CN110476614A - The automatic picking machine of strawberry - Google Patents
The automatic picking machine of strawberry Download PDFInfo
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- CN110476614A CN110476614A CN201910909543.8A CN201910909543A CN110476614A CN 110476614 A CN110476614 A CN 110476614A CN 201910909543 A CN201910909543 A CN 201910909543A CN 110476614 A CN110476614 A CN 110476614A
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- gear
- picking
- motor
- strawberry
- fixedly connected
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
- Preparation Of Fruits And Vegetables (AREA)
Abstract
The present invention relates to strawberries to pick field, more particularly to a kind of automatic picking machine of strawberry, including horizontal mobile mechanism and picking mechanism, the horizontal mobile mechanism includes horizontal rail and moves horizontally component, picking mechanism includes picking box and two picking guidance sets, two picking guidance sets are separately positioned on the two sides of picking box, two picking guidance sets respectively include camera assembly, vertical equity moving assembly, rotary components, clamping jaw cutting assembly and feeding conveying assembly, feeding conveying assembly includes a upper material conveyer, clamping jaw cutting assembly includes the fixture block that cutter and two can contradict strawberry, cutter are in the top for being positioned horizontally in fixture block, camera assembly is located at the side of picking box, camera assembly includes a camera to extension above clamping jaw cutting assembly, strawberry can be picked automatically and be collected automatically by the equipment , improve picking efficiency and reduce picking cost.
Description
Technical field
The present invention relates to strawberries to pick field, and in particular to a kind of automatic picking machine of strawberry.
Background technique
Strawberry, rosaceae strawberry plants, perennial herb is 10-40 centimetres high, fruit vitamin rich at
Point, it is that holder expands and the berry that is formed, soft and succulency are bright in colour.At cone structure, planting patterns using outdoor cropping,
High ridge cultivation, high-level cultivating and with other crops interplant mode, wherein high ridge, high-level cultivating mode strawberry fruit because of gravity
Tenesmus, with a large amount of appearance of strawberry high-level cultivating, strawberry picking then becomes a great problem of orchard worker, for adopting for overhead strawberry
It plucks and collection work, is still in the stage that artificial picking is collected at present, not only large labor intensity, causes to endanger to the body of worker
Evil, and with the rise of wage for workmen, cost also increasingly increases.
Summary of the invention
The purpose of the present invention is to provide a kind of automatic picking machine of strawberry, which can automatically be picked strawberry simultaneously
It is automatic to collect, improve picking efficiency and picking cost.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of automatic picking machine of strawberry, including horizontal mobile mechanism and picking mechanism, the horizontal mobile mechanism packet are provided
It includes and horizontal rail and moves horizontally component, move horizontally setting that component can move horizontally in horizontal rail, picking mechanism
Including picking box and two picking guidance sets, the top for moving horizontally component is fixedly connected with the bottom of picking box, and two are adopted
The two sides that guidance set is separately positioned on picking box are plucked, two picking guidance sets respectively include camera assembly, vertical equity moves
Dynamic component, rotary components, clamping jaw cutting assembly and feeding conveying assembly, feeding conveying assembly include a upper material conveyer, on
The inclined side positioned at picking box of material conveyer, vertical equity moving assembly are located at the side of upper material conveyer, rotary components
Positioned at the working end of vertical equity moving assembly, clamping jaw cutting assembly is located at the working end of rotary components, clamping jaw cutting assembly packet
Include cutter and two fixture blocks that can contradict strawberry, cutter are in the top for being positioned horizontally in fixture block, and camera assembly is located at picking
The side of case, camera assembly include a camera to extension above clamping jaw cutting assembly.
Preferably, the component that moves horizontally includes hollow mobile framework, first motor, first gear, second gear,
Three gears and the 4th gear, mobile framework are in be horizontally set on the bottom of picking box, and first gear and the 4th gear are symmetrical arranged
In the two sides of inside one end of mobile framework, second gear and third gear be disposed side by side on first gear and the 4th gear it
Between, first motor, first gear, second gear, third gear and the 4th gear are in horizontally disposed, first gear, second respectively
Adjacent one end is engaged respectively for gear, third gear and the 4th gear, first gear, second gear, third gear and
Four gears pass through the inside that mobile framework is arranged in that the first rotary shaft can rotate respectively, and the one of first gear and the 4th gear
End extends to the external of mobile framework respectively, and first motor is in be fixedly mounted on the bottom of mobile framework vertically, first motor
The internal stretch to mobile framework that output end can rotate, one end of the rotary shaft of the output end and second gear of first motor
It being fixedly connected, the inside of mobile framework is set far from one end of first motor there are two symmetrical and spaced guide gear,
Each guide gear be in respectively it is horizontally disposed, each guide gear passes through setting that the second rotary shaft can rotate in movement respectively
The inside of frame.
