CN108566832B - Portable multi-fruit auxiliary picking machine - Google Patents

Portable multi-fruit auxiliary picking machine Download PDF

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Publication number
CN108566832B
CN108566832B CN201810766114.5A CN201810766114A CN108566832B CN 108566832 B CN108566832 B CN 108566832B CN 201810766114 A CN201810766114 A CN 201810766114A CN 108566832 B CN108566832 B CN 108566832B
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China
Prior art keywords
bracket
channel
module
collecting
conveying
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CN108566832A (en
Inventor
左义海
李胜
程克凤
张林涛
杨坤
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Taiyuan Institute of Technology
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Taiyuan Institute of Technology
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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/24Devices for picking apples or like fruit
    • A01D46/253Portable motorised fruit pickers
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/20Platforms with lifting and lowering devices
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/22Baskets or bags attachable to the picker
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07BSEPARATING 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
    • B07B13/00Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
    • B07B13/04Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices according to size
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07BSEPARATING 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
    • B07B13/00Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
    • B07B13/14Details or accessories

Abstract

The invention belongs to the technical field of fruit picking equipment, and particularly relates to a portable multi-fruit auxiliary picking machine which comprises a sorting module, a storage tank conveying module and a collecting and lifting module, wherein the storage tank conveying module is used for piling up empty collecting boxes and conveying the empty collecting boxes into the sorting module, the sorting module consists of a sorting bracket and a conveying channel, workers pick fruits off the fruits through a handheld picking device, place the fruits into the sorting bracket, enter the sorting bracket after passing through an elastic buffering channel in the sorting bracket, sort the fruits into different collecting boxes through a V-shaped sorting channel, and send people to the collecting and lifting module through a storage tank conveying belt after the collecting boxes are full, and when the number of the collecting boxes reaches a preset collecting number, the empty collecting boxes remind fruit farmers to take away, meanwhile, the empty collecting boxes can enter the sorting bracket to wait for collection, so that uninterrupted picking is completed, convenience is brought to fruit farmers, and labor force is liberated.

