CN109258108A - A kind of new-type device for picking fruits on trees - Google Patents
A kind of new-type device for picking fruits on trees Download PDFInfo
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- CN109258108A CN109258108A CN201811287726.2A CN201811287726A CN109258108A CN 109258108 A CN109258108 A CN 109258108A CN 201811287726 A CN201811287726 A CN 201811287726A CN 109258108 A CN109258108 A CN 109258108A
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- trees
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 105
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000005520 cutting process Methods 0.000 claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000007306 turnover Effects 0.000 claims description 74
- 238000003860 storage Methods 0.000 claims description 17
- 229920003023 plastic Polymers 0.000 claims description 10
- 239000004033 plastic Substances 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 8
- 238000005192 partition Methods 0.000 claims description 6
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 230000006698 induction Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000011161 development Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 235000014678 Fruitflow® Nutrition 0.000 description 1
- 235000014443 Pyrus communis Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004576 sand Substances 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention provides a kind of new-type device for picking fruits on trees, including bottom plate, the supporting box being fixed on bottom plate, it is connected to the column of supporting box side, it is connected to the bracket of the upper end of the column, the bracket includes the vertical bar connecting with column, and it is connected to the cross bar on vertical frame top, one end of the cross bar connects picker, the picker includes driving motor, the positioning cylinder being fixed on cross bar, the eccentric wheel being connected on driving motor, and the cutting blade being connect by crank and rocker mechanism with eccentric wheel, the cutting blade can move back and forth along the camber line of positioning cylinder upper semi-circle, the upper semi-circle of the positioning cylinder is equipped with the locating slot for positioning fruit carpopodium, the low water that the lower half circle of the positioning cylinder is equipped with.Automatic cutting of the picker used in the present invention by positioning cylinder to the positioning, photoelectric sensor of fruit to the induction, cutting blade of fruit position to fruit carpopodium, realization full-automatic mechanical fruit picking process.
Description
Technical field
The invention belongs to fruit picking technical fields, and in particular to a kind of new-type device for picking fruits on trees.
Background technique
With the rapid development of economy, fruit-growing industry has become the pillar industry that peasant depends on for existence, existing rank at present
Section apple-picking is influenced by factors such as economic cost and territory restrictions, and orchard worker is taken mostly based on artificial Softening, few
Measure the harvesting approach supplemented by small-sized seed harvester, such as work application No. is a kind of CN200720147861.8 fruit-picking announced
Tool, mechanization degree is low and is easier to generate injury to fruit, is unfavorable for storage, transport and sale, with limiting application
The economic development in area brings inconvenience to production and living.
Summary of the invention
The object of the present invention is to provide a kind of new-type device for picking fruits on trees, to overcome above-mentioned technical problem.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of new-type device for picking fruits on trees including bottom plate, the supporting box being fixed on bottom plate, is vertically connected on supporting box
The column of side, the bracket in anti-" 7 " type structure for being connected to the upper end of the column, the bracket include the vertical bar being connect with column,
And it is connected to the cross bar on vertical frame top, one end of the cross bar is connected with the picker for fruit-picking, the picking
Device includes being connected to driving motor above cross bar, the positioning cylinder being fixed on cross bar along cross bar extending direction, being connected to
Eccentric wheel on driving motor round end and the cutting blade being connect by crank and rocker mechanism with the eccentric wheel, it is described
Cutting blade is located above the positioning cylinder and can move back and forth along the camber line of positioning cylinder upper semi-circle, the positioning cylinder
Upper semi-circle on be located at the surface of the positioning cylinder circle center line connecting and be equipped with locating slot for positioning fruit carpopodium, it is described fixed
The lower half circle of circle of position cylinder is equipped with low water corresponding with the locating slot.
Further, the locating slot is the notch of preferably V-shaped, is connected in the positioning cylinder for incuding water
The photoelectric sensor of fruit position.
Further, the crank and rocker mechanism includes crank and the institute that revolute pair is connect and formed with the eccentric wheel
It states blade connection and forms the rocking bar of prismatic pair with the blade, the crank is flexibly connected with the rocking bar, the cross bar
Top, which is located between the eccentric wheel and positioning cylinder, is connected with vertical fixing plate, is vertically connected with court on the vertical fixing plate
To the movable axis of eccentric wheel, the lower end of the rocking bar is with the activity axis connection and the rocking bar can move back and forth along movable axis.