Preferably, the horizontal rail is equipped with rectangular slits, and the inside both ends of the rectangular slits are respectively equipped with rack gear, often
A rack gear be in respectively it is horizontally disposed, one end of each rack gear is fixedly connected with horizontal rail respectively, and two rack gears are respectively with first
Gear, the 4th gear and guide gear are engaged, and two are additionally provided with below mobile framework in horizontally disposed optical axis, each
The both ends of optical axis pass through fixed frame respectively and are fixedly connected with the bottom of mobile framework, guide sleeve are respectively equipped on each optical axis, often
What a guide sleeve was able to slide is set on each optical axis, and one end of each guide sleeve is solid with the side wall of mobile framework respectively
Fixed connection, the both ends of horizontal rail are respectively equipped with support frame, and the both ends of horizontal rail are fixedly connected with the inner wall of support frame respectively.
Preferably, each vertical equity moving assembly includes the first fixed plate, the first screw rod transmission machine and second
Bar driver, the first fixed plate in being fixedly mounted on the side wall of picking box vertically, and the first screw rod transmission machine is in horizontal fixed peace
On the side wall of the first fixed plate, the working end of the first screw rod transmission machine is equipped with the first guide plate, which is in water
Flat setting, one end of first guide plate are equipped in the second fixed plate being vertically arranged, and the second screw rod transmission machine is in vertical fixed
It being mounted in the second fixed plate, the working end of the second screw rod transmission machine is equipped with the second guide plate, and the second guide plate is in be horizontally disposed with,
The bottom end of second guide plate is fixedly connected with the inside of rotary components.
Preferably, each rotary components include inverted L shape bracket, the second motor and rotation transverse slat, the top of inverted L shape bracket
Portion is fixedly connected with the bottom end of the second guide plate, and the second motor is in the internal side wall for being fixedly mounted on inverted L shape bracket vertically
On, and the output end of the second motor is down-set, and rotation transverse slat is in the lower section for being horizontally set on the second motor, rotates transverse slat
Top one end is fixedly connected with the output end of the second motor, rotates transverse slat one end and clamping jaw cutting assembly far from the second motor
Inside is fixedly connected.
Preferably, each clamping jaw cutting assembly include hollow big C-shaped support, third motor, the first half range gear and
Second half range gear, big C-shaped support are in be horizontally set on one end of rotation transverse slat, and one end of big C-shaped support and rotation are horizontal
One end of plate is fixedly connected, and the first half range gear and the second half range gear are symmetricly set on the inside of big C-shaped support, the first half range
Gear and the second half range gear are engaged, and the first half range gear and the second half range gear are in horizontally disposed, the first half range tooth
Wheel and the second half range gear pass through the inside that big C-shaped support is arranged in that third rotary shaft can rotate respectively, and third motor is in
It is vertically arranged in the top of big C-shaped support, the internal stretch to big C-shaped support that the output end of third motor can rotate,
The output end of three motors and one end of the third rotary shaft of the first half range gear are solidly connected, the first half range gear and the second half range tooth
Be respectively equipped with link block on wheel, each link block be in respectively it is horizontally disposed, one end of each link block is respectively to big c-type branch
The external of frame extends, and one end of each link block is fixedly connected with one end of each fixture block respectively, the adjacent one end of two fixture blocks
It is respectively equipped with the receiving grooving that can contradict strawberry, two adjacent one end of fixture block further respectively have positioning and wear mouth, each positioning
The both ends for wearing mouth extend through the top of fixture block to the internal stretch of each holding tank.
Preferably, each clamping jaw cutting assembly further includes the 4th motor and hollow small C-shaped support, small C-shaped support
It is fixedly connected at the top of bottom and big C-shaped support, the 4th motor is in the top for being fixedly mounted on small C-shaped support vertically, cutter
In the inside for being horizontally set on small C-shaped support, one end of cutter extends to the external of small C-shaped support, the output of the 4th motor
The internal stretch to small C-shaped support that can be rotated is held, the output end of the 4th motor is fixedly connected with one end of cutter.
Preferably, each upper material conveyer, one end of material conveyer extends to the top open end of picking box on this,
Material conveyer is fixedly connected by locking bracket with the side wall of picking box on this, and material conveyer is equipped with several and can support on this
Touch the push plate of strawberry.
Preferably, each camera assembly further includes folding stand, one end of the folding stand and one end side wall of picking box
It is fixedly connected, the other end of the folding stand is fixedly connected with camera.
Preferably, the inside of the picking box is additionally provided with the first hang plate, the second hang plate and third hang plate, and first inclines
The inner tip for the picking box that inclined plate is inclined to set, the one end of the first hang plate tilted upward are located at each upper material conveyer
Lower section, the second hang plate is inclined to set in the lower section of the first hang plate, one end and first that the second hang plate tilts upward
Setting is docked in the one end of hang plate diagonally downward, and third hang plate is inclined to set in the lower section of the second hang plate, third inclination
Setting is docked with the one end of the second hang plate diagonally downward in one end that plate tilts upward, and the side of picking box is additionally provided with feeding door.