Description

Portable multi-fruit auxiliary picking machine
Technical Field
The invention belongs to the technical field of fruit picking equipment, and particularly relates to a portable auxiliary picking machine applicable to various fruits.
Background
In recent years, with the development of fruit growing industry, china becomes a world country for fruit production and consumption, and the market demands of farmers on efficient and practical orchard picking machines are increasing.
The existing method for picking apples mainly comprises three modes of manual picking, semi-mechanized picking and mechanized picking.
There are three general ways of manual picking: 1. fruit growers directly pick the fruits manually; 2. picking by using a three-jaw opening clamp; 3. the sickle head is directly arranged on the rod for hooking.
1. The traditional manual picking operation has the following defects:
firstly, the personal safety of operators in the picking process is that arms are easily scratched or broken by branches in the manual picking process, and potential safety hazards exist in the high-place operation;
secondly, the damage to the fruit tree is easy, namely the damage to the branches, leaves and buds of the tree;
thirdly, the influence on the quality of fruits is that pedicel is easy to occur in single-hand picking, and moreover, high-branch fruits are easy to fall on the ground to cause internal and external injuries, so that the appearance of the fruits is influenced, the fresh-keeping storage is not facilitated, and the economic income is reduced.
When semi-mechanized picking, the picking is carried out manually by means of large equipment such as an automatic lifting trolley or a walking trailer between rows to the same position.
The mechanized picking efficiency is higher, but the damage to fruits is serious, and the large-scale machine is not suitable for complex orchard picking environments, in addition, the large-scale picking machine is high in price, and the fruit farmers planted in a small scale cannot bear high purchasing cost, so that the large-scale picking equipment has no great market popularization value.
At present, most of fruit picking in China is mainly performed by manual picking, the labor force in picking accounts for 33% -50% of the total labor force in the production process, and the problems of complex picking operation, strong seasonality, low efficiency, large labor capacity, potential safety hazard, easiness in fruit damage and the like exist in the picking process. If the hands are not enough, picking can not be performed in time, and economic loss can be caused. In the 21 st century, china has become a urgent problem for farmers to solve, due to scarcity of picking labor force and improvement of picking cost, the picking cost is reduced, the labor force is lightened, and the picking efficiency is improved. The national policy encourages the development of agricultural picking towards mechanization, but because the agricultural planting scale of China is small, large-scale agricultural machinery cannot be effectively utilized, the cost of the large-scale machinery is high, the requirements on agricultural environment are high, and the requirements are not in line with the current agricultural situation of China, so that the mechanical auxiliary manual picking becomes a necessary development trend.
Disclosure of Invention
The invention provides a device suitable for picking and classifying and collecting various fruits, which aims to solve the technical problems of single function, high picking damage rate and large labor capacity of fruit farmers of the existing picking device, improves fruit picking efficiency, reduces labor intensity and picking cost of workers and ensures quality of finished products of the fruits.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the utility model provides a portable multiple fruit auxiliary picking machine, is including being about the classification module in middle part, being about the collection lift module of the collection of classification module one side delivery module and being about classification module opposite side, classification module is used for conveying and classifying the fruit of collecting, and the delivery module of storage is used for piling up the empty collecting box and carries empty collecting box in the classification module, collects the collection upgrading module and is used for collecting the collecting box that fills with fruit, when the quantity of collecting box reaches predetermined collection number, reminds fruit growers to take away.
The classifying module comprises a classifying bracket and a conveying channel, the bottom of the conveying channel is hinged with the upper part of the classifying bracket, the middle part of the conveying channel is connected with the classifying bracket through a telescopic rod, and the rotating angle of the conveying channel is controlled through the telescopic length of the telescopic rod. The upper end and the lower extreme of transfer passage all open-ended, have arranged the elasticity buffering passageway in the transfer passage, and transfer passage's lower extreme opening is connected with the first opening of V type classification passageway through turning to the passageway, and first open-ended width is less than the width of second open-ended, and first open-ended height is greater than the height of second open-ended, and V type classification passageway is as for in the classification support. Fruits are placed into the upper end opening of the conveying channel through the picking tool, the fruits fall down along the elastic buffering channel in the conveying channel, and the fruits are not damaged in the falling process due to the existence of the elastic buffering channel; fruits fall into the turning channel from the lower end of the conveying channel, then enter into the V-shaped classification channel from the turning channel, the width of the V-shaped classification channel gradually widens along the rolling direction of the fruits, small apples fall into the small apple collecting box below at the front section of the V-shaped classification channel, and large apples fall into the large apple collecting box below at the rear section of the V-shaped classification channel, so that the size classification of apples is realized.
The storage tank conveying module comprises a bottom support and a storage tank support connected above the bottom support, two storage tank conveying belts extending to the inside of the classification support are obliquely arranged at the top of the bottom support, the ends of the storage tank conveying belts in the classification support are higher than the ends of the storage tank conveying belts outside the classification support, the storage tank conveying belts are arranged below the V-shaped classification channel, and side wall switches are arranged on the classification support. Empty collection box is placed in the storage box support, when needs convey empty collection box to the classification support in, the storage box conveyer belt work drives the motion of below collection box orientation classification support, when the collection box runs into the lateral wall switch, and the storage box conveyer belt stops the motion, accomplishes the conveying work of empty collection box.
The collecting lifting module comprises a collecting support and two lifting platforms arranged in the lifting support, a plurality of driving gears are arranged in the collecting support, two sides of the lifting platforms are connected with racks, the racks are meshed with the driving gears on the corresponding sides, and two lifting switches are arranged on the collecting support. Counting the number of apples entering the collecting box through the counting module arranged in the classifying module, when the number of apples in the collecting box reaches the maximum limit, driving the collecting box to move towards the lifting platform by corresponding to the movement of the storage box conveyor belt below the collecting box, when the collecting box filled with apples completely reaches the lifting platform and touches a corresponding lifting switch, the lifting platform descends by one box height, a stacking space is reserved for the next box, after three box heights of the lifting plate descend and touch the bottom touch switch, a buzzer sends out a prompt tone, a fruit grower takes out the collecting box in the collecting lifting module, and the lifting platform resets for next circulation. When the bin conveyor belt conveys the bin filled with apples, the empty bin can also move to the position right below the V-shaped classification channel along with the bin conveyor belt, so that non-interval collection is realized.
The elastic buffer channel comprises a plurality of buffer strips which are arranged at equal angle and interval around the central line of the conveying channel, the elastic buffer channel is applicable to both round conveying channels and square conveying channels, the number of the buffer strips can be selected according to different fruits, three buffer strips are selected for a common round buffer channel, and four buffer strips are selected for a common square buffer channel. The both ends of every buffer zone all are connected with the tight pulley, can adjust the elasticity of buffer zone through the tight pulley of adjusting.
The collecting support comprises a plurality of support rods, each support rod is internally provided with a driving gear, and the driving gears drive racks meshed with the driving gears to move so as to drive the lifting platform to ascend and descend.
