of mounting plate 500 and for cutting off carpopodium, referring to Fig. 3, picking component 600
Including chain saw 610, driving device 620 and gear set 630, driving device 620 is drivingly connected in gear set 630, and gear set 630 is set
It is placed in mounting plate 500, chain saw 610 is set around gear set 630 and chain saw 610 is for cutting carpopodium.
When chain saw 610 contacts carpopodium, start driving device 620, so that gear set 630 is rotated, to drive chain saw
610 rotate together, and constantly rub with carpopodium, to cut off carpopodium, are picked to pineapple, can cut off hard carpopodium,
Pineapple picking efficiency is high.
Optionally, driving device 620 can be first motor 930, and drive gear set 630 rotates.Picking component 600 also wraps
Chain guide plate 640 is included, key way is additionally provided on chain guide plate 640, chain saw 610 is set in key way, and gear set is arranged on chain guide plate 640
630, so that gear set 630 drives chain saw 610 to rotate.
Chain saw 610 can stretch out mounting plate 500, so that chain saw 610 is contacted with carpopodium, cut off carpopodium.The both ends of chain saw 610
The both sides of mounting plate 500 are located at, during pineapple is picked, as long as pushing picking machine 100, carpopodium connects with chain saw 610
Tactile range is wider, is more conducive to the picking of pineapple.
Gear set 630 includes three gears 631, and three gears 631 are mounted on the lower surface of mounting plate 500 and respectively position
In the top of three vehicle frames 400, drives chain saw 610 to rotate will pass through gear set 630, carry out the cutting of carpopodium.
One end of the separate chain saw 610 of mounting plate 500 is provided with handle 200, and the one of the close chain saw 610 of mounting plate 500
Side is arranged at intervals with multiple sawtooth 510, and one end of the separate mounting plate 500 of sawtooth 510 is downwardly inclined.
When being picked, picking machine 100 can be pushed to carry out the picking of pineapple with hand-held handle 200, improve work
Efficiency.Meanwhile when pushing picking machine 100, sawtooth 510 contacts carpopodium at first, and carpopodium is between two neighboring sawtooth 510
Gap pass through, since one end of the separate mounting plate 500 of sawtooth 510 is downwardly inclined, constantly pushing ahead picking machine 100
When, pineapple constantly raises, and carpopodium is stretched, and more convenient chain saw 610 is cut with carpopodium.
Picking machine 100 further includes baffle plate assembly 700, referring to Fig. 4, baffle plate assembly 700 includes first baffle 710, second
Baffle 720, third baffle 730 and fourth gear plate 740, first baffle 710 and fourth gear plate 740 are respectively arranged at mounting plate 500
Both sides, second baffle 720 and third baffle 730 may be contained within mounting plate 500 and be located at first baffle 710 and fourth gear plate
Between 740, second baffle 720 is connected with one end of the close sawtooth 510 of third baffle 730, and the other end extends towards both sides.
After pineapple is picked, pineapple is rolled on mounting plate 500, due to first baffle 710, second baffle 720, third gear
The effect of plate 730 and fourth gear plate 740 avoids pineapple from being rolled down to side from mounting plate 500, is conducive to the collection of pineapple, meanwhile,
Pineapple can also be shunted, the gap of a line pineapple of picking between first baffle 710 and second baffle 720 passes through,
Gap of another row between third baffle 730 and fourth gear plate 740 passes through.
In the present embodiment, second baffle 720 is connected with one end of the close sawtooth 510 of third baffle 730, other end direction
Both sides extend, and between second baffle 720 and third baffle 730, handle 200 can be arranged, operator stands in second baffle 720
Pineapple picking is carried out between third baffle 730.
In the present embodiment, handle 200 is connect with mounting plate 500, and handle 200 includes left support bar 210, right support bar 212
With connecting rod 213, one end of left support bar 210 and right support bar 212 is connect with mounting plate 500, and the other end connects connecting rod
Hand-held connecting rod 213 is done in 213 both ends, operation, and picking machine 100 is pushed to travel forward.
