CN109644674A - A kind of automatic picking Machine for pineapple and automatic picking method - Google Patents
A kind of automatic picking Machine for pineapple and automatic picking method Download PDFInfo
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- CN109644674A CN109644674A CN201910130859.7A CN201910130859A CN109644674A CN 109644674 A CN109644674 A CN 109644674A CN 201910130859 A CN201910130859 A CN 201910130859A CN 109644674 A CN109644674 A CN 109644674A
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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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Abstract
A kind of automatic picking Machine for pineapple and automatic picking method include: a fixed frame, under, in, upper layer support frame forms；One motor, pair of wheels axis are fixed on lower layer support frame；One screw slide and a pattern recognition device are separately fixed at the middle part and side of middle layer support frame, and a gantry is fixed on slide unit, and two side chute of gantry is sleeved on middle layer support frame sliding track, and for a shaft set in gantry lower part, both ends are each to fix a bevel gear；Another motor is fixed on gantry side lower part, and motor shaft is fixedly connected with shaft；A pair of of lead screw is perpendicular in the restocking of gantry, and lower end is each to be fixed a bevel gear and be meshed respectively with both ends of the shaft bevel gear, and a pair of of feed screw nut is set on lead screw, and a cutter device is fixed on this on feed screw nut；One transmission device is fixed on the support frame of upper layer.It can realize automatic identification, cutting, transport, the full-automatic picking process for collecting pineapple, instead of the heavy labor of artificial picking pineapple, improve efficiency, reduce cost.
Description
Technical field
The invention belongs to seed harvester fields, more particularly to a kind of automatic picking Machine for pineapple and a kind of method picked automatically.
Background technique
Pineapple is the favorite tropical fruit (tree) of people, and pineapple industry develops preferably all the time, it can directly eat, and may be used also
To be used to do can, but since pineapple crust is barbed and seasonal relatively strong, bigger difficulty is brought to its picking, general pineapple is adopted
Pluck the harvest peak period of only or so two weeks, it is therefore desirable to concentrate picking, current most of pineapples are based on manually picking, collection
Middle demand labour, the labor intensity of picking is very big, since labor cost is higher and higher and pineapple cannot pick in time and make
At a large amount of losses, make to plant pineapple cost and be continuously increased, in order to improve work situation, reduce labor intensity, reduce cost, mention
High efficiency, we have developed being capable of automatic identification pineapple, cutting pineapple, the automatic picking Machine for pineapple for transporting pineapple, collection pineapple.
Summary of the invention
The object of the present invention is to provide a kind of automatic picking Machine for pineapple, can substitute picked by hand pineapple.
To achieve the above object, the present invention takes following design scheme:
A kind of automatic picking Machine for pineapple includes:
One fixed frame, for picking the fixed installation of Machine for pineapple each unit component automatically, be at least divided into lower layer, middle layer, on
Three layers of support frame of layer；
One screw slide；
Pair of wheels axis is respectively erected on lower layer support frame, and wheel has been fixedly mounted in the both ends of axletree respectively；
One vehicle mobile motor, is fixed on lower layer support frame by two vertical frames；
One gantry；
One transmission device is fixedly mounted on the support frame of upper layer；
The fixed support frame side front in middle level of one pattern recognition device；
One containing box is connected to fixed frame rear end.
In the automatic picking Machine for pineapple, the middle layer support frame includes intermediate support beam and a pair of of side stand component,
A sliding rail is respectively fixedly mounted on a pair of of side stand component；The screw slide is fixedly mounted on intermediate support beam.
In the automatic picking Machine for pineapple, a worm gear is set in the middle part of the front truck wheel shaft of the pair of wheels axis.
In the automatic picking Machine for pineapple, the motor shaft of the vehicle mobile motor is fixedly connected with a worm screw, the worm screw with
The worm gear is meshed transmission.
In the automatic picking Machine for pineapple, described gantry is by four, upper and lower, left and right bracket, a pair of of runner frame and company
The rectangular frame that fitting is constituted；One gantry motor is fixedly mounted on gantry side lower；One gantry shaft horizontal set is at gantry
In the middle part of a pair of of runner frame of lower part, both ends are each to fix a drive bevel gear, gantry shaft and the fixed company of gantry motor shaft
It connects；A pair of of lead screw is sleeved on vertically respectively on the upper bracket at gantry, and lower end is each to fix a driven wheel of differential, this is to from mantle tooth
The drive bevel gear respectively with gantry both ends of the shaft portion is taken turns to be engaged；A pair of of feed screw nut, which respectively corresponds, is sleeved on this to lead screw
On, a cutter device is fixed on this on feed screw nut；The screw slide is made of riser, lead screw, slide unit, fixed plate, is led to
It crosses fixed plate to be fixed on intermediate support beam, a gantry-travelling motor is fixed on riser, and motor shaft is fixed with lead screw one end
Connection, slide unit are sleeved on lead screw, are fixedly connected with the lower bracket at gantry；It is sliding that runner frame bottom front and rear sides respectively install one
Slot, gantry are moved forward and backward by the sliding slot along the sliding rail.
In the automatic picking Machine for pineapple, the transmission device includes transport motor, a pair of sprocket, chain, at least
A pair of of roller, conveyer belt and connector；The transport motor and roller pass through connector respectively and bearing is fixedly mounted on upper layer
On support frame；The pair of sprocket wheel is separately fixed on the motor shaft of transport motor in a corresponding roller axle, and two sprocket wheels are logical
It crosses chain and realizes linkage；Conveyer belt suit at least corresponding with a pair of of roller.