Further, the lower section of the low water, which is equipped with, is connected on positioning cylinder and extends into hanging down in the supporting box
Straight pipeline, the vertical pipe include be connected to positioning cylinder on pipe network section and be connected to each other with pipe network section and it is securing elongated to prop up
Support the intracorporal plastics pipeline section of case.
Further, it is equipped in the supporting box for receiving the fruit slid on vertical pipe and dividing fruit
Flow the shunting collection device collected, the shunting collection device includes and is fixed on supporting box and to sliding on vertical pipe
The shunting raceway that is shunted of fruit and on supporting box bottom for collecting the fruit through shunting raceway shunting
Collecting mechanism.
Further, the shunting raceway include raceway bottom plate and be connected to raceway bottom plate two sides and with the raceway bottom plate
The coaming plate of raceway is collectively formed, the raceway bottom plate includes the slide plate tilted down for receiving the fruit slid on vertical pipe
One, with the affixed commutation bent plate of slide plate one and with the affixed slide plate two tilted down of bent plate that commutates, the slide plate one
On along its inclined direction be equipped with diversion channel, be connected on the diversion channel can make fruit continue to roll to two direction of slide plate or
The diversion mechanism in collecting mechanism directly is fallen in shunt slot location, the inclination lower end of the slide plate two, which is equipped with, can make fruits
Through slot in collecting mechanism.
Further, the diversion mechanism includes that the middle position of the diversion channel is arranged in and is movably connected in slide plate one
Rotation axis on both ends, the rotation axis periphery circle on be evenly distributed with the turnover panel one affixed with rotation axis, turnover panel two and
Turnover panel three, the turnover panel one and turnover panel two are respectively positioned on one end of one top of slide plate and the turnover panel one and the turnover panel two
Be respectively connected with positioning plate, be located on the slide plate one diversion channel both ends be equipped with it is affixed with the slide plate one and towards institute
The limit plate of rotating shaft direction protrusion is stated, is turned over when the positioning plate is in contact with the limit plate with what the positioning plate was connected
The slide plate one being correspondingly connected with the limit plate is in same plane by plate one or turnover panel two.
Further, the collecting mechanism includes the decelerating motor being laterally disposed on bottom plate, is fixed on bottom plate and is spaced
Two vertically oriented plates of a distance, be connected between two vertically oriented plates and with the round end of the decelerating motor connect
The feed screw nut's seat that can move back and forth on the ball screw that connects, connection ball-screw and it is detachably connected on feed screw nut's seat
On collection box, in the collection box along the ball screw length direction be equipped with by collection box be divided into two storage spaces every
Plate, described two storage spaces collect the fruit to fall from diversion channel and through slot respectively, and feed screw nut's seat is equipped with to receipts
Collect the pressure sensor that box carries out pressure sensitive.
Further, it is equipped in described two storage spaces perpendicular to the partition multiple by two storage spaces difference
It is separated into the baffle of multiple impartial grid.
Further, the vertical bar is flexibly connected with the column by telescopic device, and the telescopic device includes connection
The lower part of the column be located at rotation axis one above supporting box, the rotational handle for being connected to one both ends of rotation axis and
Driving wheel, the gear for being connected to rotation middle position, is connected to the rotation axis at the rotation axis two for being connected to the upper end of the column
Two one end and the driven wheel ipsilateral with the driving wheel and along vertical bar short transverse be fixed in the vertical bar and with the gear
The rack gear of connection is engaged, the driving wheel is connect by chain with the driving wheel.