Optionally, baffle plate assembly 700 further includes connecting plate 750, side connection and the mounting plate 500 of connecting plate 750, connection
The both ends of plate 750 are connect with second baffle 720 and third baffle 730 respectively, make connecting plate 750, second baffle 720, third gear
Mounting groove 751 is formed between plate 730 and mounting plate 500, driving device 620 is set in mounting groove 751.
Driving device 620 can be installed in mounting groove 751, can be provided to operator with placing storage battery and other things
It is convenient.
The position between first baffle 710 and second baffle 720 of mounting plate 500 is provided with the first mounting hole 520,
The first vibrating screen 521 is provided on first mounting hole 520, mounting plate 500 is located at third baffle 730 and fourth gear plate 740
Position is provided with the second mounting hole 530, and the second vibrating screen 531 is provided on the second mounting hole 530.
While cutting off pineapple carpopodium, pineapple leaves can be also cut off, after pineapple cutting is complete, pineapple and the equal position of pineapple leaves
In on mounting plate 500, due to the effect of the first vibrating screen 521 and the second vibrating screen 531, pineapple leaves can drop down onto in ground as fertilizer
Material, pineapple are collected by collection assembly 800, realize the picking and collection of automation.
Optionally, the first vibrating screen 521 and the second vibrating screen 531 carry out band by crank, connecting rod and the second motor 940
Dynamic, the output shaft of the second motor 940 is connect with connecting rod, one end connecting crank of connecting rod, crank and the first vibrating screen 521 or the
Two vibrating screens 531 connect, and so that the first vibrating screen 521 or the second vibrating screen 531 is vibrated by the second motor 940, thus by pineapple
Leaf sifts out.
In the present embodiment, there are two the settings of collection assembly 800, gathers in and a collection assembly 800 is arranged per a line pineapple, and one
A collection assembly 800 is set between first baffle 710 and second baffle 720, another collection assembly 800 is set to third gear
Between plate 730 and fourth gear plate 740.
In detail, it referring to Fig. 5, collection assembly 800 includes manipulator 810 and collects basket 820, collects basket 820 and is set to
One end of the separate picking component 600 of mounting plate 500, manipulator 810 are set to mounting plate 500, and being used for will be on mounting plate 500
Fruit, which is transferred to, to be collected in basket 820.The pineapple obtained after cut-out carpopodium, pineapple are located on mounting plate 500, and manipulator 810 is grabbed
It takes the pineapple on mounting plate 500 and transfers them in fixed collection basket 820, pineapple is picked and is collected.
Manipulator 810 includes power plant, the first strut 811, the second strut 812, third strut 813 and handgrip 814, the
One strut 811 is slidably connected with mounting plate 500, and 812 vertically arranged and the second strut 812 one end of the second strut is connected to first
Strut 811, third strut 813 is slidably connected to the second strut 812 and the laterally setting of third strut 813, one end of handgrip 814 are slided
Dynamic to be connected to third strut 813, for the other end for capturing fruit, control centre 910 be electrically connected with power plant is used for control the
One strut 811, third strut 813 and handgrip 814 slide.
As shown, the direction of motion of manipulator 810 is divided into the direction in the direction of X-axis, the direction of Y-axis and Z axis, it is optional
Ground, third motor 950 control the first strut 811 and are moved forward and backward along the direction of X-axis, and the 4th motor 960 controls 813 edge of third strut
The direction of Y-axis moves up and down, and the 5th motor 970 control handgrip 814 is moved left and right along the direction of Z axis, so that manipulator 810 can
By the movement on three-dimensional, pineapple is captured, and pineapple is transferred to and is collected in basket 820.In the present embodiment, rotation is converted
The movement that is in line can be configured by the connection type of feed screw nut.
Optionally, handgrip 814 includes grabbing bar 815, multiple grippers 816 and the 6th motor 980, grabs one end of bar 815 and the
Three struts 813 are slidably connected, and multiple grippers 816 are arranged in other end rotation, by the 6th motor 980 control gripper 816 open or
Tightening captures fruit or unclamps fruit, to carry out the transfer of pineapple.
Optionally, first baffle 710, second baffle 720, third baffle 730 and fourth gear plate 740 are from mounting plate 500
One end of separate picking component 600 extend out, a collection assembly is set between first baffle 710 and second baffle 720
800, a collection assembly 800 is set between third baffle 730 and fourth gear plate 740, two row pineapples of picking can be carried out
It collects.
