CN109644674B - Automatic pineapple picking machine and automatic picking method - Google Patents
Automatic pineapple picking machine and automatic picking method Download PDFInfo
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- CN109644674B CN109644674B CN201910130859.7A CN201910130859A CN109644674B CN 109644674 B CN109644674 B CN 109644674B CN 201910130859 A CN201910130859 A CN 201910130859A CN 109644674 B CN109644674 B CN 109644674B
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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
Abstract
An automatic pineapple picking machine and an automatic picking method comprise: a fixing frame which is composed of a lower layer supporting frame, a middle layer supporting frame and an upper layer supporting frame; a motor and a pair of wheel axles are fixed on the lower layer support frame; a screw rod sliding table and an image recognition device are respectively fixed at the middle part and the side part of the middle layer supporting frame, a gantry is fixed on the sliding table, sliding chutes at two sides of the gantry are sleeved on sliding rails of the middle layer supporting frame, a rotating shaft is sleeved at the lower part of the gantry, and two ends of the rotating shaft are respectively fixed with a bevel gear; the other motor is fixed at the lower part of the gantry side, and a motor shaft of the other motor is fixedly connected with the rotating shaft; a pair of lead screws are vertically arranged on the gantry upper frame, the lower ends of the lead screws are respectively fixed with a bevel gear which is respectively meshed with the bevel gears at the two ends of the rotating shaft, a pair of lead screw nuts are respectively sleeved on the lead screws, and a cutting device is fixed on the pair of lead screw nuts; a transmission device is fixed on the upper layer supporting frame. The full-automatic pineapple picking machine can realize the full-automatic picking process of automatically identifying, cutting, conveying and collecting pineapples, replaces the heavy labor of manually picking pineapple, improves the efficiency and reduces the cost.
Description
Technical Field
The invention belongs to the field of picking equipment, and particularly relates to an automatic pineapple picking machine and an automatic picking method.
Background
Pineapple is a popular tropical fruit, the pineapple industry is developed well all the time, the pineapple can be eaten directly and can be used as a can, but the pineapple skin is prickled and has strong seasonality, so that the picking is difficult, generally, the picking of the pineapple is only in a harvesting peak period of about half a month, so that the pineapple needs to be picked intensively, most of the pineapples mainly adopt manual picking at present, the labor force is intensively required, the picking labor intensity is very high, the cost of planting the pineapple is increased continuously due to higher and higher labor force cost and large loss caused by untimely picking of the pineapple, and in order to improve the labor environment, reduce the labor intensity, reduce the cost and improve the efficiency, an automatic pineapple picking machine capable of automatically identifying the pineapple, cutting the pineapple, conveying the pineapple and collecting the pineapple is developed.
Disclosure of Invention
The invention aims to provide an automatic pineapple picking machine which can replace manual pineapple picking.
In order to achieve the purpose, the invention adopts the following design scheme:
an automatic pineapple picking machine comprises:
the fixing frame is used for fixedly mounting each unit part of the automatic pineapple picking machine and is at least divided into a lower layer supporting frame, a middle layer supporting frame and an upper layer supporting frame;
a lead screw sliding table;
the pair of wheel shafts are respectively erected on the lower layer supporting frame, and wheels are respectively fixedly installed at the two ends of each wheel shaft;
the vehicle moving motor is fixed on the lower layer supporting frame through two vertical frames;
a gantry;
a transmission device is fixedly arranged on the upper layer supporting frame;
an image recognition device is fixed at the front part of the side surface of the middle layer support frame;
a storage box is connected to the rear end of the fixing frame.
In the automatic pineapple picking machine, the middle layer support frame comprises a middle support frame and a pair of side support frames, and a sliding rail is fixedly arranged on each of the pair of side support frames; the lead screw sliding table is fixedly arranged on the middle supporting frame.
In the automatic pineapple picking machine, a worm wheel is sleeved in the middle of the front wheel axle of the pair of wheel axles.
In the automatic pineapple picking machine, a motor shaft of the vehicle moving motor is fixedly connected with a worm, and the worm is in meshing transmission with the worm wheel.
In the automatic pineapple picking machine, the gantry is a rectangular frame consisting of an upper bracket, a lower bracket, a left bracket and a right bracket, a pair of chute frames and connecting pieces; a gantry motor is fixedly arranged at the lower part of the side surface of the gantry; a gantry rotating shaft is horizontally sleeved in the middle of a pair of sliding groove frames at the lower part of the gantry, two driving bevel gears are respectively fixed at two end parts of the gantry rotating shaft, and the gantry rotating shaft is fixedly connected with a gantry motor shaft; a pair of screw rods are vertically sleeved on an upper bracket of the gantry respectively, the lower ends of the screw rods are respectively fixed with a driven bevel gear, and the driven bevel gears are respectively correspondingly meshed with driving bevel gears at two end parts of a gantry rotating shaft; a pair of screw nuts are respectively sleeved on the pair of screws correspondingly, and a cutting device is fixed on the pair of screw nuts; the lead screw sliding table consists of a vertical plate, a lead screw, a sliding table and a fixing plate, and is fixed on the middle support frame through the fixing plate; and the front side and the rear side of the bottom of the sliding chute frame are respectively provided with a sliding chute, and the gantry moves back and forth along the sliding rails through the sliding chutes.