Compared with the prior art, the invention has the following specific beneficial effects: the fruit picking and collecting device adopts an electromechanical integrated design, simplifies the working procedure, is simple in operation, is easy to operate, has no special working environment requirement, is suitable for picking and collecting various fruits, brings great convenience to fruit farmers, liberates labor force and reduces economic loss of the fruit farmers.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a right side view of the present invention.
Fig. 4 is a schematic structural view of a hand-held picking apparatus.
Fig. 5 is a schematic structural diagram of the collecting lifting module in fig. 1.
Fig. 6 is a side view of fig. 5.
In the figure, 1 is a classification module, 11 is a classification support, 12 is a conveying channel, 121 is an elastic buffer channel, 122 is a buffer belt, 123 is a tightening wheel, 13 is a telescopic rod, 14 is a V-shaped classification channel, 141 is a first opening, 142 is a second opening, 15 is a steering channel, 16 is a side wall switch, 2 is a storage tank conveying module, 21 is a bottom support, 211 is a storage tank conveying belt, 22 is a storage tank support, 3 is a collection lifting module, 31 is a collection support, 32 is a lifting platform, 33 is a driving gear, 34 is a gear motor, 35 is a rack, 36 is a lifting switch, 4 is a handheld picking device, 41 is a telescopic handle, 42 is a three-jaw mechanical claw, 43 is a miniature motor, 44 is a lead screw, 45 is a screw, 46 is a movable rod, 47 is a button, and 48 is a steering engine.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 3, the portable multi-fruit auxiliary picking machine comprises a classification module 1 arranged in the middle, a storage tank conveying module 2 arranged on one side of the classification module 1 and a collecting lifting module 3 arranged on the other side of the classification module 1, wherein the classification module 1 is used for conveying and classifying collected fruits, the storage tank conveying module 2 is used for piling up empty collecting tanks and conveying the empty collecting tanks into the classification module 1, the collecting upgrading module is used for collecting the collecting tanks filled with the fruits, and when the number of the collecting tanks reaches a preset collecting number, fruit farmers are reminded to take the fruits away.
The classification module 1 comprises a classification bracket 11 and a conveying channel 12, wherein the bottom of the conveying channel 12 is hinged with the upper part of the classification bracket 11, the middle part of the conveying channel 12 is connected with the classification bracket 11 through a telescopic rod 13, and the rotation angle of the conveying channel 12 is controlled through the telescopic length of the telescopic rod 13. The upper end and the lower end of the conveying channel 12 are both opened, an elastic buffer channel 121 is arranged in the conveying channel 12, the lower end opening of the conveying channel 12 is connected with a first opening 141 of the V-shaped classifying channel 14 through a steering channel 15, the width of the first opening 141 is smaller than that of a second opening 142, the height of the first opening 141 is larger than that of the second opening 142, and the V-shaped classifying channel 14 is arranged in the classifying bracket 11. Fruits are put into the upper end opening of the conveying channel 12 through the picking tool, the fruits fall along the elastic buffer channel 121 in the conveying channel 12, and the fruits are not damaged in the falling process due to the existence of the elastic buffer channel 121; fruits fall from the lower end of the conveying channel 12 into the turning channel 15, then enter into the V-shaped classifying channel 14 from the turning channel 15, the width of the V-shaped classifying channel 14 gradually widens along the rolling direction of the fruits, small apples fall into a small apple collecting box below at the front section of the V-shaped classifying channel 14, and large apples fall into a large apple collecting box below at the rear section of the V-shaped classifying channel 14, so that the size classification of apples is realized.
The tank conveying module 2 comprises a bottom bracket 21 and a tank bracket 22 connected above the bottom bracket 21, wherein two tank conveying belts 211 extending to the inside of the classifying bracket 11 are obliquely arranged at the top of the bottom bracket 21, the ends of the tank conveying belts 211 in the classifying bracket 11 are higher than the ends of the tank conveying belts 211 outside the classifying bracket 11, the tank conveying belts 211 are arranged below the V-shaped classifying channel 14, and a side wall switch 16 is arranged on the classifying bracket 11. Three empty collection boxes are sequentially stacked in the storage box support 22, when the empty collection boxes are required to be conveyed into the classification support 11, the storage box conveying belt 211 works, the clamping jaws scratch the lowest box, the storage box conveying belt 211 drives the lowest collection box to move towards the classification support 11, and when the collection boxes touch the side wall switch 16, the storage box conveying belt 211 stops moving to finish conveying of the empty collection boxes.
As shown in fig. 5 and 6, the collecting and lifting module 3 includes a collecting bracket 31 and two lifting platforms 32 disposed in the lifting bracket, a plurality of driving gears 33 are disposed in the collecting bracket 31, the driving gears 33 are driven by a gear motor 34, two sides of the lifting platforms 32 are connected with racks 35, the racks 35 are meshed with the driving gears 33 on the corresponding sides, and two lifting switches 36 are disposed on the collecting bracket 31. The number of apples entering the collection box is counted through the photoelectric counting device arranged in the classification module 1, when the number of apples in the collection box reaches the maximum limit, the collection box conveyor belt 211 corresponding to the lower part in the collection box moves to drive the collection box to move towards the lifting platform 32, when the collection box filled with apples completely reaches the lifting platform 32 and touches the corresponding lifting switch 36, the lifting platform 32 descends by one box height, a stacking space is reserved for the next box, after three box heights are lowered by the lifting plate and touch the bottom touch switch, the buzzer sends out a prompt tone, a fruit grower takes out the collection box in the collection lifting module 3, and the lifting platform 32 resets for next circulation. While the bin conveyor 211 is carrying bins filled with apples, empty bins are also moving with the bin conveyor 211 directly under the V-shaped sorting channel 14, enabling non-compartmental collection.
The inner structure of the elastic buffer channel 121 is a structure with a narrow middle and two sides, the wide upper end part is convenient for picking fruits to enter the elastic buffer channel 121, and the narrow middle part is used for clamping the fruits to achieve the purpose of buffering the descending speed. The elastic buffer channel 121 includes a plurality of buffer strips 122, the plurality of buffer strips 122 are arranged at equal angle intervals around the center line of the conveying channel 12, whether the conveying channel 12 is round or square, the elastic buffer channel 121 is applicable, the number of the buffer strips 122 can be selected according to different fruits, three buffer strips 122 are selected for a general round buffer channel, and four buffer strips 122 are selected for a general square buffer channel. The buffer belts 122 are made of soft and elastic materials, and two ends of each buffer belt 122 are connected with the adjusting wheel 123, so that the tightness of the buffer belts 122 can be adjusted through the adjusting wheel 123.
The collecting bracket 31 comprises a plurality of supporting rods, each supporting rod is internally provided with a driving gear 33, the driving gear 33 drives racks 35 meshed with the supporting rods to move, and racks on two sides of the lifting platform 32 synchronously move to further drive the lifting platform 32 to ascend and descend.
As shown in fig. 4, the hand-held picking device 4 can be further provided, the hand-held picking device 4 is connected with a three-jaw type gripper 42 connected to the upper end of the telescopic handle 41 by the telescopic handle 41, a multiple buffer device is designed on the three-jaw type gripper 42 to reduce the damage rate of picked fruits, a micro motor 43 and a screw 44 are arranged in the telescopic handle 41, the micro motor 43 is connected with the screw 44 through a coupling, a nut 45 is fixed with a movable rod 46, the telescopic handle 41 is adjusted to a proper position when the movable rod 46 is controlled to stretch through a button 47, when the length of the movable rod 46 needs to be changed, the button 47 is pressed, the motor drives the screw 44 to rotate, so that the nut 45 drives the movable rod 46 to move up and down, the telescopic handle 41 is further provided with a steering gear 48, the steering gear 48 can realize the opening and closing of the three-jaw type gripper 42, when the steering gear 48 rotates in the forward direction, the three-jaw type gripper 42 is closed, the steering gear 48 opens and the three-jaw type gripper 42 opens, the fruits are picked by the opening and closing of the three-jaw type gripper 42, and the fruits are classified into the classification modules 1.
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (2)