Beneficial effects of the present invention: a kind of strawberry automatic picking machine when picking, starts first motor, and first motor drives
Second gear rotation, second gear drive the rotation of first gear clockwise and the rotation of third gear inverse clock, third gear respectively
It drives the 4th gear clockwise to rotate, rotates first gear and the 4th gear direction, when mobile framework is mobile, setting is led
The mobile effect of auxiliary is played to gear, when picking, is first assembled at the both ends of horizontal rail by bolt and support frame, if
First gear, the 4th gear and the guide gear set are moved respectively along rack gear, and picking box is driven to be moved, setting
Optical axis and guide sleeve play the role of guiding movement, when picking box is moved, the camera of setting is connect with cloud, lead to
The well-done degree for crossing cloud to observe the color of strawberry to judge strawberry, the folding stand of setting can first adjust the height of camera
Degree, after camera discovery mature strawberry, by starting third motor, third motor drives the first half range gear and the second half
The rotation of width gear half range, and drive two fixture blocks to move towards simultaneously, so that mature strawberry is contained in the inside for accommodating grooving, grass
The certain kind of berries can be located in the inside that mouth is worn in positioning with stem, the stem of strawberry, when strawberry is located in the receiving grooving of fixture block, starting the 4th
Cylinder, the 4th cylinder drives 180 degree of cutter rotations, and the stem of the strawberry after positioning is cut, when strawberry is pressed from both sides
After the cutting of pawl cutting assembly, the first screw rod transmission machine and the second screw rod screw rod transmission machine, the first screw rod transmission machine band is respectively started
Dynamic clamping jaw cutting assembly rises, and the second screw rod transmission machine drives clamping jaw cutting assembly to move horizontally, until being moved to feeding conveying
The side of machine stops, and when vertical equity moving assembly is located at the side of upper material conveyer, starts the second motor, the second motor band
Dynamic rotation transverse slat and clamping jaw cutting assembly rotate to top one end of material conveyer, when clamping jaw cutting assembly is located at feeding conveying
When the top of machine, clamping jaw cutting assembly opens fixture block, and the strawberry of picking is put on upper material conveyer and carries out feeding, setting
The strawberry picked successively is carried out feeding by push plate, and is successively moved in picking box, when strawberry is successively moved to picking box
When internal, and it is successively contained in the inside of picking box by the first hang plate, the second hang plate and third hang plate, keeps strawberry equal
Strawberry is taken out i.e. by the way that feeding door is opened manually when needing to take out the strawberry after picking in the even inside for being contained in picking box
Can, which can be picked automatically by strawberry and be collected automatically, improved picking efficiency and reduced picking cost.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is schematic perspective view one described in one embodiment of the invention；
Fig. 2 is schematic perspective view two described in one embodiment of the invention；
Fig. 3 is the schematic perspective view that component is moved horizontally described in one embodiment of the invention；
Fig. 4 is the partial side view that component is moved horizontally described in one embodiment of the invention；
Fig. 5 is the cross-sectional view in Fig. 4 described in one embodiment of the invention along A-A；
Fig. 6 is the schematic perspective view one of picking mechanism described in one embodiment of the invention；
Fig. 7 is the schematic perspective view two of picking mechanism described in one embodiment of the invention；
Fig. 8 is the top view of picking mechanism described in one embodiment of the invention；
Fig. 9 is the cross-sectional view in Fig. 8 described in one embodiment of the invention along B-B；
Figure 10 is the exploded view of clamping jaw cutting assembly described in one embodiment of the invention；
In figure: horizontal rail 1 moves horizontally component 2, and picking box 3 picks guidance set 4, camera assembly 5, vertical equity
Moving assembly 6, rotary components 7, clamping jaw cutting assembly 8, upper material conveyer 9, fixture block 10, camera 11, mobile framework 12, first
Motor 13, first gear 14, second gear 15, third gear 16, the 4th gear 17, guide gear 18, rack gear 19, optical axis 20,
Guide sleeve 21, support frame 22, the first fixed plate 23, the first screw rod transmission machine 24, the second screw rod transmission machine 25, the first guide plate
26, the second fixed plate 27, the second guide plate 28, inverted L shape bracket 29, the second motor 30, rotation transverse slat 31, big C-shaped support 32, the
Three motors 33, the first half range gear 34, the second half range gear 35 accommodate grooving 36, and mouth 37, the 4th motor 38, small c-type are worn in positioning
Bracket 39, push plate 40, folding stand 41, the first hang plate 42, the second hang plate 43, third hang plate 44, feeding door 45, cutter
46。
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this
The limitation of patent；Embodiment in order to better illustrate the present invention, the certain components of attached drawing have omission, zoom in or out, not
Represent the size of actual product；It will be understood by those skilled in the art that certain known features and its explanation may be omitted and be in attached drawing
It is understood that.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that closed if there is the orientation of the instructions such as term " on ", "lower", "left", "right", "inner", "outside" or position
System is merely for convenience of description of the present invention and simplification of the description to be based on the orientation or positional relationship shown in the drawings, rather than indicates
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore retouch in attached drawing
The term for stating positional relationship only for illustration, should not be understood as the limitation to this patent, for the common skill of this field
For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
In the description of the present invention unless specifically defined or limited otherwise, if there are the indicate indicators such as term " connection "
Between connection relationship, which shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or at
One；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection of two components interiors or the interaction relationship of two components.For those of ordinary skill in the art and
Speech, can understand the concrete meaning of above-mentioned term in the present invention with concrete condition.