In the automatic pineapple picking machine, the conveying device comprises a conveying motor, a pair of chain wheels, a chain, at least one pair of rollers, a conveying belt and a connecting piece; the transmission motor and the rollers are fixedly arranged on the upper layer supporting frame through connecting pieces and bearings respectively; the pair of chain wheels are respectively fixed on a motor shaft of the conveying motor and a corresponding roller shaft, and the two chain wheels are linked through a chain; the conveyor belt is sleeved with at least one pair of rollers correspondingly.
In the automatic pineapple picking machine, the image recognition device consists of an image recognition camera and a support rod, and the image recognition camera is arranged on the front upper part of the automatic pineapple cutting machine through the support rod.
In the automatic pineapple picking machine, the cutting device comprises a lifting frame, a pair of cutting screw sliding tables, a pair of cutting motors, a pair of receiving discs, a connecting frame, a connecting disc, a rotating motor and a rotating knife; the cutting screw sliding table comprises a cutting fixing plate, a cutting vertical plate, a cutting screw, a cutting sliding table and the like; the pair of cutting screw sliding tables are respectively fixed on the lifting frame through corresponding cutting fixing plates, the pair of cutting motors are respectively fixed on the corresponding cutting vertical plates, motor shafts of the cutting motors are respectively fixedly connected with one ends of the corresponding cutting screws, and the other ends of the cutting screws are respectively sleeved in the middle parts of the corresponding cutting sliding tables; the butt-joint discs are respectively fixed on the corresponding cutting sliding tables; the rotary motor is fixed below the corresponding receiving disc through a connecting frame, and the rotary knife is fixedly sleeved on a motor shaft of the rotary motor through a connecting disc.
In the automatic pineapple picking machine, the motor and the image recognition camera are controlled by an electric control system, and electronic components such as a switching power supply, a relay, a motor driving module, an alarm buzzer, a single chip microcomputer, a control circuit and the like are installed in a control box of the electric control system; the motor, the image recognition camera, the switching power supply, the relay, the motor driving module, the alarm buzzer, the single chip microcomputer, the control circuit, the green on-off button and other electronic components are in circuit connection inside the control box.
Another object of the present invention is to provide an automatic pineapple picking method which overcomes the drawbacks of manual pineapple picking.
In order to achieve the purpose, the invention adopts the following design scheme:
the method for automatically picking the pineapple machine comprises the following steps: starting a startup and shutdown button, operating a vehicle moving motor, driving a worm to rotate by an output shaft of the motor so as to further drive a worm gear to rotate, driving two driving front wheels to rotate by a front wheel shaft so as to drive two driven rear wheels to rotate so as to drive the automatic pineapple picking machine to move forwards, and stopping the vehicle moving motor and the automatic pineapple picking machine when the image recognition camera recognizes pineapples; when the motor shafts of a pair of cutting motors are electrified, the corresponding pair of cutting screw rods are driven to rotate so as to drive the cutting sliding tables to move, the cutting sliding tables respectively drive a corresponding pair of material receiving discs to move towards each other, when the cutting sliding tables move to a certain distance, the cutting motor at one side without the rotating motor is not electrified to stop working, the cutting sliding tables at the same side and the material receiving discs at the same side stop moving, the rotating motor arranged on a connecting frame below the material receiving disc at the other side is electrified to work, the connecting disc drives the rotating knife to rotate, the cutting motor at one side with the rotating motor is arranged to continue working, the cutting screw rod at the side rotates to drive the cutting sliding tables at the side so as to drive the material receiving discs at the side to continue moving along the original direction, the rotating knife moves along the original direction while rotating, the pineapple is cut, and after a period of time, the cutting motor, the receiving disc on the same side stops moving, after a period of time, the rotating motor is powered off and stops working, the rotating knife stops rotating, and the pineapple is stopped to be cut (at the moment, the pineapple is cut off and falls into the receiving disc); at the moment, a gantry motor is electrified to work to drive a gantry rotating shaft to rotate and further drive a pair of driving bevel gears to rotate, the driving bevel gears drive a pair of driven bevel gears which are correspondingly meshed with the driving bevel gears to rotate so as to drive a pair of gantry screws to rotate and further drive a pair of screw nuts to move upwards so as to drive a lifting frame to move upwards and further drive a pair of receiving disks to move upwards, the gantry motor is electrified to work for a period of time after the gantry motor works for a period of time (at the moment, the gantry motor and the gantry motor work simultaneously), sliding chutes at two sides of the bottom of the gantry are driven by a screw sliding table to move backwards for a period of time along two sliding rails on a side supporting frame, a pair of cutting motors are electrified, and a motor shaft of the pair of cutting motors starts to rotate reversely for a period of time (at the moment, the pair of cutting sliding tables are driven to drive a pair of object receiving discs to move oppositely and separately for a distance, the gantry motor is