1. The portable multi-fruit auxiliary picking machine is characterized by comprising a classification module (1) arranged in the middle, a storage box conveying module (2) arranged on one side of the classification module (1) and a collecting lifting module (3) arranged on the other side of the classification module (1);
the classifying module (1) comprises a classifying bracket (11) and a conveying channel (12), wherein the bottom of the conveying channel (12) is hinged with the upper part of the classifying bracket (11), the middle part of the conveying channel (12) is connected with the classifying bracket (11) through a telescopic rod (13), the upper end and the lower end of the conveying channel (12) are both opened, an elastic buffer channel (121) is arranged in the conveying channel (12), the lower end opening of the conveying channel (12) is connected with a first opening (141) of a V-shaped classifying channel (14) through a steering channel (15), the V-shaped classifying channel (14) is arranged in the classifying bracket (11), the first opening (141) is arranged at one end of the V-shaped classifying channel (14), the second opening (142) is arranged at the other end of the V-shaped classifying channel (14), the width of the first opening (141) is smaller than the width of the second opening (142), and the height of the first opening (141) is larger than the height of the second opening (142).
The storage box conveying module (2) comprises a bottom bracket (21) and a storage box bracket (22) connected above the bottom bracket (21), two storage box conveying belts (211) extending to the inside of the classification bracket (11) are obliquely arranged at the top of the bottom bracket (21), the end of the storage box conveying belt (211) arranged in the classification bracket (11) is higher than the end of the storage box conveying belt (211) arranged outside the classification bracket (11), the storage box conveying belt (211) is arranged below the V-shaped classification channel (14), and a side wall switch (16) is arranged on the classification bracket (11);
the collecting lifting module (3) comprises a collecting bracket (31) and two lifting platforms (32) arranged in the collecting bracket (31), a plurality of driving gears (33) are arranged in the collecting bracket (31), two sides of the lifting platforms (32) are connected with racks (35), the racks (35) are meshed with the driving gears (33) on the corresponding sides, and two lifting switches (36) are arranged on the collecting bracket (31);
the elastic buffer channel (121) comprises a plurality of buffer belts (122), the buffer belts (122) are arranged at equal angle intervals around the central line of the conveying channel (12), two ends of each buffer belt (122) are connected with a tightening wheel (123), and the tightness of the buffer belt (122) can be adjusted through the tightening wheel (123);
still include hand-held type picking device (4), hand-held type picking device (4) comprises flexible handle (41) and three claw gripper (42) of connection in flexible handle (41) upper end, be equipped with multiple buffer on three claw gripper (42), be equipped with micro motor (43) and lead screw (44) in flexible handle (41), micro motor (43) are fixed with movable rod (46) through coupling joint with lead screw (44), screw (45), flexible through button (47) control movable rod (46), steering wheel (48) have still been arranged to the upper end of flexible handle (41), steering wheel (48) control three claw gripper (42) open and shut.
2. The portable multi-fruit-assisted picking machine according to claim 1, wherein the collection stand (31) comprises a plurality of support bars, each of which has a drive gear (33) mounted therein.
CN201810766114.5A 2018-07-12 2018-07-12 Portable multi-fruit auxiliary picking machine Active CN108566832B (en)