It is described referring to figs. 1 to a kind of automatic picking machine of strawberry shown in Fig. 10, including horizontal mobile mechanism and picking mechanism
Horizontal mobile mechanism includes horizontal rail 1 and moving horizontally component 2, moves horizontally setting that component 2 can move horizontally in water
On plate rail road 1, picking mechanism includes picking box 3 and two picking guidance sets 4, moves horizontally top and the picking box 3 of component 2
Bottom be fixedly connected, two picking guidance sets 4 are separately positioned on the two sides of picking box 3, and two picking guidance sets 4 are distinguished
It is defeated including camera assembly 5, vertical equity moving assembly 6, rotary components 7, clamping jaw cutting assembly 8 and feeding conveying assembly, feeding
Sending component includes a upper material conveyer 9, the inclined side positioned at picking box 3 of upper material conveyer 9, vertical equity moving assembly
6 are located at the side of upper material conveyer 9, and rotary components 7 are located at the working end of vertical equity moving assembly 6, and clamping jaw cutting assembly 8
In the working end of rotary components 7, clamping jaw cutting assembly 8 includes the fixture block 10 that cutter 46 and two can contradict strawberry, cutting
Knife 46 is in be positioned horizontally in the top of fixture block 10, and camera assembly 5 is located at the side of picking box 3, and camera assembly 5 is including one to clamping jaw
The camera 11 extended above cutting assembly 8.
It is described move horizontally component 2 include hollow mobile framework 12, first motor 13, first gear 14, second gear 15,
Third gear 16 and the 4th gear 17, mobile framework 12 are in be horizontally set on the bottom of picking box 3, first gear 14 and the 4th tooth
Wheel 17 is symmetricly set on the two sides of inside one end of mobile framework 12, and second gear 15 and third gear 16 are disposed side by side on first
Between gear 14 and the 4th gear 17, first motor 13, first gear 14, second gear 15, third gear 16 and the 4th gear
17 respectively in horizontally disposed, and adjacent one end is nibbled respectively for first gear 14, second gear 15, third gear 16 and the 4th gear 17
Setting is closed, first gear 14, second gear 15, third gear 16 and the 4th gear 17 can be rotated by the first rotary shaft respectively
The inside that mobile framework 12 is set, one end of first gear 14 and the 4th gear 17 is prolonged to the outside of mobile framework 12 respectively
Stretch, first motor 13 is in be fixedly mounted on the bottom of mobile framework 12 vertically, the output end of first motor 13 can rotate to
The output end of the internal stretch of mobile framework 12, first motor 13 is fixedly connected with one end of the rotary shaft of second gear 15, is moved
The inside of dynamic frame 12 is set far from one end of first motor 13 there are two symmetrical and spaced guide gear 18, is each led
To gear 18 respectively in being horizontally disposed with, the setting that each guide gear 18 can be rotated by the second rotary shaft respectively is in movable frame
The inside of frame 12 when picking, starts first motor 13, and first motor 13 drives second gear 15 to rotate, and second gear 15 is distinguished
The rotation of 14 clockwise of first gear and the rotation of 16 inverse clock of third gear are driven, third gear 16 drives 17 clockwise of the 4th gear
Rotation, rotates first gear 14 and 17 direction of the 4th gear, and when mobile framework 12 is mobile, the guide gear 18 of setting is played
Assist mobile effect.
The horizontal rail 1 is equipped with rectangular slits, and the inside both ends of the rectangular slits are respectively equipped with rack gear 19, Mei Gechi
Respectively in horizontally disposed, one end of each rack gear 19 is fixedly connected with horizontal rail 1 item 19 respectively, and two rack gears 19 are respectively with the
One gear 14, the 4th gear 17 and guide gear 18 are engaged, and the lower section of mobile framework 12 is additionally provided with two in horizontally disposed
Optical axis 20, the both ends of each optical axis 20 pass through fixed frame respectively and are fixedly connected with the bottom of mobile framework 12, each optical axis 20
On be respectively equipped with guide sleeve 21, each guide sleeve 21 is able to being set on each optical axis 20 of sliding, each guide sleeve 21
One end be fixedly connected respectively with the side wall of mobile framework 12, the both ends of horizontal rail 1 are respectively equipped with support frame 22, horizontal rail
1 both ends are fixedly connected with the inner wall of support frame 22 respectively, and when picking, the both ends of horizontal rail 1 are first passed through bolt and support
Frame 22 is assembled, and first gear 14, the 4th gear 17 and the guide gear 18 of setting are moved respectively along rack gear 19, and
Picking box 3 is driven to be moved, the optical axis 20 and guide sleeve 21 of setting play the role of guiding movement.