powered off, the lifting frame stops moving upwards, the gantry motor is powered off after continuously working for a period of time, the gantry stops moving backwards, the pair of cutting motors continuously work in reverse direction for a period of time, the conveying motor on the upper layer supporting frame is powered on to work and drives the roller to rotate through chain transmission of the chain wheel and the chain so as to drive the conveying belt to convey (at the moment, the conveying motor and the pair of cutting motors work simultaneously), the conveying motor works for a period of time, the cutting motor on one side without the rotary cutter is powered off and stops working, the cutting sliding table on the same side and the object receiving disc on the same side stop moving in reverse direction, the cutting motor on one side with the rotary cutter is continuously operated in reverse direction, the cutting screw on the side drives the cutting, the side cutting motor stops working reversely to drive the side object-placing plate to stop moving reversely (at the moment, the pineapples fall on the conveyor belt); at the moment, the gantry moving motor is electrified, the motor shaft of the gantry moving motor rotates reversely, the pair of sliding grooves at the bottom of the gantry are driven by the screw rod sliding table to move forwards for a period of time along the sliding rails on the supporting frames at the two sides of the middle-layer supporting frame, the gantry motor is electrified, a motor shaft of the gantry motor rotates reversely to drive a gantry rotating shaft to rotate reversely and further drive a pair of driving bevel gears to rotate reversely, the driving bevel gears drive a pair of driven bevel gears which are correspondingly meshed with the driving bevel gears to rotate reversely so as to drive a pair of gantry screws to rotate reversely and further drive a pair of screw nuts to move downwards so as to drive a lifting frame and further drive a receiving disc to move downwards (the receiving disc moves forwards and downwards simultaneously), after a period of time, the power of the conveying motor is lost and the conveying motor stops working, the motor shaft stops rotating, the motor chain wheel stops rotating, the chain stops driving, the roller chain wheel stops rotating, the roller stops rotating, and the conveying belt stops running (at the moment, the pineapples are conveyed into the storage box); the gantry moving motor continues to work reversely to drive the gantry to move forwards for a period of time, at the moment, the next picking cycle starts, the gantry moving motor is electrified, a motor shaft of the gantry moving motor rotates, a worm is driven to rotate to further drive a worm gear to rotate, the worm gear drives two driving front wheels to rotate through a front wheel shaft and further drive two driven rear wheels to rotate, so that the automatic pineapple picking machine is driven to move forwards (at the moment, the gantry moving motor and the gantry motor work simultaneously), the gantry moving motor continues to work reversely to drive the gantry to move forwards for a period of time to stop working, the gantry motor continues to work reversely for a period of time to drive the lifting frame to fall to a certain height to stop working, the picking cycle is finished once, and the automatic pineapple picking.
The invention has the advantages that:
1. the whole process of automatic pineapple picking, such as automatic pineapple identification, pineapple cutting, pineapple conveying and pineapple collection, can be completed by pressing the startup and shutdown button, so that the automation of pineapple picking is realized:
2. heavy labor of manually picking pineapples is replaced, the labor environment is improved, the cost is reduced, and the efficiency is improved;
3. the automatic pineapple picking machine is reasonable in structural design and reliable in operation.
Drawings
Fig. 1 is a schematic structural view (front view) of the automatic pineapple picking machine of the invention.
Fig. 1-1 is an enlarged view of region I of fig. 1.
Fig. 1-2 are enlarged views of region II in fig. 1.
Fig. 1-3 are enlarged views of region III of fig. 1.
Fig. 2 is a schematic structural view (left view) of the automatic pineapple picking machine of the invention.
Fig. 2-1 is an enlarged view of region IV of fig. 2.
Fig. 2-2 is an enlarged view of region V in fig. 2.
Fig. 2-3 are enlarged views of area VI in fig. 2.
Fig. 3 is a schematic structural view (top view) of the automatic pineapple picking machine of the invention.
Fig. 4 is a timing diagram of the operation of the motor in the automatic pineapple picking machine of the invention.
In the figure: 1-a support bar; 2-gantry motor; 3-a drive bevel gear; 4-driven bevel gear; 5-gantry rotating shaft; 6-a transmission motor; 901-left support; 7-gantry screw; 8-left cutting motor; 1001-left cutting of the riser; 9-gantry; 10-left cutting screw sliding table; 1002-left cutting screw; 1003-left cutting of the fixation plate; 11-a rotating knife; 12-a connecting disc; 13-a rotating electrical machine; 14-an image recognition camera; 1004-left cutting slide; 1501-right cutting slipway; 902-upper support; 1502-right cutting screw; 15-right cutting screw sliding table; 1503-right cutting and fixing plate; 1504-right cutting riser; 16-right cutting motor; 17-a lifting frame; 18-a lead screw nut; 19-a roller; 20-a conveyor belt; 903-right support; 904-lower support; 905-a chute frame; 21-a chute; 22-side support brackets; 23-a slide rail; 24-front wheels; 25-front wheel axle; 26-a storage box; 27-a rear sprocket; 28-a chain; 29-motor sprocket; 30-upper support frame; 31-gantry moving motor; 3301-vertical plate; 32-a connecting frame; 3302-screw rod; 33-screw slide table; 3303-slipway; 3304-fixed plate; 34-a middle support frame; 35-a worm; 36-a worm gear; 37-lower support frame; 38-vehicle moving motor; 39-middle layer support frame; 40-a control box; 41-startup and shutdown buttons; 42-rear axle; 43-rear wheel; 44-left tray; 45-right receiving plate.