Please refer to Fig. 6 and Fig. 7, vehicle frame 400 includes upper plate 410, lower plate 420, the first frame 430, the second frame 440, the
One sliding rack 450 and the second sliding rack 460, lower plate 420 are connect with wheel group 300, and upper plate 410 is connect with mounting plate 500, and first
Sliding rack 450 is installed on the upper surface of lower plate 420, and the second sliding rack 460 is installed on the lower surface of upper plate 410, the first frame 430
Hinged with the second frame 440, one end of the first frame 430 is hinged with upper plate 410, and the other end is slideably positioned in the first sliding rack
450, one end of the second frame 440 is hinged with lower plate 420, and the other end is slideably positioned in the second sliding rack 460.
First sliding rack 450 includes the first side plate 451, the second side plate 452 and first end plate 453, the first side plate 451 and the
Two side plates 452 are oppositely arranged, and the both ends of first end plate 453 are connected to the first side plate 451 and the second side plate 452, the first side plate
451, the second side plate 452 and first end plate 453 are all connected to lower plate 420, and the first sliding groove 454 is provided on the first side plate 451,
The second sliding groove 455 is provided on second side plate 452, one end of the separate upper plate 410 of the first frame 430 is slideably positioned in first
Sliding groove 454 and the second sliding groove 455, threaded hole 456 is provided on end plate, and screw 457 passes through threaded hole 456 and the first frame
One end of 430 separate upper plate 410 connects.Second sliding rack 460 includes the third side plate 461 and the 4th side plate being oppositely arranged
462, third side plate 461 and the 4th side plate 462 may be contained within upper plate 410, and third sliding groove 463 is provided on third side plate 461,
The 4th sliding groove is provided on 4th side plate 462, one end of the separate lower plate 420 of the second frame 440 is slideably positioned in third cunning
463 and the 4th sliding groove of dynamic slot.
Pineapple is a kind of draft plant for many years, it is meant that after harvesting each time, harvesting next time, plant all can
Have and grow tall accordingly, for the growth characteristic of pineapple, when needing to increase mounting plate 500, screw 457 is inwardly rotated, i.e., will
The direction of screw 457 towards the hinged place of the first frame 430 and the second frame 440 rotates, then the first frame 430 is in the first sliding
Sliding in slot 454 and the second sliding groove 455, meanwhile, the second frame 440 slides in third sliding groove 463 and the 4th sliding groove,
The gap reduction with the junction of lower plate 420 with the junction and the second frame 440 of lower plate 420 for making the first frame 430, from
And the height of vehicle frame 400 is made to increase, the position of mounting plate 500 increases.Conversely, the position of mounting plate 500 reduces.
Each wheel group 300 includes front-wheel 310, trailing wheel 320 and wheel actuator 330, front-wheel 310, trailing wheel 320 and wheel
Actuator 330 may be contained within lower plate 420, and wheel actuator 330 is drivingly connected trailing wheel 320.Picking machine 100 can be supported
And picking machine 100 is made to travel forward.
Optionally, wheel actuator 330 is mounted on the middle part of the lower surface of lower plate 420, passes through chain 340 and trailing wheel 320
Connection to drive trailing wheel 320 to rotate, then drives front-wheel 310 to rotate, carries out the movement of picking machine 100.
Optionally, wheel group 300 further includes chain baffle, and key way is provided on chain baffle, and chain 340 is set to key way
It is interior, it avoids the soil in ground from blocking chain 340, ensures the use of picking machine 100.
In the present embodiment, wheel actuator 330 is the 7th motor 990, and the 7th can be installed in the wheel group 300 of both sides
Motor 990, intermediate wheel group 300 need not install the 7th motor 990, can also make 100 normal use of picking machine.
Referring to Fig. 8, control system 900 includes control centre 910 and image identifying instrument 920, control centre 910 and image
Identifier 920, manipulator 810 and picking component 600 be electrically connected, control centre 910 control gripper 816 firmly grasp fruit or
Fruit is unclamped, driving device 620 is electrically connected with control centre 910.