In the automatic picking Machine for pineapple, described image identification device by image recognition camera and support bar group at,
Image recognition camera is mounted on the front upper part of automatic cutting Machine for pineapple by support rod.
In the automatic picking Machine for pineapple, the cutter device includes crane, a pair of of cutting screw slide, a pair
Cutting motor, a pair of of object receving tray, connection frame, terminal pad, rotating electric machine and rotating knife；The cutting screw slide is fixed by cutting
The parts compositions such as plate, cutting riser, cutting lead screw, cutting slide unit；The pair of cutting screw slide passes through corresponding cut respectively
Fixed plate is cut to be fixed on crane, a pair of of cutting motor is separately fixed on corresponding cutting riser, motor shaft respectively with
Corresponding cutting lead screw one end is fixedly connected, and the cutting lead screw other end is set in the middle part of corresponding cutting slide unit；It is the pair of
Object receving tray is separately fixed on corresponding cutting slide unit；The rotating electric machine is fixed under corresponding object receving tray by connection frame
Face, rotating knife are fixedly set on the motor shaft of rotating electric machine by terminal pad.
In the automatic picking Machine for pineapple, the motor, image recognition camera are controlled by an electric-control system, this is automatically controlled
Switching Power Supply, relay, motor drive module, alarm buzzer, single-chip microcontroller, control circuit etc. are installed in the control box of system
Electronic component is additionally provided with green switching on and shutting down button；The motor, image recognition camera, Switching Power Supply, relay, electricity
The electronic components such as machine drive module, alarm buzzer, single-chip microcontroller, control circuit, green switching on and shutting down button are inside control box
Realize circuit connection.
It is a further object of the present invention to provide a kind of methods of automatic picking pineapple, can overcome picked by hand pineapple side
The defect of formula.
To achieve the above object, the present invention takes following design scheme:
A kind of automatic picking Machine for pineapple method, has above-mentioned automatic picking Machine for pineapple, method is as follows: starting switch machine
Button, the work of vehicle mobile motor, motor output shaft rotation drives worm screw rotation to be further driven to worm gear rotation, before worm gear passes through
Axletree drives two active front vehicle wheels to rotate and then drives two driven rear wheel rotations, to drive automatic picking Machine for pineapple forward
Mobile, when image recognition camera recognizes pineapple, vehicle mobile motor stops working, and automatic Machine for pineapple of picking stops movement；
A pair of of cutting motor obtains its electric motor shaft and starts to rotate at this time, and corresponding a pair of of cutting lead screw is driven to be rotated into and drive cutting
Slide unit is mobile, cutting slide unit drives corresponding a pair of of object receving tray close in opposite directions mobile respectively, when moving close to certain distance,
The cutting motor power loss of non-mounting rotary electric machine side stops working, and ipsilateral cutting slide unit and ipsilateral object receving tray stop moving,
It is mounted on the rotating electric machine work once electrified below the object receving tray of the other side on connection frame at this time, rotating knife rotation is driven by terminal pad
Turn, the cutting motor of mounting rotary electric machine side works on, by the lateral incision cutting wire thick stick rotate drive the lateral incision cut slide unit into
And side object receving tray continuation is driven to move along former direction, and rotating knife moves while rotation along former direction, and it realizes and cuts pineapple, one
After the section time, mounting rotary electric machine side cutting motor power loss stops working, and ipsilateral object receving tray stops movement, when one section
Between, rotating electric machine power loss stops working, and rotating knife stops rotating, and stopping cutting pineapple, (pineapple, which has been cut, at this time falls into object receving tray
It is interior)；Gantry motor work once electrified at this time, band driven portal shaft rotate and then drive a pair of of drive bevel gear rotation, active conical tooth
Wheel drives a pair of of driven wheel of differential rotation of corresponding engagement to drive a pair of of gantry lead screw to rotate and then drive a pair of of silk
Thick stick nut moves up that crane is driven to move up and then a pair of of object receving tray is driven to move up, gantry motor work one
Gantry-travelling motor work once electrified for a period of time (gantry-travelling motor and gantry motor work at the same time at this time), passes through after the section time
Screw slide moves backward a distance, a pair of cutting along two one slide rails on side stand component with driven portal two sides of the bottom sliding slot
Motor obtains its electric motor shaft and starts to reversely rotate a period of time (gantry-travelling motor, gantry motor, left cutting motor and right side at this time
Cutting motor works at the same time, i.e., a pair of of object receving tray simultaneously back, up, separate mobile in opposite directions), drive a pair of of cutting slide unit in turn
The opposite separate mobile a distance of a pair of of object receving tray, gantry motor power loss are driven, crane stopping moves up, gantry-travelling electricity
Machine works on power loss after a period of time, and gantry stops moving backward, and a pair of of cutting motor continues reverse operation for a period of time, on