The invention is further described with reference to the following drawings and specific embodiments.
Detailed Description
As shown in fig. 1, fig. 2, fig. 3, fig. 1-2 and fig. 2-2, the automatic pineapple picking machine of the present invention mainly comprises a fixing frame for fixing and installing each unit component of the automatic pineapple picking machine, and is at least divided into a lower layer support frame 37, a middle layer support frame 39 and an upper layer support frame 30, wherein the middle layer support frame 39 comprises a middle support frame 34 and a pair of side support frames 22, and a slide rail 23 is fixedly installed on each of the pair of side support frames 22; the lead screw sliding table 33 is fixedly arranged on the middle supporting frame 34; the front wheel shaft 25 and the rear wheel shaft 42 are respectively erected on the lower layer supporting frame 37 through bearings, the front wheels 24 are respectively and fixedly installed at two ends of the front wheel shaft 25, the rear wheels 43 are respectively and fixedly installed at two ends of the rear wheel shaft 42, and the middle part of the front wheel shaft 25 is sleeved with the worm wheel 36; a vehicle moving motor 38 fixed on the lower support frame 37 through two vertical frames, a motor shaft of the vehicle moving motor 38 is fixedly connected with a worm 35, and the worm 35 is meshed with a worm wheel 36 sleeved in the middle of the front wheel shaft 25.
As shown in fig. 1, 2, 3, 1-1, 1-2, and 2-2, the gantry 9 is a rectangular frame formed by fixing an upper bracket 902, a lower bracket 904, a left bracket 901, a right bracket 903, a pair of chute frames 905, and a connecting member; a gantry motor 2 is fixedly arranged at the lower part of the side surface of the gantry 9; a gantry rotating shaft 5 is horizontally sleeved in the middle of a pair of sliding groove frames 905 at the lower part of the gantry 9, two ends of the gantry rotating shaft are respectively fixed with a driving bevel gear 3, and the gantry rotating shaft 5 is fixedly connected with a motor shaft of a gantry motor 2; a pair of gantry screws 7 are vertically sleeved on an upper bracket 902 of a gantry 9 respectively, the lower ends of the gantry screws are respectively fixed with a driven bevel gear 4, the driven bevel gears 4 are respectively correspondingly engaged with driving bevel gears 3 at two end parts of a gantry rotating shaft 5, a pair of screw nuts 18 are respectively sleeved on the gantry screws 7 correspondingly, and a cutting device is fixed on the gantry screws 18; the lead screw sliding table 33 consists of a vertical plate 3301, a lead screw 3302, a sliding table 3303 and a fixing plate 3304, and is fixed on the middle supporting frame 34 through the fixing plate 3304, a gantry moving motor 31 is fixed on the vertical plate 3301, a motor shaft of the gantry moving motor 31 is fixedly connected with one end of the lead screw 3302, and the sliding table 3303 is sleeved on the lead screw 3302 and is fixedly connected with the lower supporting frame 904 of the gantry 9; the front side and the rear side of the bottom of the chute frame 905 are respectively provided with a chute 21, and the gantry 9 moves back and forth along the slide rail 23 through the chutes 21.
As shown in fig. 1, 2, 3, 2-3, a conveyor is fixedly mounted on the upper support frame 30, and the conveyor includes a conveyor motor 6, a roller sprocket 27, a chain 28, a motor sprocket 29, a pair of rollers 19, a conveyor belt 20 and a connecting member; the transmission motor 6 and the roller 19 are fixedly arranged on the upper supporting frame 30 through a connecting piece and a bearing respectively; the motor chain wheel 29 is fixed on a motor shaft of the conveying motor 6, the roller chain wheel 27 is fixedly connected with a roller shaft of the roller 19, the motor chain wheel 29 and the roller chain wheel 27 are linked through a chain 28, the conveying belt 20 is sleeved on the pair of rollers 19, and the rollers 19 rotate to drive the conveying belt 20 to move.
As shown in fig. 1 to 3, an image recognition camera 14 is fixed on the front side of the middle layer support frame 39 through a support rod 1; a storage box 26 is attached to the rear end of the mount.