Each vertical equity moving assembly 6 includes the first fixed plate 23, the first screw rod transmission machine 24 and the second screw rod
Driver 25, the first fixed plate 23 in being fixedly mounted on the side wall of picking box 3 vertically, and the first screw rod transmission machine 24 is in horizontal solid
Dingan County is on the side wall of the first fixed plate 23, and the working end of the first screw rod transmission machine 24 is equipped with the first guide plate 26, this first
In being horizontally disposed with, one end of first guide plate 26 is equipped in the second fixed plate 27 being vertically arranged, the second screw rod guide plate 26
For driver 25 in being fixedly mounted in the second fixed plate 27 vertically, the working end of the second screw rod transmission machine 25 is equipped with the second guide plate
28, in being horizontally disposed with, the bottom end of the second guide plate 28 is fixedly connected the second guide plate 28 with the inside of rotary components 7, when
After strawberry is cut by clamping jaw cutting assembly 8, it is respectively started the first screw rod transmission machine 24 and the second screw rod screw rod transmission machine, first
Bar driver 24 drives clamping jaw cutting assembly 8 to rise, and the second screw rod transmission machine 25 drives clamping jaw cutting assembly 8 to move horizontally, directly
Stop to the side for being moved to upper material conveyer 9.
Each rotary components 7 include inverted L shape bracket 29, the second motor 30 and rotate transverse slat 31, inverted L shape bracket 29
Top is fixedly connected with the bottom end of the second guide plate 28, and the second motor 30 is in be fixedly mounted on inverted L shape bracket 29 vertically
In internal side wall, and the output end of the second motor 30 is down-set, and rotation transverse slat 31 is in be horizontally set on the second motor 30
Top one end of lower section, rotation transverse slat 31 is fixedly connected with the output end of the second motor 30, rotates transverse slat 31 far from the second motor
30 one end is fixedly connected with the inside of clamping jaw cutting assembly 8, when vertical equity moving assembly 6 is located at the one of upper material conveyer 9
When side, start the second motor 30, the second motor 30 drives rotation transverse slat 31 and clamping jaw cutting assembly 8 to rotate to material conveyer 9
Top one end.
Each clamping jaw cutting assembly 8 includes hollow big C-shaped support 32, third motor 33,34 and of the first half range gear
Second half range gear 35, big C-shaped support 32 is in the one end for being horizontally set on rotation transverse slat 31, and one end of C-shaped support 32 greatly
It is fixedly connected with one end of rotation transverse slat 31, the first half range gear 34 and the second half range gear 35 are symmetricly set on big C-shaped support
32 inside, the first half range gear 34 and the second half range gear 35 are engaged, the first half range gear 34 and the second half range gear
35 in setting horizontally disposed, that the first half range gear 34 and the second half range gear 35 can be rotated by third rotary shaft respectively
In the inside of big C-shaped support 32, third motor 33 is in the top for being vertically arranged in big C-shaped support 32, the output of third motor 33
Hold the internal stretch to big C-shaped support 32 that can be rotated, the third of the output end of third motor 33 and the first half range gear 34
One end of rotary shaft is solidly connected, and link block, each company are respectively equipped on the first half range gear 34 and the second half range gear 35
Connect block respectively and be in horizontally disposed, one end of each link block extends to the external of big C-shaped support 32 respectively, and the one of each link block
End is fixedly connected with one end of each fixture block 10 respectively, and two adjacent one end of fixture block 10 are respectively equipped with the appearance that can contradict strawberry
Receive grooving 36, two adjacent one end of fixture block 10 further respectively have positioning and wear mouth 37, and each position is worn the both ends of mouth 37 and passed through respectively
The top of fixture block 10 is worn to the internal stretch of each holding tank, after camera 11 finds mature strawberry, by starting third
Motor 33, third motor 33 drive the first half range gear 34 and the rotation of 35 half range of the second half range gear, and drive two folders simultaneously
Block 10 moves towards, and mature strawberry is made to be contained in the inside for accommodating grooving 36, and strawberry can be located in stem, the stem of strawberry
Wear the inside of mouth 37 in position.
Each clamping jaw cutting assembly 8 further includes the 4th motor 38 and hollow small C-shaped support 39, small C-shaped support 39
Bottom is fixedly connected with the top of big C-shaped support 32, and the 4th motor 38 is in the top for being fixedly mounted on small C-shaped support 39 vertically,
Cutter 46 are in the inside for being horizontally set on small C-shaped support 39, and one end of cutter 46 extends to the external of small C-shaped support 39,
The internal stretch to small C-shaped support 39 that the output end of 4th motor 38 can rotate, the output end of the 4th motor 38 and cutting
One end of knife 46 is fixedly connected, and when strawberry is located in the receiving grooving 36 of fixture block 10, starts the 4th cylinder, the 4th cylinder drives
46 1 hundred 80 degree of cutter rotations, and the stem of the strawberry after positioning is cut.
Each upper material conveyer 9, one end of material conveyer 9 extends to the top open end of picking box 3 on this, on this
Material conveyer 9 is fixedly connected by locking bracket with the side wall of picking box 3, and material conveyer 9 is equipped with several and can support on this
The push plate 40 for touching strawberry, when clamping jaw cutting assembly 8 is located at the top of upper material conveyer 9, clamping jaw cutting assembly 8 opens fixture block
10, and the strawberry of picking is put on upper material conveyer 9 and carries out feeding, the push plate 40 of setting successively carries out the strawberry picked
Feeding, and be successively moved in picking box 3.