Transport motor work once electrified on layer support frame is driven by sprocket wheel chain drives roller turn that conveyer belt is driven to transmit (this
When transport motor and a pair of of cutting motor work at the same time), transport motor work a period of time, the cutting of rotating knife side is not installed
Motor power loss stops working, and ipsilateral cutting slide unit and ipsilateral object receving tray stop moving backward, and installs the cutting of rotating knife side
Motor continue reverse operation, by the lateral incision cutting wire thick stick rotate backward drive the lateral incision cut slide unit drive the side object receving tray after
Continuous to move in reverse direction, after a period of time, which stops reverse operation, drives the side object receving tray to stop opposite direction and moves
Dynamic (pineapple has fallen on conveyer belt at this time)；Gantry-travelling motor obtains its electric motor shaft and reversely rotates through screw slide band at this time
After driven portal bottom a pair of sliding slot moves forward a period of time along sliding rail on middle layer support frame frame supported on both sides, gantry motor is obtained
Its electric motor shaft reversely rotates, and band driven portal shaft reversely rotates and then a pair of of drive bevel gear is driven to reversely rotate, initiative taper
Gear drives a pair of of driven wheel of differential of corresponding engagement to reversely rotate that a pair of of gantry lead screw is driven to reversely rotate in turn
Drive a pair of of feed screw nut to move down to drive crane so drive object receving tray move down (a pair of of object receving tray simultaneously to
Before, move down), after a period of time, transport motor power loss stops working, and motor shaft stops operating, and motor sprocket stops turning
Dynamic, chain stops transmission, and roller sprocket wheel stops operating, and roller stops operating, and conveyer belt is out of service, and (pineapple has been transported at this time
In containing box)；Gantry-travelling motor continues reverse operation and then continues to move along a period of time with driven portal, next time at this time
Picking circulation starts, and vehicle mobile motor obtains electric its motor shaft rotation, and worm screw rotation is driven to be further driven to worm gear rotation, and worm gear is logical
It crosses front truck wheel shaft to drive two active front vehicle wheels to rotate and then drive two driven rear wheel rotations, to drive automatic picking Machine for pineapple
It moves forward (vehicle mobile motor, gantry-travelling motor, gantry motor work at the same time at this time), gantry-travelling motor continues reversed work
Make and then continue to move along with driven portal to stop working for a period of time, gantry motor continues reverse operation for a period of time and then band
Dynamic crane stops working after dropping to certain altitude, and primary picking circulation is completed, and so repeatedly circulation completes automatic picking spinach
Trailing plants.
The invention has the advantages that
1, press switching on and shutting down button can complete automatic identification pineapple, cutting pineapple, transport pineapple, collect pineapple from
Dynamic picking pineapple overall process realizes picking pineapple automation:
2, instead of the heavy labor of artificial picking pineapple, work situation is improved, cost is reduced, is improved efficiency；
3. automatic picking Machine for pineapple of the invention is reasonable in design, reliable for operation.
Detailed description of the invention
Fig. 1 is automatic picking Machine for pineapple structural schematic diagram (main view) of the present invention.
Fig. 1-1 is the area Tu1Zhong I enlarged view.
Fig. 1-2 is the area Tu1Zhong II enlarged view.
Fig. 1-3 is the area Tu1Zhong III enlarged view.
Fig. 2 is automatic picking Machine for pineapple structural schematic diagram (left view) of the present invention.
Fig. 2-1 is the area Tu2Zhong IV enlarged view.
Fig. 2-2 is the area Tu2Zhong V enlarged view.
Fig. 2-3 is the area Tu2Zhong VI enlarged view.
Fig. 3 is automatic picking Machine for pineapple structural schematic diagram (top view) of the present invention.
Fig. 4 is motor working timing figure in the automatic picking Machine for pineapple of the present invention.
In figure: 1- support rod；The gantry 2- motor；3- drive bevel gear；4- driven wheel of differential；The gantry 5- shaft；6- transmission
Motor；901- left support；The gantry 7- lead screw；The left cutting motor of 8-；Riser is cut in 1001- left cut；The gantry 9-；10- left cut cutting wire thick stick
Slide unit；1002- left cut cutting wire thick stick；Fixed plate is cut in 1003- left cut；11- rotating knife；12- terminal pad；13- rotating electric machine；14- figure
As identification camera；Slide unit is cut in 1004- left cut；Slide unit is cut in 1501- right cut；902- upper bracket；1502- right cut cutting wire thick stick；15- is right
Cut screw slide；Fixed plate is cut in 1503- right cut；Riser is cut in 1504- right cut；The right cutting motor of 16-；17- crane；18-
Thick stick nut；19- roller；20- conveyer belt；903- right support；904- lower bracket；905- runner frame；21- sliding slot；The collateral support of 22-
Frame；23- sliding rail；24- front vehicle wheel；25- front truck wheel shaft；26- containing box；Sprocket wheel after 27-；28- chain；29- motor sprocket；30-
Upper layer support frame；31- gantry-travelling motor；3301- riser；32- connection frame；3302- lead screw；33- screw slide；3303- is sliding
Platform；3304- fixed plate；34- intermediate support beam；35- worm screw；36- worm gear；37- lower layer support frame；38- vehicle mobile motor；39-
Middle layer support frame；40- controls box；41- switching on and shutting down button；42- back axle；43- rear wheel；The left object receving tray of 44-；The right side 45- connects object
Disk.
With reference to the accompanying drawing and specific embodiment the present invention is described further.