As shown in fig. 1, fig. 2, fig. 3, fig. 1-3, and fig. 2-1, the cutting device includes a lifting frame 17, a left cutting screw sliding table 10, a right cutting screw sliding table 15, a left cutting motor 8, a right cutting motor 16, a left object receiving disc 44, a right object receiving disc 45, a connecting frame 32, a connecting disc 12, a rotating motor 13, and a rotating knife 11; the left cutting screw sliding table 10 comprises a left cutting vertical plate 1001, a left cutting screw 1002, a left cutting fixing plate 1003, a left cutting sliding table 1004 and other parts, the right cutting screw sliding table 15 comprises a right cutting sliding table 1501, a right cutting screw 1502, a right cutting fixing plate 1503, a right cutting vertical plate 1504 and other parts, the left cutting screw sliding table 10 is fixed on the lifting frame 17 through the left cutting fixing plate 1003, the right cutting screw sliding table 15 is fixed on the lifting frame 17 through the right cutting fixing plate 1503, the left cutting motor 8 is fixed on the left cutting vertical plate, a motor shaft of the left cutting motor is fixedly connected with one end of the left cutting screw 1002, the other end of the left cutting screw 1002 is sleeved in the middle of the left cutting sliding table 1004, the right cutting motor 16 is fixed on the right cutting vertical plate 1504, the motor shaft of the left cutting motor is fixedly connected with one end of the right; the left object receiving disc 44 is fixed on the left cutting sliding table 1004, and the right object receiving disc 45 is fixed on the right cutting sliding table 1501; the rotating motor 13 is fixed below the left object receiving disc 44 through the connecting frame 32, and the rotating knife 11 is fixedly sleeved on a motor shaft of the rotating motor 13 through the connecting disc 12.
As shown in fig. 1, 2 and 3, the car moving motor 38, the left cutting motor 8, the right cutting motor 16, the gantry motor 2, the gantry moving motor 31, the transmission motor 6, the rotating motor 13 and the image recognition camera 14 are controlled by an electric control system, the working and stopping time of which is shown in fig. 4, and a switch power supply, a relay, a motor driving module, an alarm buzzer, a single chip microcomputer, a control circuit and other electronic components are installed in a control box 40 of the electric control system, and a switch button 41 is further arranged; the image recognition camera 14, the switching power supply, the relay, the motor driving module, the alarm buzzer, the single chip microcomputer, the control circuit, the on-off button 41 and other electronic components are in circuit connection inside the control box 40.
The working process of the automatic pineapple picking machine body is as follows: starting a startup and shutdown button 41, operating a vehicle moving motor 38, driving a worm 35 to rotate by an output shaft of the motor to further drive a worm wheel 36 to rotate, driving two driving front wheels 24 to rotate by the worm wheel 36 through a front wheel shaft 25 and driving two driven rear wheels 43 to rotate, so as to drive the automatic pineapple picking machine to move forwards, and when pineapples are identified by an image identification camera 14 arranged on an upper layer support frame 30 through a support rod 1, stopping the operation of the vehicle moving motor 38, and stopping the movement of the automatic pineapple picking machine; at the moment, the motor shafts of the left cutting motor 8 and the right cutting motor 16 start to rotate, the left cutting motor 8 drives the left cutting screw rod 1002 to rotate so as to drive the left cutting sliding table 1004 to move rightwards, the left cutting sliding table 1004 drives the left object receiving disc 44 to move rightwards, the right cutting motor 16 drives the right cutting screw rod 1502 to rotate so as to drive the right cutting sliding table 1501 to move leftwards, the right cutting sliding table 1501 drives the right object receiving disc 45 to move leftwards, when the left object receiving disc 44 and the right object receiving disc 45 move close to each other to a certain distance, the right cutting motor 16 loses power and stops working, the right cutting sliding table 1501 and the right object receiving disc 45 stop moving, the rotating motor 13 is powered to work at the moment, the connecting disc 12 is driven to drive the rotating knife 11 to rotate, the left cutting motor 8 continues to work, the left cutting sliding table 1004 is driven by the rotation of the left cutting screw rod 1002 so as to drive the left, the pineapple cutting is realized, after a period of time, the left cutting motor 8 loses power and stops working, the left object receiving disc 44 stops moving, after a period of time, the rotating motor 13 loses power and stops working, the rotating knife 11 stops rotating, and the pineapple cutting is stopped (at the moment, the pineapple is cut off and falls into the object receiving disc); at the moment, the gantry motor 2 is powered on to work to drive the gantry rotating shaft 5 to rotate so as to drive the pair of driving bevel gears 3 to rotate, the driving bevel gears 3 drive the pair of driven bevel gears 4 which are correspondingly meshed with the driving bevel gears to rotate so as to drive the pair of gantry screws 7 to rotate and