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Application Number Priority Date Filing Date Title
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CN108566832B true CN108566832B (en) 2023-09-19

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114246063B (en) * 2020-09-21 2023-05-02 西安欧亚学院 Fruit picking robot and picking method thereof
CN114258783A (en) * 2021-12-20 2022-04-01 中国计量大学 Single fruit picking mechanical device suitable for mountain land operation and picking method thereof

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2919461A1 (en) * 2007-07-31 2009-02-06 Cnh France Sa DEVICE FOR SEPARATING AND SYSTEM FOR CLEANING A FLOW HARVESTED BY A FRUIT HARVESTING MACHINE
CN105248038A (en) * 2015-10-02 2016-01-20 泉州市永茂电子科技有限公司 Automatic couchgrass spica plucking sorting device
CN107873246A (en) * 2017-11-15 2018-04-06 常州信息职业技术学院 Pluck automatic screening collection device
CN107996138A (en) * 2017-12-08 2018-05-08 青岛农业大学 A kind of Multifunctional apple picking job platform and its application method
CN207505447U (en) * 2017-12-05 2018-06-19 延安大学 A kind of not damaged apple picking of classification

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2919461A1 (en) * 2007-07-31 2009-02-06 Cnh France Sa DEVICE FOR SEPARATING AND SYSTEM FOR CLEANING A FLOW HARVESTED BY A FRUIT HARVESTING MACHINE
CN105248038A (en) * 2015-10-02 2016-01-20 泉州市永茂电子科技有限公司 Automatic couchgrass spica plucking sorting device
CN107873246A (en) * 2017-11-15 2018-04-06 常州信息职业技术学院 Pluck automatic screening collection device
CN207505447U (en) * 2017-12-05 2018-06-19 延安大学 A kind of not damaged apple picking of classification
CN107996138A (en) * 2017-12-08 2018-05-08 青岛农业大学 A kind of Multifunctional apple picking job platform and its application method

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