Specific embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 1-2, Fig. 2-2, it includes a fixed frame that the present invention picks Machine for pineapple mainly automatically,
For picking the fixed installation of Machine for pineapple each unit component automatically, at least it is divided into lower layer support frame 37, middle layer support frame 39, upper layer
30 3 layers of support frame of support frame, the middle layer support frame 39 include intermediate support beam 34 and a pair of of side stand component 22, one opposite side
A sliding rail 23 is respectively fixedly mounted on support frame 22；The screw slide 33 is fixedly mounted on intermediate support beam 34；Front truck wheel shaft
25 and rear vehicle shaft 42 be erected on lower layer support frame 37 by bearing respectively, before 25 both ends of front truck wheel shaft have been fixedly mounted respectively
Rear wheel 43 has been fixedly mounted respectively, a worm gear 36 is set in the middle part of the front truck wheel shaft 25 for wheel 24,42 both ends of rear vehicle shaft；One
Vehicle mobile motor 38 is fixed on lower layer support frame 37 by two vertical frames, and the motor shaft of the vehicle mobile motor 38 is fixedly connected with one
Worm screw 35, the worm screw 35 are meshed with the worm gear 36 for being sleeved on 25 middle part of front truck wheel shaft.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 1-1, Fig. 1-2, shown in Fig. 2-2, described gantry 9 is by upper bracket 902, lower bracket 904, left
Rectangular frame made of bracket 901, right support 903, a pair of of runner frame 905 and connector are fixed；One gantry motor 2 is fixedly mounted
In 9 side lower of gantry；For one gantry shaft, 5 horizontal set at 905 middle part of a pair of of runner frame of 9 lower part of gantry, both ends are each solid
A fixed drive bevel gear 3, gantry shaft 5 are fixedly connected with the motor shaft of gantry motor 2；A pair of of gantry lead screw 7 erects respectively
Directly be sleeved on the upper bracket 902 at gantry 9, lower end is each to fix a driven wheel of differential 4, this to driven wheel of differential 4 respectively with dragon
The drive bevel gear 3 at 5 both ends of door pivot is engaged, and a pair of of feed screw nut 18, which respectively corresponds, is sleeved on this to gantry lead screw 7
On, a cutter device is fixed on this on feed screw nut 18；The screw slide 33 is by riser 3301, lead screw 3302, slide unit
3303, fixed plate 3304 forms, and is fixed on intermediate support beam 34 by fixed plate 3304, a gantry-travelling motor 31 is fixed on
On riser 3301, the motor shaft of the gantry-travelling motor 31 is fixedly connected with 3302 one end of lead screw, and slide unit 3303 is sleeved on lead screw
On 3302, it is fixedly connected with the lower bracket 904 at gantry 9；A sliding slot 21 is respectively installed in the 905 bottom front and rear sides of runner frame, dragon
Door 9 is moved forward and backward by the sliding slot 21 along the sliding rail 23.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 2-3, a transmission device is fixedly mounted on upper layer support frame 30, the transmission
Device includes transport motor 6, roller sprocket wheel 27, chain 28, motor sprocket 29, a pair of of roller 19, conveyer belt 20 and connector；It passes
Power transmission machine 6 and roller 19 are fixedly mounted on upper support frame 30 by connector and bearing respectively；The motor sprocket 29 is fixed
On the motor shaft of transport motor 6, roller sprocket wheel 27 is fixedly connected with the roller axle of roller 19, motor sprocket 29 and roller sprocket wheel
27 realize linkage by chain 28, and the conveyer belt 20 is sleeved on a pair of of roller 19, and the rotation of roller 19 drives conveyer belt 20 to move
It is dynamic.
As shown in Figure 1 to Figure 3, the side that an image recognition camera 14 passes through the fixed support frame 39 in middle level of support rod 1
Front；One containing box 26 is connected to the rear end of fixed frame.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 1-3, shown in Fig. 2-1, the cutter device includes that crane 17, left cut cutting wire thick stick are sliding
Platform 10, right cut cut screw slide 15, left cutting motor 8, right cutting motor 16, left object receving tray 44, right object receving tray 45, connection frame
32, terminal pad 12, rotating electric machine 13 and rotating knife 11；The left cut cuts that screw slide 10 by left cut cuts riser 1001, left cut is cut
Lead screw 1002, left cut cut fixed plate 1003, the parts such as slide unit 1004 composition is cut in left cut, and right cut cuts screw slide 15 and cuts cunning by right cut
Platform 1501, right cut cutting wire thick stick 1502, fixed plate 1503 is cut in right cut, the parts such as riser 1504 composition, the left cut cutting wire are cut in right cut
Thick stick slide unit 10 cuts fixed plate 1003 by left cut and is fixed on crane 17, and right cut cuts screw slide 15 and cuts fixed plate by right cut
1503 are fixed on crane 17, and left cutting motor 8 is fixed on left cut and cuts on riser 1001, motor shaft and left cut cutting wire thick stick
1002 one end are fixedly connected, and 1002 other end of left cut cutting wire thick stick is sleeved on left cut and cuts 1004 middle part of slide unit, and right cutting motor 16 is solid
It is scheduled on right cut to cut on riser 1504, motor shaft is fixedly connected with 1502 one end of right cut cutting wire thick stick, and right cut cutting wire thick stick 1502 is another
End cap cuts 1501 middle part of slide unit mounted in right cut；The left object receving tray 44 is fixed on left cut and cuts on slide unit 1004, and right object receving tray 45 is solid
Right cut is scheduled on to cut on slide unit 1501；The rotating electric machine 13 is fixed on left object receving tray 44 in the following, rotating knife 11 by connection frame 32
It is fixedly set in by terminal pad 12 on the motor shaft of rotating electric machine 13.