The utility model has the advantages that
1, sense of the picker used in the present invention by positioning cylinder to the positioning, photoelectric sensor of fruit to fruit position
It answers, automatic cutting of the cutting blade to fruit carpopodium, realization full-automatic mechanical fruit picking process；
2, heretofore described picker can be by telescopic device lower movement in the height direction, can be according to fruit in fruit tree
Altitudes be adjusted, the fruit tree with different height also can be used；
3, the vertical pipe that the present invention uses is divided into official website section and plastics pipeline section, goes out in dropping process after reduction fruit picking
Existing degree of impairment；
4, the shunting collection device that the present invention uses is placed in supporting box, and the collection box of design therein is 2 row's clathrate boxes
The fruit of whereabouts is shunted by shunting raceway, falls to fruit in collection box respectively two positions, sequentially divide by body
In two rows of grid, and after the built-in full water fruit of grid in collection box, it can Jin Ru not directly take out pack and sell, from picking
It is settled at one go to automated package, reduces hand-filling step；
5, the present invention automatically completes the picking, collection and packet of fruit by telescopic device, picker, shunting collection device
Dress, and mechanization degree is higher, it is easy to operate, it is practical, it can be widely used for the various fruits such as apple, pear, orange
Picking is collected.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of picker in the present invention；
Fig. 3 is the structural schematic diagram of crank and rocker mechanism in the present invention；
Fig. 4 is the structural schematic diagram that collection device is shunted in the present invention；
Fig. 5 is the structural schematic diagram that raceway is shunted in the present invention；
Fig. 6 is the structural schematic diagram of diversion mechanism in the present invention；
Fig. 7 is the structural schematic diagram of collection box in the present invention；
Fig. 8 is the structural schematic diagram of telescopic device in the present invention；
In figure: 100, bottom plate；200, supporting box；300, column；400, bracket；500, picker；510, driving motor；
520, eccentric wheel；530, cylinder is positioned；531, locating slot；532, low water；540, cutting blade；550, crank and rocker mechanism；
551, crank；552, rocking bar；553, movable axis；560, vertical fixing plate；600, vertical pipe；610, official website section；620, plastics
Pipeline section；700, collection device is shunted；710, raceway is shunted；711, coaming plate；712, raceway bottom plate；7121, slide plate one；7122, it changes
To bent plate；7123, slide plate two；713, diversion mechanism；7131, rotation axis；7132, turnover panel one；7133, turnover panel two；7134, turnover panel
Three；7135, positioning plate；714, diversion channel；715, inclined support panel；716, horizontal supporting plate；717, through slot；718, limit plate；
720, collecting mechanism；721, decelerating motor；722, vertically oriented plate；723, ball screw；724, feed screw nut's seat；725, it collects
Box；726, partition；727, baffle；800, telescopic device；900, universal wheel；1000, pushing hands.
Specific embodiment
In the description of the present invention, unless otherwise indicated, the side of the instructions such as term " on " "lower" " left side " " right side " " preceding " " rear "
Position or positional relationship are merely to describing the present invention and simplifying description, rather than the device of indication or suggestion meaning or structure are necessary
With specific orientation, therefore it is not considered as limiting the invention.In addition, term " first " " second " etc. is only used for describing
Purpose is not understood to indicate or imply relative importance.When being stood at pushing hands in the accompanying drawings in the application with operator
As shown in Figure 1, new-type device for picking fruits on trees of the present invention include bottom plate 100, supporting box 200, column 300,
Bracket 400, vertical pipe 600, shunts collection device 700, telescopic device 800, universal wheel 900 and pushes away picker 500
Hand 1000, the universal wheel are connected on the quadrangle end below bottom plate, and the pushing hands is mounted on the side of bottom plate and is parallel to institute
The width direction of bottom plate is stated, the pushing hands uses square frame identical with the baseplate width.
As shown in Figure 1, the supporting box is fixed on the bottom plate, the uprights vertical is fixed in supporting box
Side on and the column may extend in supporting box so that column is more firm, the bracket includes and column company
The vertical bar and cross bar connect, one end of the cross bar and the vertical bar are integrally formed and integrally connected forms anti-" 7 " type structure,
The other end connection of the cross bar picker, the vertical bar can be by the telescopic device above and below the column
It is mobile；The vertical pipe include formed knitmesh material official website section and the plastic conduit made of plastic material, it is described
One end of official website section is detachably connected on the picker, and the other end extends into the plastic conduit, the plastic tube
The other end in road is fixed on the supporting box and extends into the supporting box；The shunting collection device is arranged in institute
It states in supporting box, the shunting collection device is corresponding with the plastic conduit for connecing in supporting box including being fixed in
It receives the fruit that plastic conduit slides and the shunting raceway that is shunted to fruit and being placed on the supporting box bottom is used for
Collect the collecting mechanism of the fruit after shunting raceway and shunting；Quadrangle end below the universal wheel setting bottom plate makes entire new
Formula device for picking fruits on trees can move on arbitrary orientation, and the pushing hands is connected to the top of the bottom plate close to the column
Side, for facilitating operator by pushing pushing hands to move the new-type device for picking fruits on trees.