Each camera assembly 5 further includes folding stand 41, and one end of the folding stand 41 and one end side wall of picking box 3 are solid
Fixed connection, the other end of the folding stand 41 is fixedly connected with camera 11, when picking box 3 is moved, the camera of setting
11 connect with cloud, observe the color of strawberry by cloud to judge the well-done degree of strawberry, the folding stand 41 of setting can be first
Adjust the height of camera 11.
The inside of the picking box 3 is additionally provided with the first hang plate 42, the second hang plate 43 and third hang plate 44, and first inclines
The one end of the inner tip for the picking box 3 that inclined plate 42 is inclined to set, the first hang plate 42 tilted upward is located at each feeding
The lower section of conveyer 9, the second hang plate 43 are inclined to set in the lower section of the first hang plate 42, and the second hang plate 43 tilts upward
One end dock setting with the one end of the first hang plate 42 diagonally downward, third hang plate 44 is inclined to set in the second hang plate
Setting is docked with the one end of the second hang plate 43 diagonally downward in 43 lower section, one end that third hang plate 44 tilts upward, picking
The side of case 3 is additionally provided with feeding door 45, when strawberry is successively moved to the inside of picking box 3, and successively passes through the first hang plate
42, the second hang plate 43 and third hang plate 44 are contained in the inside of picking box 3, and strawberry is made uniformly to be contained in picking box 3
Strawberry is taken out by the way that feeding door 45 is opened manually when needing to take out the strawberry after picking in inside.
Working principle: when picking, start first motor 13, first motor 13 drives second gear 15 to rotate, second gear
15 drive the rotation of 14 clockwise of first gear and the rotation of 16 inverse clock of third gear respectively, and third gear 16 drives the 4th gear 17
Clockwise rotation, rotates first gear 14 and 17 direction of the 4th gear, when mobile framework 12 is mobile, the guide gear of setting
18 play the mobile effect of auxiliary, when picking, first assemble at the both ends of horizontal rail 1 with support frame 22 by bolt, if
First gear 14, the 4th gear 17 and the guide gear 18 set are moved respectively along rack gear 19, and picking box 3 is driven to carry out
Mobile, the optical axis 20 and guide sleeve 21 of setting play the role of guiding movement, when picking box 3 is moved, the camera shooting of setting
First 11 connect with cloud, observe the color of strawberry by cloud to judge the well-done degree of strawberry, the folding stand 41 of setting can
The height for first adjusting camera 11, after camera 11 finds mature strawberry, by starting third motor 33, third motor
33 drive the first half range gear 34 and the rotation of 35 half range of the second half range gear, and drive two fixture blocks 10 to move towards simultaneously, make
Mature strawberry is contained in the inside for accommodating grooving 36, and strawberry can be located in the inside that mouth 37 is worn in positioning with stem, the stem of strawberry,
When strawberry is located in the receiving grooving 36 of fixture block 10, start the 4th cylinder, the 4th cylinder drives 46 1 hundred 80 degree of cutter
Rotation, and the stem of the strawberry after positioning is cut, after strawberry is cut by clamping jaw cutting assembly 8, it is respectively started first
Bar driver 24 and the second screw rod screw rod transmission machine, the first screw rod transmission machine 24 drive clamping jaw cutting assembly 8 to rise, the second screw rod
Driver 25 drives clamping jaw cutting assembly 8 to move horizontally, until the side for being moved to material conveyer 9 stops, working as vertical equity
When moving assembly 6 is located at the side of upper material conveyer 9, start the second motor 30, the second motor 30 drives rotation transverse slat 31 and folder
Pawl cutting assembly 8 rotates to top one end of material conveyer 9, when clamping jaw cutting assembly 8 is located at the top of upper material conveyer 9
When, clamping jaw cutting assembly 8 opens fixture block 10, and the strawberry of picking is put on upper material conveyer 9 and carries out feeding, the push plate of setting
The strawberry picked successively is carried out feeding by 40, and is successively moved in picking box 3, when strawberry is successively moved to picking box 3
When internal, and the inside of picking box 3 is successively contained in by the first hang plate 42, the second hang plate 43 and third hang plate 44,
Strawberry is set uniformly to be contained in the inside of picking box 3, when needing to take out the strawberry after picking, by the way that feeding door 45 is opened manually
Take out strawberry.
It is to be understood that above-mentioned specific embodiment is only that presently preferred embodiments of the present invention and institute's application technology are former
Reason.It will be understood by those skilled in the art that various modifications, equivalent replacement, variation etc. can also be done to the present invention.But this
A little transformation, all should be within protection scope of the present invention without departing from spirit of the invention.In addition, present specification and power
Some terms used in sharp claim are not limitation, it is only for convenient for description.