As shown in Figure 1, Figure 2, Figure 3 shows, the vehicle mobile motor 38, left cutting motor 8, right cutting motor 16, gantry motor
2, gantry-travelling motor 31, transport motor 6, rotating electric machine 13, image recognition camera 14 are controlled by an electric-control system, work
Make, dwell time referring to fig. 4, be equipped in the control box 40 of the electric-control system Switching Power Supply, relay, motor drive module,
The electronic components such as alarm buzzer, single-chip microcontroller, control circuit are additionally provided with switching on and shutting down button 41；The image recognition camera shooting
First 14, the electricity such as Switching Power Supply, relay, motor drive module, alarm buzzer, single-chip microcontroller, control circuit, switching on and shutting down button 41
Sub- component realizes circuit connection inside control box 40.
A kind of automatic picking Machine for pineapple specific work process of the invention is: starting switch machine button 41, vehicle mobile motor 38
Work, motor output shaft rotation drive the rotation of worm screw 35 to be further driven to the rotation of worm gear 36, and worm gear 36 passes through front truck wheel shaft 25
It drives two active front vehicle wheels 24 to rotate and then two driven rear wheels 43 is driven to rotate, to drive automatic picking Machine for pineapple to Forward
It is dynamic, when the image recognition camera 14 being mounted on upper layer support frame 30 by support rod 1 recognizes pineapple, vehicle mobile motor
38 stop working, and automatic Machine for pineapple of picking stops movement；It is equal to obtain its electric motor shaft for left cutting motor 8 and right cutting motor 16 at this time
Start to rotate, left cutting motor 8 drives left cut cutting wire thick stick 1002 to rotate and then left cut is driven to cut slide unit 1004 and moves right, left cut
Cutting slide unit 1004 drives left object receving tray 44 to move right, and right cutting motor 16 drives right cut cutting wire thick stick 1502 to rotate and then drives right
Cutting slide unit 1501 is moved to the left, and right cut cuts slide unit 1501 and right object receving tray 45 is driven to be moved to the left, when left object receving tray 44 connects with the right side
When object disk 45 moves close to certain distance, right 16 power loss of cutting motor stops working, and slide unit 1501, right object receving tray 45 are cut in right cut
Stop movement, at this time 13 work once electrified of rotating electric machine, drive terminal pad 12 and then rotating knife 11 is driven to rotate, left cutting motor 8
It works on, drives left cut to cut slide unit 1004 by the rotation of left cut cutting wire thick stick 1002 and left object receving tray 44 is driven to continue to move right
Dynamic, rotating knife 11 moves right while rotation, realizes cutting pineapple, and after a period of time, left 8 power loss of cutting motor stops work
Make, left object receving tray 44 stops movement, and after a period of time, 13 power loss of rotating electric machine stops working, and rotating knife 11 stops rotating, and stops
Only cut pineapple (pineapple, which has been cut, at this time falls in object receving tray)；2 work once electrified of gantry motor at this time, band driven portal shaft 5 are revolved
It rotates into and a pair of of drive bevel gear 3 is driven to rotate, drive bevel gear 3 drives a pair of of driven wheel of differential 4 of corresponding engagement to revolve
Turn that a pair of of gantry lead screw 7 is driven to rotate and then a pair of of feed screw nut 18 is driven to move up to drive crane 17 upward
Mobile to drive left object receving tray 44 and right object receving tray 45 to move up in turn, gantry-travelling is electric after a period of work for gantry motor 2
31 work once electrified of machine for a period of time, by screw slide 33 with driven portal 9 bottom two sliding slot 21 along on side stand component 22
Two one slide rails 23 move backward a distance (referring to Fig. 4, gantry-travelling motor 31 and gantry motor 2 are worked at the same time at this time), left
Cutting motor 8 obtains its electric motor shaft and starts to reversely rotate a period of time, drives left cut to cut slide unit 1004 and then drives left object receving tray
44 are moved to the left a distance, and right cutting motor 16 obtains its electric motor shaft and starts to reversely rotate a period of time, and right cut is driven to cut cunning
Platform 1501 drive in turn right object receving tray 45 move right a distance (referring to Fig. 4, gantry-travelling motor 31, gantry motor at this time
2, left cutting motor 8 and right cutting motor 16 work at the same time, i.e., object receving tray 44, object receving tray 45 separate back, up, in opposite directions simultaneously
It is mobile), 2 power loss of gantry motor, the stopping of crane 17 moves up, and gantry-travelling motor 31 works on and loses after a period of time
Electricity, gantry 9 stop moving backward, and left cutting motor 8 and right cutting motor 16 continue reverse operation for a period of time, upper layer support frame
Its motor shaft of 6 work once electrified of transport motor rotation on 30 drives motor sprocket 29 to rotate, and the rotation of motor sprocket 29 drives chain
28 are driven and then drive roller sprocket wheel 27 to rotate and then drive the rotation of roller 19 and drive the transmission of conveyer belt 20 (referring to Fig. 4, at this time
Transport motor 6 and left cutting motor 8 and right cutting motor 16 work at the same time), the work a period of time of transport motor 6, electricity is cut in right cut
16 power loss of machine stops working, and right cut cuts slide unit 1501 and moves right with the stopping of right object receving tray 45, and left cutting motor 8 continues reversed work
Make, is rotated backward by left cut cutting wire thick stick 1002 and drive left cut to cut slide unit 1004 left object receving tray 44 is driven to continue to moving to left
Dynamic, after a period of time, left cutting motor 8 stops reverse operation, and the left stopping of object receving tray 44 is moved to the left that (pineapple has fallen on biography at this time