That is image identifying instrument 920, first motor 930, the second motor 940, third motor 950, the 4th motor the 960, the 5th
Motor 970, the 6th motor 980 and the 7th motor 990 are electrically connected with control centre 910, and control centre 910 is located in mounting groove
In 751, the full-automatic picking of pineapple is realized by control centre 910.
The operation principle of picking machine 100 provided in an embodiment of the present invention is：Control centre 910 receive picking instruction with
Afterwards, the first signal, second signal and third signal are sent out, the first signal controls the operating of the 7th motor 990, makes front-wheel 310 with after
Wheel 320 rotates, also, operator pushes picking machine 100, and picking machine 100 is made to travel forward, and the carpopodium of pineapple contacts sawtooth
510, carpopodium is passed through from the gap between two neighboring sawtooth 510, and carpopodium is stretched, and carpopodium is contacted with chain saw 610, second signal
It controls first motor 930 to rotate, gear set 630 is made to rotate, and the rotation of chain saw 610 is driven constantly to rub with carpopodium, to cut off
Carpopodium.
Pineapple after picking is located on the first vibrating screen 521 and the second vibrating screen 531, and third signal controls the second motor
940 rotations make the first vibrating screen 521 and the second vibrating screen 531 vibrate, pineapple leaves are sifted out.Meanwhile image identifying instrument 920 is known
It is clipped on the first vibrating screen 521 and the second vibrating screen 531 and is placed with pineapple.Image identifying instrument 920 sends out obtained image information
It send to control centre 910, control centre 910 receives the calculating of progress pineapple position after image information, to send out control letter
Number, so that manipulator 810 is accurately captured pineapple and is transferred them to and collects in basket 820.
Specifically, control centre 910 sends out fourth signal, and fourth signal controls third motor 950 and rotates, and makes the first strut
811 move to the position with pineapple in Z-direction along the direction of X-axis.Control centre 910 sends out the 5th signal, the 5th signal control
The rotation of the 4th motor 960 is made, makes to grab the surface that bar 815 moves to pineapple along the direction of Z axis.Control centre 910 sends out the 6th
Signal, the 6th signal control the rotation of the 5th motor 970, so that third strut 813 is moved downward along the direction of Y-axis, to make gripper
816 contact with pineapple.Control centre 910 sends out the 7th signal, and the 7th signal controls the rotation of the 6th motor 980, gripper 816 is made to beat
It opens, catches pineapple, then gripper 816 is closed, pineapple is firmly grasped.
Control centre 910 sends out the 8th signal, and the 8th signal controls the rotation of the 5th motor 970, makes third strut 813 along Y
The direction of axis moves upwards, to make the pineapple on gripper 816 be located at the top of collection basket 820.Control centre 910 sends out the 9th
Signal, the 9th signal control third motor 950 and rotate, and so that the first strut 811 is moved along the direction of X-axis, to make on gripper 816
Pineapple be located at collect basket 820 surface.Control centre 910 sends out the tenth signal, and the tenth signal controls 980 turns of the 6th motor
It is dynamic, so that gripper 816 is opened, the pineapple on gripper 816 is put into and is collected in basket 820, the collection of pineapple is carried out.Repeatedly, shape
At the full-automatic picking and collection of pineapple, the collection efficiency of pineapple is improved.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of picking machine, which is characterized in that including wheel group, vehicle frame, mounting plate, picking component, collection assembly and control system
System；
The wheel group is installed on the vehicle frame and the wheel group is located at the lower section of the vehicle frame, and the mounting plate is set to institute
The side far from the wheel group of vehicle frame is stated, the picking component is set to the side of the mounting plate and for cutting off fruit
Handle；
The collection assembly includes manipulator and collects basket, and the collection basket is set to the separate picking group of the mounting plate
One end of part, the manipulator are set to the mounting plate, for the fruit on the mounting plate to be transferred to the collection basket
It is interior；
The control system includes control centre and image identifying instrument, the control centre and described image identifier, the machine
Tool hand and picking component are electrically connected.