As shown in Fig. 2, the picker includes being connected to driving motor above cross bar, along the direction that cross bar extends
The positioning cylinder that is fixed on cross bar one end, the eccentric wheel being connected on the round end of driving motor and pass through crank rocker
The cutting blade that mechanism is connect with the eccentric wheel；As shown in figure 3, the crank and rocker mechanism includes connecting with the eccentric wheel
And the crank of revolute pair is formed, is connect with the cutting blade and is formed with the cutting blade rocking bar of prismatic pair, the song
Handle is flexibly connected with the rocking bar, is located between the eccentric wheel and positioning cylinder in the top of the cross bar and is connected with one vertically
Fixed plate is vertically connected with the movable axis towards eccentric wheel direction, the lower end of the rocking bar and institute on the vertical fixing plate
The activity axis connection stated, can make the rocking bar that can move back and forth along movable axis when the crank is rotated with eccentric wheel.
As shown in Fig. 2, the cutting blade is located at the top of the positioning cylinder, the rocking bar is being moved back along movable axis
Rocking bar can make cutting blade that can move back and forth along the camber line of positioning cylinder upper semi-circle when dynamic；On the upper semi-circle of the positioning cylinder
The locating slot for positioning fruit carpopodium is equipped with right above the circle center line connecting of the positioning cylinder, the locating slot is preferred
Using the notch of V-shaped, at the same it is described positioning cylinder lower half circle on be equipped with the corresponding low water of the locating slot,
Fruit can be fallen to from low water in vertical pipe and along vertical tube after the completion of the low water completes carpopodium cutting for cutting blade
Road, which is fallen to, to be shunted in collection device, and the photoelectric sensor for incuding fruit position is connected in the positioning cylinder.
When fruit-picking, according to the position of fruit, whole device is moved to fruit carpopodium and is entered in locating slot, fruit enters fixed at this time
In circle of position cylinder, when photoelectric sensor senses fruit, backstage is sent a signal to, the starting of Background control driving motor makes to cut
Blade moves back and forth along the camber line of positioning cylinder upper semi-circle, to cutting for fruit carpopodium, completes the picking to fruit at this time,
The fruit picked, which enters in vertical pipe and falls to from low water, to be shunted in collection device.
As shown in Figure 4 and Figure 5, the shunting raceway include raceway bottom plate 712 and be connected to raceway bottom plate two sides and with
The raceway bottom plate is collectively formed the coaming plate 711 of raceway, the raceway bottom plate include receive the fruit slid on vertical pipe and
The slide plate 1 that tilts down, the commutation bent plate 7122 affixed with slide plate one and affixed and downward with the commutation bent plate
Inclined slide plate 2 7123 is equipped with along its inclined direction on the slide plate one and shunts wherein the commutation bent plate uses semicircle
Slot 714, being connected on the diversion channel can make fruit continue to roll to two direction of slide plate or directly fall in shunt slot location
Diversion mechanism 713 in collecting mechanism, the inclination lower end of the slide plate two are equipped with and can make in fruits to collecting mechanism
Through slot 717.