Claims (10)
1. a kind of automatic picking machine of strawberry, it is characterised in that: described to move horizontally machine including horizontal mobile mechanism and picking mechanism
Structure includes horizontal rail (1) and moves horizontally component (2), moves horizontally setting that component (2) can move horizontally in horizontal rail
On road (1), picking mechanism includes picking box (3) and two picking guidance sets (4), moves horizontally the top of component (2) and adopts
The bottom for plucking case (3) is fixedly connected, and two pickings guidance set (4) are separately positioned on the two sides of picking box (3), and two pickings are led
Camera assembly (5), vertical equity moving assembly (6), rotary components (7), clamping jaw cutting assembly (8) are respectively included to component (4)
With feeding conveying assembly, feeding conveying assembly includes one upper material conveyer (9), and upper material conveyer (9) is inclined to be located at picking
The side of case (3), vertical equity moving assembly (6) are located at the side of upper material conveyer (9), and rotary components (7) are located at longitudinal water
The working end of flat moving assembly (6), clamping jaw cutting assembly (8) are located at the working end of rotary components (7), clamping jaw cutting assembly (8)
The fixture block (10) of strawberry can be contradicted including cutter and two, cutter are in the top for being positioned horizontally in fixture block (10), camera shooting group
Part (5) is located at the side of picking box (3), and camera assembly (5) includes a camera to extension above clamping jaw cutting assembly (8)
(11)。
2. the automatic picking machine of a kind of strawberry according to claim 1, it is characterised in that: described to move horizontally component (2) packet
Include hollow mobile framework (12), first motor (13), first gear (14), second gear (15), third gear (16) and the 4th
Gear (17), mobile framework (12) are in be horizontally set on the bottom of picking box (3), and first gear (14) and the 4th gear (17) are right
Claim to be arranged and is disposed side by side on first in the two sides of inside one end of mobile framework (12), second gear (15) and third gear (16)
Between gear (14) and the 4th gear (17), first motor (13), first gear (14), second gear (15), third gear
(16) and the 4th gear (17) is respectively in horizontally disposed, first gear (14), second gear (15), third gear (16) and the 4th
Adjacent one end is engaged gear (17) respectively, first gear (14), second gear (15), third gear (16) and the 4th tooth
The setting that wheel (17) can be rotated by the first rotary shaft respectively is in the inside of mobile framework (12), first gear (14) and the 4th
One end of gear (17) extends to the external of mobile framework (12) respectively, and first motor (13) is fixedly mounted on movable frame in vertical
The bottom of frame (12), the internal stretch to mobile framework (12) that the output end of first motor (13) can rotate, first motor
(13) output end is fixedly connected with one end of the rotary shaft of second gear (15), and the inside of mobile framework (12) is far from the first electricity
One end of machine (13) is set there are two symmetrical and spaced guide gear (18), and each guide gear (18) is respectively in level
Setting, inside of the setting that each guide gear (18) can be rotated by the second rotary shaft respectively in mobile framework (12).
3. the automatic picking machine of a kind of strawberry according to claim 2, it is characterised in that: the horizontal rail (1) is equipped with
Rectangular slits, the inside both ends of the rectangular slits are respectively equipped with rack gear (19), and each rack gear (19) is respectively in being horizontally disposed with, each
One end of rack gear (19) is fixedly connected with horizontal rail (1) respectively, two rack gears (19) respectively with first gear (14), the 4th tooth
Wheel (17) and guide gear (18) are engaged, and two are additionally provided with below mobile framework (12) in horizontally disposed optical axis
(20), the both ends of each optical axis (20) pass through fixed frame respectively and are fixedly connected with the bottom of mobile framework (12), each optical axis
(20) it is respectively equipped on guide sleeve (21), what each guide sleeve (21) was able to slide is set on each optical axis (20), often
One end of a guide sleeve (21) is fixedly connected with the side wall of mobile framework (12) respectively, and the both ends of horizontal rail (1) are respectively equipped with
Support frame (22), the both ends of horizontal rail (1) are fixedly connected with the inner wall of support frame (22) respectively.
4. the automatic picking machine of a kind of strawberry according to claim 3, it is characterised in that: each mobile group of the vertical equity
Part (6) includes the first fixed plate (23), the first screw rod transmission machine (24) and the second screw rod transmission machine (25), the first fixed plate (23)
In being fixedly mounted on the side wall of picking box (3) vertically, the first screw rod transmission machine (24) is fixedly mounted on first in level and fixes
On the side wall of plate (23), the working end of the first screw rod transmission machine (24) is equipped with the first guide plate (26), first guide plate (26)
In being horizontally disposed with, one end of first guide plate (26) is equipped in the second fixed plate (27) being vertically arranged, the second screw rod transmission
For machine (25) in being fixedly mounted on the second fixed plate (27) vertically, the working end of the second screw rod transmission machine (25) is equipped with the second guiding
Plate (28), for the second guide plate (28) in being horizontally disposed with, the bottom end of the second guide plate (28) and the inside of rotary components (7) are solid
Fixed connection.