It send to take and transmit on a moving belt)；Gantry-travelling motor 31, which obtains its electric motor shaft and reversely rotates, at this time passes through 33 band of screw slide
9 bottom a pair of side chute 21 of driven portal moves forward a period of time along the sliding rail 23 on the frame 22 supported on both sides of middle layer support frame 39
Afterwards, gantry motor 2 obtains its electric motor shaft and reversely rotates, and band driven portal shaft 5 reversely rotates and then a pair of of drive bevel gear 3 of drive
It reversely rotates, drive bevel gear 3 drives a pair of of driven wheel of differential 4 of corresponding engagement to reversely rotate to drive a pair of of vertical hair
Thick stick 7 reversely rotates and then a pair of of feed screw nut 18 is driven to move down to drive crane 17 to move down and then a left side is driven to connect
Object disk 44 and right object receving tray 45 move down (object receving tray 44, object receving tray 45 at the same forward, move down), after a period of time, pass
6 power loss of power transmission machine stops working, and motor shaft stops operating, and motor sprocket 29 stops operating, and chain 28 stops transmission, roller chain
Wheel 27 stops operating, and roller 19 stops operating, and conveyer belt 20 stops transmission (pineapple has been transported in containing box at this time)；Gantry is moved
Dynamic motor 31 works on and then continues to move along a period of time with driven portal 9, and picking circulation starts next time at this time, Che Yi
Dynamic motor 38 obtains electric its motor shaft rotation, and the rotation of worm screw 35 is driven to be further driven to the rotation of worm gear 36, and worm gear 36 passes through front vehicle wheel
Axis 25 drives two active front vehicle wheels 24 to rotate and then two driven rear wheels 43 is driven to rotate, thus drive automatic picking Machine for pineapple to
Preceding movement, (referring to Fig. 4, vehicle mobile motor 38, gantry-travelling motor 31, gantry motor 2 are worked at the same time at this time), gantry-travelling electricity
Machine 31 works on and then continues to move along with driven portal 9 and stops working for a period of time, and gantry motor 2 continues reverse operation one
Section time and then drive crane 17 stop working after dropping to certain altitude, and primary picking circulation is completed, such repeatedly circulation
Complete automatic picking pineapple.
The present invention picks Machine for pineapple automatically can satisfy the needs of people, needs when especially meeting picking pineapple, should be certainly
Dynamic picking Machine for pineapple improves work efficiency instead of heavy hand labour, good social benefit is had after putting goods on the market
And market prospects.
The various embodiments described above can be subject to without departing from the scope of the invention several variations, therefore above illustrate to include to answer
It is considered as illustrative, rather than the protection scope to limit the present patent application patent.
Claims (10)
1. a kind of automatic picking Machine for pineapple, characterized by comprising:
One fixed frame is at least divided into lower layer, middle layer, upper layer three for picking the fixed installation of Machine for pineapple each unit component automatically
Layer support frame；
One screw slide；
Pair of wheels axis is respectively erected on lower layer support frame, and wheel has been fixedly mounted in the both ends of axletree respectively；
One vehicle mobile motor, is fixed on lower layer support frame by two vertical frames；
One gantry；
One transmission device is fixedly mounted on the support frame of upper layer；
The fixed support frame side front in middle level of one pattern recognition device；
One containing box is connected to fixed frame rear end.
2. automatic picking Machine for pineapple as described in claim 1, it is characterised in that: the middle layer support frame includes intermediate support beam
With a pair of of side stand component, one is to being respectively fixedly mounted a sliding rail on side stand component；The screw slide is fixedly mounted on intermediate branch
On support.
3. automatic picking Machine for pineapple as described in claim 1, it is characterised in that: in the front truck wheel shaft of the pair of wheels axis
Portion is set with a worm gear.
4. automatic picking Machine for pineapple as described in claim 1, it is characterised in that: the motor shaft of the vehicle mobile motor is fixed to be connected
A worm screw is connect, which is meshed transmission with the worm gear.
5. picking Machine for pineapple as described in claim 1 automatic, it is characterised in that: described gantry is by upper and lower, left and right four
The rectangular frame that bracket, a pair of of runner frame and connector are constituted；One gantry motor is fixedly mounted on gantry side lower；One gantry
Shaft horizontal set is in the middle part of a pair of of runner frame of gantry lower part, and both ends are each to fix a drive bevel gear, gantry shaft
It is fixedly connected with gantry motor shaft；A pair of of lead screw is sleeved on vertically respectively on the upper bracket at gantry, and lower end is each, and to fix one driven
Bevel gear, the drive bevel gear to driven wheel of differential respectively with gantry both ends of the shaft portion are engaged；A pair of of feed screw nut point
This Dui Ying be sleeved on on lead screw, a cutter device is fixed on this on feed screw nut；The screw slide is by riser, silk
Thick stick, slide unit, fixed plate composition, are fixed on intermediate support beam by fixed plate, and a gantry-travelling motor is fixed on riser,
Motor shaft is fixedly connected with lead screw one end, and slide unit is sleeved on lead screw, is fixedly connected with the lower bracket at gantry；The runner frame bottom
A sliding slot is respectively installed in portion front and rear sides, and gantry is moved forward and backward by the sliding slot along the sliding rail.