further drive the pair of screw nuts 18 to move upwards so as to drive the lifting frames 17 to move upwards so as to drive the left object receiving disc 44 and the right object receiving disc 45 to move upwards, after the gantry motor 2 works for a period of time, the gantry motor 31 is powered on to work for a period of time, the two sliding chutes 21 at the bottom of the gantry 9 are driven by the screw sliding tables 33 to move backwards for a distance along the two sliding rails 23 on the side support frames 22 (refer to figure 4, at the moment, the gantry motor 31 and the gantry motor 2 work simultaneously), the left cutting motor 8 starts to rotate reversely for a period, the right cutting motor 16 is powered on and the motor shaft thereof starts to rotate reversely for a period of time to drive the right cutting sliding table 1501 to further drive the right object receiving disc 45 to move rightwards for a distance (see fig. 4, at this time, the gantry moving motor 31, the gantry motor 2, the left cutting motor 8 and the right cutting motor 16 work simultaneously, that is, the object receiving disc 44 and the object receiving disc 45 move backwards, upwards and oppositely, the gantry motor 2 is powered off, the lifting frame 17 stops moving upwards, the gantry moving motor 31 loses power after continuing to work for a period of time, the gantry 9 stops moving backwards, the left cutting motor 8 and the right cutting motor 16 continue to work reversely for a period of time, the conveying motor 6 on the upper layer supporting frame 30 is powered on and the motor shaft thereof rotates to drive the motor sprocket 29 to rotate, the motor sprocket 29 rotates to drive the chain 28 to drive the roller sprocket 27 to rotate and further drive the roller 19 to rotate to drive the conveying, at this time, the conveying motor 6, the left cutting motor 8 and the right cutting motor 16 work simultaneously), the conveying motor 6 works for a period of time, the right cutting motor 16 loses power and stops working, the right cutting sliding table 1501 and the right object receiving disc 45 stop moving rightwards, the left cutting motor 8 continues to work reversely, the left cutting sliding table 1004 is driven by the reverse rotation of the left cutting screw rod 1002 to drive the left object receiving disc 44 to continue moving leftwards, after a period of time, the left cutting motor 8 stops working reversely, and the left object receiving disc 44 stops moving leftwards (at this time, the pineapples fall on the conveying belt and are conveyed on the conveying belt); at this time, after the gantry moving motor 31 is electrified and the motor shaft thereof rotates reversely and drives the pair of side chutes 21 at the bottom of the gantry 9 to move forward along the slide rails 23 on the supports 22 at the two sides of the middle support 39 for a period of time through the lead screw sliding table 33, the gantry motor 2 is electrified and the motor shaft thereof rotates reversely to drive the gantry rotating shaft 5 to rotate reversely and further drive the pair of driving bevel gears 3 to rotate reversely, the driving bevel gears 3 drive the pair of driven bevel gears 4 engaged with the corresponding driving bevel gears to rotate reversely and further drive the pair of vertical lead screws 7 to rotate reversely and further drive the pair of lead screw nuts 18 to move downwards so as to drive the lifting frame 17 to move downwards and further drive the left object receiving disc 44 and the right object receiving disc 45 to move downwards (the object receiving disc 44 and the object receiving disc 45 move forwards and downwards simultaneously), after a period of time, the power of the transmission, the chain 28 stops driving, the roller chain wheel 27 stops rotating, the roller 19 stops rotating, and the conveyor belt 20 stops conveying (at the moment, the pineapples are conveyed into the storage box); the gantry moving motor 31 continues to work to drive the gantry 9 to continue to move forwards for a period of time, at the moment, the next picking cycle starts, the vehicle moving motor 38 is electrified, the motor shaft rotates to drive the worm 35 to rotate to further drive the worm gear 36 to rotate, the worm gear 36 drives the two driving front wheels 24 to rotate through the front wheel shaft 25 to drive the two driven rear wheels 43 to rotate, so that the automatic pineapple picking machine is driven to move forwards, (see fig. 4, at the moment, the vehicle moving motor 38, the gantry moving motor 31 and the gantry motor 2 work simultaneously), the gantry moving motor 31 continues to work to drive the gantry 9 to continue to move forwards for a period of time to stop working, the gantry motor 2 continues to work reversely for a period of time to drive the lifting frame 17 to descend to a certain height to stop working, one picking cycle is completed, and the automatic pineapple picking.
The automatic pineapple picking machine can meet the needs of people, particularly meet the needs of pineapple picking, replaces heavy manual labor, improves the working efficiency, and has good social benefit and market prospect after being put into the market.
The above embodiments may be subject to several variations without departing from the scope of the invention, and therefore the above description is to be regarded as illustrative rather than restrictive.