As shown in Figure 5 and Figure 6, the diversion mechanism includes middle position and the flexible connection that the diversion channel is arranged in
Rotation axis 7131 on one both ends of slide plate, the rotation axis are evenly distributed with the turnover panel affixed with rotation axis along the circle of its periphery
One, turnover panel two and turnover panel three, the turnover panel one, turnover panel two, turnover panel three and rotation axis form three wings reverse turning bed structure, described
Turnover panel one, turnover panel two, the angle formed between turnover panel three are 120 degree, to any in turnover panel one, turnover panel two and turnover panel three
One application light pressure can be such that rotation axis is rotated, at this time the turnover panel one in rotation axis, turnover panel two and turnover panel three with
It is rotated synchronously with rotation axis；The turnover panel one and turnover panel two is respectively positioned on one top of the slide plate, in the turnover panel one and described
Turnover panel two is respectively connected with positioning plate relative to one end of rotation axis, while being located at the both ends of the diversion channel on the slide plate one
Be respectively equipped with it is affixed with the slide plate one and towards the limit plate of the rotating shaft direction, when the positioning plate on turnover panel one is with turning over
Plate one is turned to above corresponding limit plate and when stacking up with limit plate, and turnover panel one stops turning because of the effect of limit plate
It is dynamic, so that entire diversion mechanism is stopped operating, turnover panel one and the slide plate one are in same plane, the positioning on turnover panel two at this time
Plate with turnover panel two turn to above corresponding limit plate and when stacking up with limit plate, effect of the turnover panel two because of limit plate
It stops operating, entire diversion mechanism is made to stop operating, turnover panel two and the slide plate one are in same plane at this time；At turnover panel one
When position in attached drawing 5, the positioning plate on turnover panel two is contacted with the limit plate makes turnover panel two and slide plate one be in same flat
Face, when receiving fruit on slide plate one at this time, fruit passes through downwards turnover panel two and slides to turnover panel one, after fruit is contacted with turnover panel one
Self gravity adds downward sliding power that can give turnover panel one certain pressure, starts turning rotation axis, at this time turnover panel one by
The positioning plate for gradually turning to the connection of turnover panel one is in contact with the limit plate of close one this side of turnover panel, because of positioning plate and limit plate
Effect, turnover panel one stop operating, and fruit continues slide downward through turnover panel one, along slide plate after the effect of commutation bent plate is commutated
Two continue downwards to slide and fall into the collection box below through slot by through slot；Turnover panel one and the slide plate one at this time is in same
One plane, and second turnover panel turns to the top of diversion channel, when slide plate one receives fruit again, fruit glides and strikes
It is slid downwards in diversion channel on turnover panel two, and between turnover panel two and turnover panel three, because angle is between turnover panel two and turnover panel three
120 degree, fruits will hit turnover panel three in the process, then fall into the collection box of three lower section of turnover panel, and turnover panel three, which receives, at this time hits
Rotation axis will be promoted to rotate again after hitting power, so that entire diversion mechanism is returned to the position in attached drawing 5, repeat the above steps
The fruit of whereabouts is divided into two positions in the effect of diversion mechanism to fall in collection box, completes the shunting of fruit.
As shown in Figure 4 and Figure 5, inclined support panel 715 and water are connected with by fixed screw in the supporting box
Flat support plate 716, the inclined support panel are located at the lower section of the slide plate one and identical as the tilt angle of the slide plate one,
For slide plate one to be supported in the supporting box；The horizontal supporting plate is located at the lower section of the commutation bent plate, and being used for will
Commutation bent plate and slide plate two are supported in the supporting box.
As shown in figure 4, the collecting mechanism includes the decelerating motor being placed on the supporting box bottom, is fixed in bottom
On plate and be spaced a distance two vertically oriented plates, be connected between two vertically oriented plates and with the decelerating motor
Round end connection ball screw, connection ball-screw on can move back and forth feed screw nut seat and be detachably connected on
Collection box on feed screw nut's seat.As shown in figs. 4 and 7, being equipped in the collection box along the ball screw length direction will
Collection box is divided into the partition 726 of two storage spaces, and two storage spaces are shunted raceway shunting for collecting respectively
Fruit afterwards, while being equipped with multiple baffles along perpendicular to the partition in two storage spaces, the multiple baffle is by two
A storage space is separated into multiple impartial grid respectively, and the collection box is made to form 2 rows and the identical clathrate box body of quantity, than
Such as, baffle there are two setting in the present embodiment, makes the clathrate box body of the collection box 2*3 in the present embodiment, wherein row's grid
For being collected one by one the fruit of through slot whereabouts, another row's grid is used to be collected one by one the fruit of diversion channel whereabouts；Simultaneously described
Feed screw nut's seat be equipped with to collection box carry out pressure sensitive pressure sensor, the pressure sensor by induction collect
Fruit pressure condition promotes decelerating motor to be moved in box, moves the collection box along ball screw direction；It is propping up
The support bottom of box is equipped with simultaneously collects the photoelectric sensor that situation is incuded to fruit in collection box, with real-time perception collection box
The middle quantity for collecting fruit is completed to count.