2. picking machine according to claim 1, which is characterized in that the manipulator includes power plant, the first strut,
Two struts, third strut and handgrip, first strut are slidably connected with the mounting plate, second strut it is vertically arranged and
One end of second strut is connected to first strut, and the third strut is slidably connected to second strut and described
Third strut is laterally arranged, and one end of the handgrip is slidably connected to the third strut, and the other end is used to capture the fruit,
The control centre is electrically connected with the power plant to be slided for controlling first strut, the third strut and the handgrip
It is dynamic.
3. picking machine according to claim 2, which is characterized in that the handgrip includes grabbing bar and multiple grippers, described to grab
One end of bar is slidably connected with the third strut, and multiple grippers are arranged in other end rotation, and the control centre controls institute
Gripper is stated to firmly grasp the fruit or unclamp the fruit.
4. according to claim 1-3 any one of them picking machines, which is characterized in that the picking component includes chain saw, driving
Device and gear set, the driving device are drivingly connected in the gear set, and the gear set is set to the mounting plate, described
Chain saw is set around the gear set and the chain saw is for cutting carpopodium, and the driving device is electrically connected with the control centre.
5. picking machine according to claim 4, which is characterized in that the wheel group includes three groups of spacing side by side setting,
The vehicle frame includes three of spacing side by side setting, and a wheel group is installed on a vehicle frame, and the mounting plate is set
It is placed on three vehicle frames, the both ends of the chain saw are located at the both sides of the mounting plate.
6. picking machine according to claim 5, which is characterized in that one end far from the chain saw of the mounting plate is arranged
There are handle, the mounting plate to be arranged at intervals with multiple sawtooth, the separate peace of the sawtooth close to the side of the chain saw
One end of loading board is downwardly inclined.
7. picking machine according to claim 6, which is characterized in that the picking machine further includes baffle plate assembly, the baffle
Component includes first baffle, second baffle, third baffle and fourth gear plate, and the first baffle and the fourth gear plate are set respectively
It is placed in the both sides of the mounting plate, the second baffle and the third baffle may be contained within the mounting plate and positioned at described the
Between one baffle and the fourth gear plate, the second baffle is connected with the third baffle close to one end of the sawtooth,
The other end extends towards both sides.
8. picking machine according to claim 7, which is characterized in that the mounting plate be located at the first baffle with it is described
Position between second baffle is provided with the first mounting hole, and the first vibrating screen, the installation are provided on first mounting hole
Plate is provided with the second mounting hole positioned at the third baffle and the position of the fourth gear plate, is arranged on second mounting hole
There is the second vibrating screen.
9. picking machine according to claim 8, which is characterized in that the baffle plate assembly further includes connecting plate, the connection
Side connection and the mounting plate of plate, the both ends of the connecting plate connect with the second baffle and the third baffle respectively
It connects, makes to form mounting groove, the driving between the connecting plate, the second baffle, the third baffle and the mounting plate
Device is set in the mounting groove.
10. according to claim 5-9 any one of them picking machines, which is characterized in that the vehicle frame includes upper plate, lower plate,
One frame, the second frame, the first sliding rack and the second sliding rack, the lower plate are connect with the wheel group, the upper plate and institute
Mounting plate connection is stated, first sliding rack is installed on the upper surface of the lower plate, and second sliding rack is installed on described
The lower surface of plate, first frame and second frame articulation, one end of first frame and the upper plate are hinged, separately
One end is slideably positioned in first sliding rack, and one end of second frame and the lower plate are hinged, other end sliding setting
In second sliding rack.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810665121.6A CN108541448A (en) | 2018-06-25 | 2018-06-25 | A kind of picking machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810665121.6A CN108541448A (en) | 2018-06-25 | 2018-06-25 | A kind of picking machine |
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| Publication Number | Publication Date |
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| CN108541448A true CN108541448A (en) | 2018-09-18 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810665121.6A Pending CN108541448A (en) | 2018-06-25 | 2018-06-25 | A kind of picking machine |
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| CN (1) | CN108541448A (en) |
Cited By (2)
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| CN113455179A (en) * | 2021-06-22 | 2021-10-01 | 常州工学院 | Intelligent chrysanthemum collection system |
| CN118340020A (en) * | 2024-05-09 | 2024-07-16 | 海南大学 | Hand-held portable pineapple picking machine |
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