Claims (7)
1. An automatic pineapple picking machine is characterized by comprising:
the fixing frame is used for fixedly mounting each unit part of the automatic pineapple picking machine and is at least divided into a lower layer supporting frame, a middle layer supporting frame and an upper layer supporting frame; the middle layer supporting frame comprises a middle supporting frame and a pair of side supporting frames, and a sliding rail is fixedly arranged on each of the pair of side supporting frames;
a lead screw sliding table;
the pair of wheel shafts are respectively erected on the lower layer supporting frame, and wheels are respectively fixedly installed at the two ends of each wheel shaft;
the vehicle moving motor is fixed on the lower layer supporting frame through two vertical frames;
the gantry is a rectangular frame consisting of an upper bracket, a lower bracket, a left bracket and a right bracket, a pair of chute frames and connecting pieces; a gantry motor is fixedly arranged at the lower part of the side surface of the gantry; a gantry rotating shaft is horizontally sleeved in the middle of a pair of sliding groove frames at the lower part of the gantry, two driving bevel gears are respectively fixed at two end parts of the gantry rotating shaft, and the gantry rotating shaft is fixedly connected with a gantry motor shaft; the pair of screw rods are vertically sleeved on the upper bracket of the gantry respectively, the lower ends of the screw rods are respectively fixed with a pair of driven bevel gears, and the driven bevel gears are respectively correspondingly meshed with driving bevel gears at two end parts of the gantry rotating shaft; a pair of screw nuts are respectively sleeved on the pair of screws correspondingly, and a cutting device is fixed on the pair of screw nuts; the lead screw sliding table consists of a vertical plate, a lead screw, a sliding table and a fixing plate, and is fixed on the middle support frame through the fixing plate; the front side and the rear side of the bottom of the sliding chute frame are respectively provided with a sliding chute, and the gantry moves back and forth along the sliding rail through the sliding chutes;
the cutting device comprises a lifting frame, a pair of cutting screw sliding tables, a pair of cutting motors, a pair of receiving discs, a connecting frame, a connecting disc, a rotating motor and a rotating knife; the cutting screw sliding table consists of a cutting fixing plate, a cutting vertical plate, a cutting screw and a cutting sliding table; the pair of cutting screw sliding tables are respectively fixed on the lifting frame through corresponding cutting fixing plates, the pair of cutting motors are respectively fixed on corresponding cutting vertical plates, motor shafts of the cutting motors are respectively fixedly connected with one end of a corresponding cutting screw, and the cutting sliding tables are respectively sleeved on the corresponding cutting screws; the butt-joint discs are respectively fixed on the corresponding cutting sliding tables; the rotary motor is fixed below the corresponding side object-placing plate through a connecting frame, and the rotary knife is fixedly sleeved on a motor shaft of the rotary motor through a connecting plate;
a transmission device is fixedly arranged on the upper layer supporting frame;
an image recognition device is fixed at the front part of the side surface of the middle layer support frame;
a storage box is connected to the rear end of the fixing frame.
2. An automatic pineapple picking machine as claimed in claim 1, wherein: the middle part of the front wheel axle of the pair of wheel axles is sleeved with a worm wheel.
3. An automatic pineapple picking machine as claimed in claim 2, wherein: and a motor shaft of the vehicle moving motor is fixedly connected with a worm, and the worm is in meshing transmission with the worm wheel.
4. An automatic pineapple picking machine as claimed in claim 1, wherein: the conveying device comprises a conveying motor, a chain, a pair of chain wheels, at least one pair of rollers, a conveying belt and a connecting piece; the transmission motor and the rollers are fixedly arranged on the upper layer supporting frame through connecting pieces and bearings respectively; the pair of chain wheels are respectively fixed on a motor shaft of the conveying motor and a corresponding roller shaft, and the two chain wheels are linked through a chain; the conveyor belt is sleeved with at least one pair of rollers correspondingly.
5. An automatic pineapple picking machine as claimed in claim 1, wherein: the image recognition device is composed of an image recognition camera and a supporting rod, and the image recognition camera is installed on the front upper portion of the automatic pineapple picking machine through the supporting rod.
6. An automatic pineapple picking machine as claimed in claim 5, wherein: the motor and the image recognition camera are controlled by an electric control system, and electronic components such as a switching power supply, a relay, a motor driving module, an alarm buzzer, a single chip microcomputer and a control circuit are installed in a control box of the electric control system; the motor, the image recognition camera, the switching power supply, the relay, the motor driving module, the alarm buzzer, the single chip microcomputer, the control circuit, the green on-off button and other electronic components are in circuit connection inside the control box.