6. picking Machine for pineapple as described in claim 1 automatic, it is characterised in that: the transmission device include transport motor,
Chain, a pair of sprocket, at least a pair of of roller, conveyer belt and connector；The transport motor and roller pass through respectively connector and
Bearing is fixedly mounted on the support frame of upper layer；The pair of sprocket wheel is separately fixed at the motor shaft and respective rollers axis of transport motor
On, two sprocket wheels are realized by chain and are linked；Conveyer belt suit at least corresponding with a pair of of roller.
7. automatic picking Machine for pineapple as described in claim 1, it is characterised in that: described image identification device is taken the photograph by image recognition
As head and support bar group are at image recognition camera is mounted on the front upper part of automatic picking Machine for pineapple by support rod.
8. automatic picking Machine for pineapple as claimed in claim 5, it is characterised in that: the cutter device includes crane, one
To cutting screw slide, a pair of of cutting motor, a pair of of object receving tray, connection frame, terminal pad, rotating electric machine and rotating knife；It is described to cut
Screw slide is cut to be made of cutting fixed plate, cutting riser, cutting lead screw, cutting slide unit；The pair of cutting screw slide point
It not being fixed on crane by corresponding cutting fixed plate, a pair of of cutting motor is separately fixed on corresponding cutting riser,
Its motor shaft is fixedly connected with corresponding cutting lead screw one end respectively, and cutting slide unit is set on corresponding cutting lead screw；Institute
A pair of of object receving tray is stated to be separately fixed on corresponding cutting slide unit；The rotating electric machine is fixed on corresponding one by connection frame and flanks
Object disk is in the following, rotating knife is fixedly set on the motor shaft of rotating electric machine by terminal pad.
9. the automatic picking Machine for pineapple as described in claim 1 or 4 or 5 or 6 or 7 or 8, it is characterised in that: the motor, image
Identification camera is controlled by an electric-control system, is equipped with Switching Power Supply, relay, motor driven in the control box of the electric-control system
The electronic components such as module, alarm buzzer, single-chip microcontroller, control circuit are additionally provided with green switching on and shutting down button；The motor,
Image recognition camera, Switching Power Supply, relay, motor drive module, alarm buzzer, single-chip microcontroller, control circuit, green are opened
The electronic components such as power-off button realize circuit connection inside control box.
10. a kind of automatic picking method has the automatic picking Machine for pineapple as described in any in claim 1 to 9, feature
Be that method is as follows: starting green switching on and shutting down button, the work of vehicle mobile motor, motor output shaft rotation drive worm screw rotate into
One step drives worm gear rotation, and worm gear drives the rotation of two active front vehicle wheels that two driven rear cars is driven to rotate by front truck wheel shaft
Dynamic, so that automatic picking Machine for pineapple be driven to move forward, when image recognition camera recognizes pineapple, vehicle mobile motor stops
Work, automatic Machine for pineapple of picking stop movement；A pair of of cutting motor obtains its electric motor shaft and starts to rotate at this time, drives corresponding
A pair of cutting lead screw is rotated into and drives cutting slide unit is mobile, cuts slide unit to drive corresponding a pair of of object receving tray close in opposite directions respectively
Mobile, when moving close to certain distance, the cutting motor power loss of non-mounting rotary electric machine side stops working, same to lateral incision
It cuts slide unit and ipsilateral object receving tray stops moving, be mounted on the rotating electric machine below the object receving tray of the other side on connection frame at this time and obtain electrician
Make, rotating knife rotation is driven by terminal pad, the cutting motor of mounting rotary electric machine side works on, and passes through the lateral incision cutting wire
Thick stick rotation drives the lateral incision to cut slide unit and then side object receving tray continuation is driven to move along former direction, along original while rotating knife rotates
Direction is mobile, realizes cutting pineapple, after a period of time, mounting rotary electric machine side cutting motor power loss stops working, ipsilateral
Object receving tray stops movement, and after a period of time, rotating electric machine power loss stops working, and rotating knife stops rotating, and stops cutting pineapple
(pineapple, which has cut out, at this time falls in object receving tray)；Gantry motor work once electrified at this time, band driven portal shaft are rotated and then are driven
A pair of of drive bevel gear rotation, drive bevel gear drive a pair of of driven wheel of differential of corresponding engagement to rotate to drive a pair
Gantry lead screw rotates and then drives a pair of of feed screw nut to move up that crane is driven to move up and then drive a docking
Object disk moves up, gantry motor gantry-travelling motor work once electrified (gantry-travelling at this time for a period of time after a period of work
Motor and gantry motor work at the same time), by screw slide with driven portal two sides of the bottom sliding slot along two on side stand component
Sliding rail moves backward a distance, and a pair of of cutting motor obtains its electric motor shaft and starts to reversely rotate a period of time (gantry shifting at this time
Dynamic motor, gantry motor, left cutting motor and right cutting motor work at the same time), it drives a pair of of cutting slide unit and then drives a pair