As shown in figure 8, the telescopic device includes being connected to the lower part of the column to be located at rotation above supporting box
Axis 1, the rotational handle 810 for being connected to one both ends of rotation axis and driving wheel 830 are connected to turning for the upper end of the column
Moving axis 2 860, the gear 870 being connected on two middle position of rotation axis, be connected to described two one end of rotation axis and with the master
The ipsilateral driven wheel 850 of driving wheel and be fixed in the vertical bar along vertical bar short transverse and engaged with the gear connection tooth
Item 880, the driven wheel are connect by chain 840 with the driving wheel, and rotational handle described in manual rotation rotates driving wheel,
It is rotated again by chain-driving driven wheel, the rotation of driven wheel can be such that the gear in rotation axis two moves up and down along the rack gear；
The one side that the vertical bar is contacted with the column simultaneously is equipped with the auxiliary sand that can be rolled along column relative to the one side of rack gear
Wheel assists grinding wheel that vertical bar can be assisted to slide along the column when gear is rotated along rack gear, and in the column and institute
The top for stating the one side of vertical bar contact is equipped with positioning grinding wheel, for the auxiliary grinding wheel when vertical bar is along column upward sliding
When contact positioning grinding wheel, the vertical bar stops upward sliding, and the vertical bar extends to maximum height at this time.
The course of work: it is artificial first by the mobile present apparatus of pushing hands, it is adjusted according to fruit picking height by telescopic device
The height of picker, then moving the present apparatus enters fruit carpopodium in locating slot, the photoelectric sensor sense in positioning cylinder
It when should arrive fruit, generates signal and is sent to backstage, backstage sends signal and opens driving motor, promotes cutting blade to locating slot
Interior carpopodium is cut, and fruit falls in vertical pipe through low water and falls to shunting along vertical pipe and receives after cutting
In acquisition means；When slide plate one receives first fruit, fruit can slide down at diversion mechanism along slide plate one, when turnover panel one
When in 5 position of attached drawing, fruit, which hits turnover panel one, makes that diversion mechanism turns to turnover panel one and slide plate one is in same plane, fruit
It will continue to be snapped down to commutation bent plate, and be snapped down at through slot after commutation through slide plate two, and fall to from through slot opposite with through slot
In first grid in row's grid answered, the storage of first fruit is completed；When slide plate one receives second fruit, because
Diversion mechanism is converted in the active position of first fruit, and second fruit hits turnover panel two and by under diversion channel at this time
The turnover panel three for hitting and being located at one lower section of slide plate is fallen, first in row's grid corresponding with diversion channel is fallen to by turnover panel three
In a grid, the storage of second fruit is completed；Pressure sensor receives the collection situation in collection box at this time, sends signal
Decelerating motor is opened, collection box is made to move the distance of a lattice along ball screw direction, makes second grid point in two rows of grid
Through slot and diversion channel are not corresponded to, then by repeating the above steps, the fruit storage of second grid in two rows of grid is completed, until receiving
Collect the built-in full water fruit of two rows of grid in box, stops collecting, take out collection box, be loaded on a new collection box, can restart
The fruit of next collection box is stored, and is recycled with this, and the collection box for completing storage can be packed directly, can be used to sell.