5. the automatic picking machine of a kind of strawberry according to claim 4, it is characterised in that: each rotary components (7) packet
Include inverted L shape bracket (29), the second motor (30) and rotation transverse slat (31), the top of inverted L shape bracket (29) and the second guide plate
(28) bottom end is fixedly connected, and the second motor (30) is in be fixedly mounted in the internal side wall of inverted L shape bracket (29) vertically,
And the output end of the second motor (30) is down-set, and rotation transverse slat (31) is in the lower section for being horizontally set on the second motor (30),
Top one end of rotation transverse slat (31) is fixedly connected with the output end of the second motor (30), and rotation transverse slat (31) is far from the second motor
(30) one end is fixedly connected with the inside of clamping jaw cutting assembly (8).
6. the automatic picking machine of a kind of strawberry according to claim 5, it is characterised in that: each clamping jaw cutting assembly
It (8) include hollow big C-shaped support (32), third motor (33), the first half range gear (34) and the second half range gear (35), big C
Type bracket (32) is in the one end for being horizontally set on rotation transverse slat (31), and one end of C-shaped support (32) greatly and rotation transverse slat
(31) one end is fixedly connected, and the first half range gear (34) and the second half range gear (35) are symmetricly set on big C-shaped support (32)
Inside, the first half range gear (34) and the second half range gear (35) be engaged, the first half range gear (34) and the second half range
For gear (35) in being horizontally disposed with, the first half range gear (34) and the second half range gear (35) respectively can by third rotary shaft
In the inside of big C-shaped support (32), third motor (33) is in the top for being vertically arranged in big C-shaped support (32) for the setting of rotation,
The internal stretch to big C-shaped support (32) that the output end of third motor (33) can rotate, the output end of third motor (33)
It is solidly connected with one end of the third rotary shaft of the first half range gear (34), the first half range gear (34) and the second half range gear (35)
On be respectively equipped with link block, each link block be in respectively it is horizontally disposed, one end of each link block is respectively to big C-shaped support
(32) external extension, one end of each link block are fixedly connected with one end of each fixture block (10) respectively, two fixture blocks (10)
Adjacent one end is respectively equipped with the receiving grooving (36) that can contradict strawberry, and two adjacent one end of fixture block (10) further respectively have
Positioning is worn mouth (37), and the top that the both ends that mouth (37) is worn in each positioning extend through fixture block (10) is prolonged to the inside of each holding tank
It stretches.
7. the automatic picking machine of a kind of strawberry according to claim 6, it is characterised in that: each clamping jaw cutting assembly
It (8) further include the 4th motor (38) and hollow small C-shaped support (39), bottom and big C-shaped support (32) of small C-shaped support (39)
Top is fixedly connected, and the 4th motor (38) is in the top for being fixedly mounted on small C-shaped support (39) vertically, and cutter are in horizontally disposed
In the inside of small C-shaped support (39), one end of cutter extends to the external of small C-shaped support (39), the 4th motor (38) it is defeated
The internal stretch to small C-shaped support (39) that outlet can rotate, the output end of the 4th motor (38) and one end of cutter are solid
Fixed connection.
8. the automatic picking machine of a kind of strawberry according to claim 7, it is characterised in that: each upper material conveyer (9),
One end of material conveyer (9) extends to the top open end of picking box (3) on this, and material conveyer (9) passes through locking bracket on this
It is fixedly connected with the side wall of picking box (3), material conveyer (9), which is equipped with several, on this can contradict the push plate (40) of strawberry.
9. the automatic picking machine of a kind of strawberry according to claim 8, it is characterised in that: each camera assembly (5) is also
Including folding stand (41), one end of the folding stand (41) is fixedly connected with one end side wall of picking box (3), the folding stand (41)
The other end is fixedly connected with camera (11).
10. the automatic picking machine of a kind of strawberry according to claim 9, it is characterised in that: the inside of the picking box (3) is also
Equipped with the first hang plate (42), the second hang plate (43) and third hang plate (44), the first hang plate (42) is inclined to set
The one end of the inner tip of picking box (3), the first hang plate (42) tilted upward is located under each upper material conveyer (9)
Side, the second hang plate (43) is inclined to set in the lower section of the first hang plate (42), the second hang plate (43) tilt upward one
Setting is docked with the one end of the first hang plate (42) diagonally downward in end, and third hang plate (44) is inclined to set in the second hang plate
(43) lower section, one end that third hang plate (44) tilts upward are docked with the one end of the second hang plate (43) diagonally downward and are set
It sets, the side of picking box (3) is additionally provided with feeding door (45).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910909543.8A CN110476614B (en) | 2019-09-25 | 2019-09-25 | Automatic strawberry picking machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910909543.8A CN110476614B (en) | 2019-09-25 | 2019-09-25 | Automatic strawberry picking machine |
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| CN110476614B CN110476614B (en) | 2020-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113812258A (en) * | 2021-03-17 | 2021-12-21 | 叶金梅 | Automatic change strawberry and pick packagine machine in grades |
| CN114208597A (en) * | 2021-12-22 | 2022-03-22 | 霍山县天下泽雨生物科技发展有限公司 | Multi-station rapid picking device for planting Huoshan ganoderma lucidum and picking method thereof |
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| CN110476614B (en) | 2020-09-01 |
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