The opposite separate mobile a distance of object receving tray, gantry motor power loss, crane stopping move up, and gantry-travelling motor continues work
Make power loss after a period of time, gantry stops moving backward, and a pair of of cutting motor continues reverse operation for a period of time, upper layer support frame
On transport motor work once electrified be driven by sprocket wheel chain drive roller turn to drive conveyer belt transmission (transmission is electric at this time
Machine and a pair of of cutting motor work at the same time), transport motor work a period of time, the cutting motor power loss of rotating knife side is not installed
It stops working, ipsilateral cutting slide unit and ipsilateral object receving tray stop moving backward, and the cutting motor of installation rotating knife side continues
Reverse operation, by the lateral incision cutting wire thick stick rotate backward drive the lateral incision cut slide unit drive the side object receving tray continuation along negative side
To movement, after a period of time, which stops reverse operation, drives the side object receving tray to stop opposite direction mobile (at this time
Pineapple has fallen on a moving belt)；Gantry-travelling motor obtains its electric motor shaft and reversely rotates through screw slide drive dragon at this time
Door bottom a pair of sliding slot along on middle layer support frame frame supported on both sides sliding rail move forward a period of time after, gantry motor obtain it is electric its
Motor shaft reversely rotates, and band driven portal shaft reversely rotates and then a pair of of drive bevel gear is driven to reversely rotate, drive bevel gear
A pair of of driven wheel of differential of corresponding engagement is driven to reversely rotate that a pair of of gantry lead screw is driven to reversely rotate and then drive
A pair of of feed screw nut moves down to drive crane and then object receving tray is driven to move down, after a period of time, transport motor
Power loss stops working, and motor shaft stops operating, and motor sprocket stops operating, and chain stops transmission, and roller sprocket wheel stops operating,
Roller stops operating, and conveyer belt is (pineapple has been fed into containing box at this time) out of service；Gantry-travelling motor continues reversed work
Make and then continue to move along a period of time with driven portal, picking circulation starts next time at this time, and vehicle mobile motor obtains its electric electricity
Arbor rotation, drives worm screw rotation to be further driven to worm gear rotation, and worm gear drives the rotation of two active front vehicle wheels by front truck wheel shaft
And then two driven rear wheel rotations are driven, so that automatic picking Machine for pineapple be driven to move forward, (vehicle mobile motor, gantry are moved at this time
Dynamic motor, gantry motor work at the same time), gantry-travelling motor continues reverse operation and then continues to move along one section with driven portal
Time stops working, and gantry motor continues reverse operation for a period of time and then stops work after driving crane to drop to certain altitude
Make, primary picking circulation is completed, and so repeatedly circulation completes automatic picking pineapple.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910130859.7A CN109644674B (en) | 2019-02-22 | 2019-02-22 | Automatic pineapple picking machine and automatic picking method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910130859.7A CN109644674B (en) | 2019-02-22 | 2019-02-22 | Automatic pineapple picking machine and automatic picking method |
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| CN109644674A true CN109644674A (en) | 2019-04-19 |
| CN109644674B CN109644674B (en) | 2020-09-25 |
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| CN201600330U (en) * | 2009-09-23 | 2010-10-06 | 中国农业大学 | System for recognizing and locating mature pineapples |
| CN107810706A (en) * | 2017-11-30 | 2018-03-20 | 广州大学 | A kind of device realized pineapple and won |
| CN108307784A (en) * | 2018-04-24 | 2018-07-24 | 天津职业技术师范大学 | A kind of agricultural automation pineapple picking machine |
| CN108391509A (en) * | 2018-03-09 | 2018-08-14 | 三峡大学 | A kind of pineapple picking vehicle and application method |
| CN108617240A (en) * | 2018-05-11 | 2018-10-09 | 重庆交通大学 | It can the integrated pineapple picker of expansion type acquisition |
| CN108718673A (en) * | 2018-09-05 | 2018-11-02 | 北京石油化工学院 | Automatic pineapple picks collection device |
| CN208047313U (en) * | 2018-02-12 | 2018-11-06 | 龙岩学院 | One kind is semi-automatic to pluck Machine for pineapple |
| CN108966817A (en) * | 2018-07-09 | 2018-12-11 | 沈阳工业大学 | Great-leap-forward pineapple picking vehicle |
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2019
- 2019-02-22 CN CN201910130859.7A patent/CN109644674B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201600330U (en) * | 2009-09-23 | 2010-10-06 | 中国农业大学 | System for recognizing and locating mature pineapples |
| CN107810706A (en) * | 2017-11-30 | 2018-03-20 | 广州大学 | A kind of device realized pineapple and won |
| CN208047313U (en) * | 2018-02-12 | 2018-11-06 | 龙岩学院 | One kind is semi-automatic to pluck Machine for pineapple |
| CN108391509A (en) * | 2018-03-09 | 2018-08-14 | 三峡大学 | A kind of pineapple picking vehicle and application method |
| CN108307784A (en) * | 2018-04-24 | 2018-07-24 | 天津职业技术师范大学 | A kind of agricultural automation pineapple picking machine |
| CN108617240A (en) * | 2018-05-11 | 2018-10-09 | 重庆交通大学 | It can the integrated pineapple picker of expansion type acquisition |
| CN108966817A (en) * | 2018-07-09 | 2018-12-11 | 沈阳工业大学 | Great-leap-forward pineapple picking vehicle |
| CN108718673A (en) * | 2018-09-05 | 2018-11-02 | 北京石油化工学院 | Automatic pineapple picks collection device |
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|---|---|
| CN109644674B (en) | 2020-09-25 |
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