In order to keep the objectives, technical solutions, and advantages of the present invention more concise, present invention embodiments above
It is illustrated, is used only to describe the present invention, should not be understood as limiting the scope of the present invention.It should be pointed out that it is all
Any modifications, equivalent replacements, and improvements etc. done within the spirit and principles in the present invention, should be included in protection of the invention
Within the scope of.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of new-type device for picking fruits on trees, which is characterized in that including bottom plate (100), the supporting box that is fixed on bottom plate
(200), the bracket in anti-" 7 " type structure for being vertically connected on the column (300) of supporting box side, being connected to the upper end of the column
(400), the bracket includes the vertical bar connecting with column and the cross bar for being connected to vertical frame top, and one end of the cross bar connects
It is connected to the picker (500) for fruit-picking, the picker includes the driving motor being connected to above cross bar
(510), along the bias that cross bar extending direction is fixed on cross bar positioning cylinder (530), is connected on driving motor round end
Wheel (520) and the cutting blade (540) being connect by crank and rocker mechanism (550) with the eccentric wheel, the cutting blade
It can move back and forth above the positioning cylinder and along the camber line of positioning cylinder upper semi-circle, the upper semi-circle of the positioning cylinder
The upper surface positioned at the positioning cylinder circle center line connecting is equipped with the locating slot (531) for positioning fruit carpopodium, the positioning
The lower half circle of cylinder is equipped with low water (532) corresponding with the locating slot.
2. new-type device for picking fruits on trees as described in claim 1, which is characterized in that the locating slot is preferably V-shaped
Notch, be connected with photoelectric sensor for incuding fruit position in the positioning cylinder.
3. new-type device for picking fruits on trees as described in claim 1, which is characterized in that the crank and rocker mechanism includes and institute
It states eccentric wheel connection and forms the crank (551) of revolute pair, connect with the cutting blade and formed with the cutting blade and move
Secondary rocking bar (552) is moved, the crank is flexibly connected with the rocking bar, and the top of the cross bar is located at the eccentric wheel and positioning
It is connected between cylinder vertical fixing plate (560), the movable axis towards eccentric wheel is vertically connected on the vertical fixing plate
(553), the lower end of the rocking bar is with the activity axis connection and the rocking bar can move back and forth along movable axis.
4. new-type device for picking fruits on trees as described in claim 1, which is characterized in that the lower section of the low water is equipped with and is connected to
On positioning cylinder and the vertical pipe (600) in the supporting box is extended into, the vertical pipe includes being connected to setting circle
It pipe network section (610) on cylinder and is connected to each other with the pipe network section and the securing elongated plastics pipeline section (620) in supporting box.
5. new-type device for picking fruits on trees as claimed in claim 4, which is characterized in that be equipped in the supporting box for connecing
It receives the fruit slid on vertical pipe and shunt to fruit the shunting collection device (700) of collection, dress is collected in the shunting
Set including with the shunting raceway (710) for being fixed on supporting box and the fruit slid on vertical pipe being shunted and
For collecting the collecting mechanism (720) through shunting the fruit that raceway shunts on supporting box bottom.
6. new-type device for picking fruits on trees as claimed in claim 5, which is characterized in that the shunting raceway includes raceway bottom plate
(712) and raceway bottom plate two sides is connected to and the coaming plate (711) of raceway, the raceway bottom plate are collectively formed with the raceway bottom plate
The slide plate one (7121) tilted down and the affixed commutation bent plate of slide plate one including receiving the fruit slid on vertical pipe
(7122) and with the affixed slide plate two (7123) tilted down of the commutation bent plate, along its inclination side on the slide plate one
To diversion channel (714) are equipped with, being connected on the diversion channel can make fruit continue to roll to two direction of slide plate or directly exist
Shunt slot location falls to the diversion mechanism (713) in collecting mechanism, and the inclination lower end of the slide plate two, which is equipped with, can make fruits
Through slot (717) in collecting mechanism.
7. new-type device for picking fruits on trees as claimed in claim 6, which is characterized in that the diversion mechanism includes being arranged in institute
The rotation axis (7131) being movably connected on one both ends of slide plate in the middle position of diversion channel is stated, on the periphery circle of the rotation axis
It is evenly distributed with the turnover panel one (7132) affixed with rotation axis, turnover panel two (7133) and turnover panel three (7134), the turnover panel one
One top of slide plate is respectively positioned on turnover panel two and one end of the turnover panel one and the turnover panel two is respectively connected with positioning plate
(7135), the both ends on the slide plate one positioned at the diversion channel are equipped with affixed with the slide plate one and towards the rotation axis
The turnover panel one or turnover panel two will be with slide plates when contacting for the limit plate (718) of direction protrusion, the positioning plate and the limit plate
One is in same plane.