7. An automatic picking method having an automatic pineapple picking machine as claimed in any one of claims 1 to 6, characterized in that the method is as follows: when the image recognition camera recognizes pineapples, the vehicle moving motor stops working, and the automatic pineapple picking machine stops moving; when the motor shafts of a pair of cutting motors are electrified, the corresponding pair of cutting screw rods are driven to rotate so as to drive the cutting sliding tables to move, the cutting sliding tables respectively drive a corresponding pair of material receiving discs to move towards each other, when the cutting sliding tables move to a certain distance, the cutting motor at one side without the rotating motor is not electrified to stop working, the cutting sliding tables at the same side and the material receiving discs at the same side stop moving, the rotating motor arranged on a connecting frame below the material receiving disc at the other side is electrified to work, the connecting disc drives the rotating knife to rotate, the cutting motor at one side with the rotating motor is arranged to continue working, the cutting screw rod at the side rotates to drive the cutting sliding tables at the side so as to drive the material receiving discs at the side to continue moving along the original direction, the rotating knife moves along the original direction while rotating, the pineapple is cut, and after a period of time, the cutting motor, the receiving disc on the same side stops moving, after a period of time, the rotating motor is powered off and stops working, the rotating knife stops rotating and stops cutting the pineapples, and the pineapples are cut off and fall on the receiving disc; at the moment, the gantry motor is electrified to work to drive the gantry rotating shaft to rotate and further drive the pair of driving bevel gears to rotate, the driving bevel gears drive the pair of driven bevel gears which are correspondingly meshed with the driving bevel gears to rotate so as to drive the pair of gantry screw rods to rotate and further drive the pair of screw rod nuts to move upwards so as to drive the lifting frame to move upwards and further drive the pair of object receiving plates to move upwards, after the gantry motor works for a period of time, the gantry motor and the gantry motor work simultaneously, the screw rod sliding tables drive the sliding grooves at two sides of the bottom of the gantry to move backwards for a distance along the two sliding rails on the side supporting frames, the pair of cutting motors are electrified so that the motor shafts of the cutting motors start to rotate reversely for a period of time, at the moment, the gantry motor, the left cutting motor and the right cutting motor work, when the gantry motor is powered off, the lifting frame stops moving upwards, the gantry motor is powered off after continuously working for a period of time, the gantry stops moving backwards, the pair of cutting motors continuously work reversely, the conveying motor on the upper layer supporting frame is powered on to work and drives the roller to rotate through chain wheel and chain transmission so as to drive the conveying belt to convey, at the moment, the conveying motor and the pair of cutting motors work simultaneously, the conveying motor works for a period of time, the cutting motor on the side without the rotary knife is powered off to stop working, the cutting sliding table on the same side and the object receiving disc on the same side stop moving reversely, the cutting motor on the side with the rotary knife continues to work reversely, the cutting sliding table on the side is driven through the reverse rotation of the cutting screw rod on the side so as to drive the object receiving disc on the side to continue moving in the reverse direction, and after a period of time, the cutting, the pineapples have fallen onto the conveyor belt at this time; at the moment, a gantry moving motor is electrified, a motor shaft of the gantry moving motor rotates reversely, a pair of sliding grooves at the bottom of a gantry are driven by a lead screw sliding table to move forwards along sliding rails on supporting frames on two sides of a middle supporting frame for a period of time, the gantry motor is electrified, the motor shaft of the gantry moving motor rotates reversely, a gantry rotating shaft is driven to rotate reversely, a pair of driving bevel gears are driven by the driving bevel gears to rotate reversely, a pair of gantry lead screws are driven by the driving bevel gears to rotate reversely, a pair of lead screw nuts are driven to move downwards, a lifting frame is driven to move downwards, a receiving disc is driven to move downwards, after a period of time, the power of a conveying motor is lost, the work is stopped, the motor shaft stops rotating, a motor chain wheel stops rotating, a; the gantry moving motor continues to work reversely to drive the gantry to move forwards for a period of time, at the moment, the next picking cycle starts, the gantry moving motor is electrified, a motor shaft of the gantry moving motor rotates, a worm is driven to rotate to further drive a worm gear to rotate, the worm gear drives two driving front wheels to rotate through a front wheel shaft and further drive two driven rear wheels to rotate, so that the automatic pineapple picking machine is driven to move forwards, at the moment, the gantry moving motor and the gantry motor work simultaneously, the gantry moving motor continues to work reversely to drive the gantry to move forwards for a period of time to stop working, the gantry motor continues to work reversely for a period of time to drive the lifting frame to fall to a certain height to stop working, the picking cycle is finished once, and the automatic pineapple picking.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN109644674A CN109644674A (en) | 2019-04-19 |
| CN109644674B true CN109644674B (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910130859.7A Expired - Fee Related CN109644674B (en) | 2019-02-22 | 2019-02-22 | Automatic pineapple picking machine and automatic picking method |
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Family Cites Families (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 |
| CN107810706B (en) * | 2017-11-30 | 2023-08-15 | 广州大学 | Device for realizing pineapple picking |
| CN208047313U (en) * | 2018-02-12 | 2018-11-06 | 龙岩学院 | One kind is semi-automatic to pluck Machine for pineapple |
| CN108391509B (en) * | 2018-03-09 | 2023-05-02 | 三峡大学 | Pineapple picking vehicle and using 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 |
| CN108617240B (en) * | 2018-05-11 | 2020-08-11 | 重庆交通大学 | Expandable integrated pineapple picking device |
| CN108966817B (en) * | 2018-07-09 | 2021-05-14 | 沈阳工业大学 | Crossing type pineapple picking vehicle |
| CN108718673B (en) * | 2018-09-05 | 2020-07-14 | 北京石油化工学院 | Automatic pineapple picking and collecting device |
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2019
- 2019-02-22 CN CN201910130859.7A patent/CN109644674B/en not_active Expired - Fee Related
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