8. such as new-type device for picking fruits on trees described in claim 5 or 6, which is characterized in that the collecting mechanism includes laterally
The decelerating motor (721) that is placed on bottom plate, two vertically oriented plates (722) for being fixed on bottom plate and being spaced a distance, even
Connect ball screw (723) that is between two vertically oriented plates and connecting with the round end of the decelerating motor, connection ball
The feed screw nut's seat (724) that can move back and forth on lead screw and the collection box (725) being detachably connected on feed screw nut's seat,
The partition (726) that collection box is divided into two storage spaces, institute are equipped in the collection box along the ball screw length direction
State two storage spaces and collect the fruit to fall from diversion channel and through slot respectively, feed screw nut's seat equipped with to collection box into
The pressure sensor of row pressure sensitive.
9. new-type device for picking fruits on trees as claimed in claim 8, which is characterized in that vertical in two storage spaces
Multiple baffles (727) that two storage spaces are separated into multiple impartial grid respectively are equipped in the partition.
10. new-type device for picking fruits on trees as described in claim 1, which is characterized in that the vertical bar passes through with the column
Telescopic device is flexibly connected, and the telescopic device includes being connected to the lower part of the column to be located at rotation axis above supporting box
One (820), the rotational handle (810) for being connected to one both ends of rotation axis and driving wheel (830) are connected to the upper end of the column
Rotation axis two (860), be connected to rotation middle position gear (870), be connected to described two one end of rotation axis and with it is described
The ipsilateral driven wheel of driving wheel (850) and the vertical bar is fixed in along vertical bar short transverse and engages connection with the gear
Rack gear (880), the driving wheel connect by chain (840) with the driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811287726.2A CN109258108B (en) | 2018-10-31 | 2018-10-31 | Novel fruit picker for fruit trees |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811287726.2A CN109258108B (en) | 2018-10-31 | 2018-10-31 | Novel fruit picker for fruit trees |
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| CN109258108A true CN109258108A (en) | 2019-01-25 |
| CN109258108B CN109258108B (en) | 2024-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811287726.2A Active CN109258108B (en) | 2018-10-31 | 2018-10-31 | Novel fruit picker for fruit trees |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699292A (en) * | 2019-03-15 | 2019-05-03 | 合肥工业大学 | A kind of fruit picker |
| CN109937699A (en) * | 2019-04-23 | 2019-06-28 | 宁波江东唐会工业产品设计有限公司 | A kind of pomegranate picker |
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| GB234269A (en) * | 1924-05-12 | 1925-05-28 | Frederick Charles Talbot | An improved device for gathering fruit from trees |
| RU78397U1 (en) * | 2008-06-16 | 2008-11-27 | Николай Васильевич Березуцкий | Fruit lifter |
| CN108575322A (en) * | 2018-07-06 | 2018-09-28 | 广州大学 | A kind of fruit picking robot |
| CN108684311A (en) * | 2018-06-29 | 2018-10-23 | 华南理工大学 | A kind of tree unboiled water fruit indirect labor's picking mechanical based on crank block movement |
| CN209251122U (en) * | 2018-10-31 | 2019-08-16 | 合肥学院 | A kind of new-type device for picking fruits on trees |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB234269A (en) * | 1924-05-12 | 1925-05-28 | Frederick Charles Talbot | An improved device for gathering fruit from trees |
| RU78397U1 (en) * | 2008-06-16 | 2008-11-27 | Николай Васильевич Березуцкий | Fruit lifter |
| CN108684311A (en) * | 2018-06-29 | 2018-10-23 | 华南理工大学 | A kind of tree unboiled water fruit indirect labor's picking mechanical based on crank block movement |
| CN108575322A (en) * | 2018-07-06 | 2018-09-28 | 广州大学 | A kind of fruit picking robot |
| CN209251122U (en) * | 2018-10-31 | 2019-08-16 | 合肥学院 | A kind of new-type device for picking fruits on trees |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109699292A (en) * | 2019-03-15 | 2019-05-03 | 合肥工业大学 | A kind of fruit picker |
| CN109937699A (en) * | 2019-04-23 | 2019-06-28 | 宁波江东唐会工业产品设计有限公司 | A kind of pomegranate picker |
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| Publication number | Publication date |
|---|---|
| CN109258108B (en) | 2024-06-18 |
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