CN112219562A - Automatic packaging mechanism for strawberry picking - Google Patents
Automatic packaging mechanism for strawberry picking Download PDFInfo
- Publication number
- CN112219562A CN112219562A CN202011022856.0A CN202011022856A CN112219562A CN 112219562 A CN112219562 A CN 112219562A CN 202011022856 A CN202011022856 A CN 202011022856A CN 112219562 A CN112219562 A CN 112219562A
- Authority
- CN
- China
- Prior art keywords
- strawberry
- picking
- net cover
- packaging
- equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
- B65B25/048—Packaging fruit or vegetables in nets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/24—Feeding, e.g. conveying, single articles by endless belts or chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/04—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages
- B65B61/06—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages by cutting
Abstract
The invention relates to the field of fruit picking and packaging, in particular to an automatic packaging mechanism for strawberry picking. The automatic strawberry picking and packaging mechanism comprises strawberry picking equipment, strawberry packaging equipment and a driving device. The strawberry picking equipment comprises a conveying belt, a strawberry receiver fixing frame, a strawberry receiver and a picking manipulator; strawberry packaging equipment comprises net cover conveyer, net cover diversion post, fixed mouth of net cover, net cover cutting mechanical arm and net cover centre gripping manipulator, and drive arrangement is connected the combination through the area by conveyer belt and driving motor, all is equipped with the vision sensing on the all manipulators of mechanism, and robot picking equipment and strawberry packaging equipment are fixed in on the robot base. Through this kind of structural design, reduce the strawberry and pick and the time of packing, reduce the damage of strawberry in picking and the packaging process, realize that the strawberry is picked and the packing is automatic.
Description
Technical Field
The invention relates to the field of fruit picking and packaging, in particular to an automatic packaging mechanism for strawberry picking.
Background
The strawberry industry in China is developed rapidly and is a large world production country. In the whole strawberry planting process, the picking of the mature strawberries consumes the longest time and has the largest labor demand, and with the increase of out-of-service workers, the population of rural labor is reduced, so that the labor cost is increased, the production cost of fruit growers is increased, and the development of the strawberry industry is severely restricted by the high labor cost. The intelligent picking robot is widely applied to agricultural production at the present stage, only a single mechanism for picking strawberries or packaging strawberries is provided, a mechanism integrating picking and packaging is not provided, and certain damage is generated to the strawberries in the picking process. Aiming at the problems, the invention provides an automatic strawberry picking and packaging mechanism, which combines picking and packaging, reduces damage to strawberries, and has important significance for saving cost and improving productivity.
Disclosure of Invention
The invention aims to solve the problems of wide planting area, long picking time, overlarge required labor force, low efficiency and the like of the existing strawberry, and provides an automatic packaging mechanism for picking strawberries. The technical scheme adopted by the invention is as follows: an automatic strawberry picking and packaging mechanism comprises strawberry picking equipment, strawberry packaging equipment and a power transmission system.
The strawberry picking equipment comprises a rack, a conveying belt, a strawberry receiver fixing frame, a strawberry receiver and a picking manipulator. The picking manipulator is divided into two rows and is positioned at the upper end of the rack, the rack is provided with guide rails, the strawberry receiver is arranged below the picking manipulator and is fixed on a strawberry receiver fixing frame, and the strawberry receiver are both fixed on the rack. The rotating shaft of the conveying belt is fixed on the frame, and the picking shears, the strawberry receiver and the conveying belt are all wrapped by elastic foam. The picking manipulator comprises a picking scissors, a lifting arm and a vision sensor. The upper end of the picking scissors is provided with a vision sensor.
The strawberry packaging equipment consists of a net cover conveyor, a conveying belt, a net cover turning column, a net cover fixing port, a net cover cutting manipulator and a net cover clamping manipulator. The net cover conveyor is fixed on the rack, the net cover turning column and the net cover conveyor are at the same height, and the net cover turning column rotates around a center hole in the rack. The rack at the lower end of the net cover turning column is provided with a net cover fixing port. The net sleeve cutting manipulator and the three net sleeve clamping manipulators are located on the rack, the rack is provided with guide rails, and the manipulators are provided with vision sensors. The net sleeve cutting manipulator is provided with a net sleeve cutting knife. Two conveyor belts are arranged in the packaging equipment, and a strawberry storage box is arranged at the tail end of one conveyor belt and is fixed on the base.
The power transmission system is composed of a drive motor and a belt. The driving motor is fixed on the base and is connected with a conveying belt in the strawberry picking equipment by a belt; the conveying belt of the picking equipment is connected with the conveying belt of the packaging equipment through a belt; the two conveyor belts of the packaging device are also defined by a belt connection.
The invention has the beneficial effects that: the strawberry picking and strawberry packaging are effectively combined, the time for picking strawberries to transfer to a packaging process is reduced, the automatic picking packaging mechanism adopts a visual technology, a mechanical structure is simple, the influence factors of climatic environment can be overcome, the operation process is stable in performance, high in efficiency, high in reliability and strong in adaptability, the labor intensity of manpower is reduced, and the labor efficiency is increased. The net cover conveyor is combined with the packaging mechanism, so that the time for picking up the net cover in the packaging process is reduced. The transportation mode of belt drive and manipulator has reduced the touch of people's hand among picking and the packaging process, reduces the damage of strawberry to a certain extent. The elastic foam is arranged in the conveying belt, the strawberry receiver, the mechanical arm and other devices, so that the fruits are not damaged in the picking and packaging processes.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is another perspective view of the present invention;
FIG. 3 is a schematic structural view of a picking robot;
fig. 4 is a schematic structural view of a mesh cutting robot.
In the drawings are labeled: 1. frame, 2, area, 3, net cover conveyer, 4, conveyer belt, 5, net cover diversion post, 6, fixed mouth of net cover, 7, net cover centre gripping manipulator, 8, conveyer belt, 9, strawberry receiver mount, 10, strawberry receiver, 11, picking manipulator, 12, the area, 13, the frame, 14, the conveyer belt, 15, the strawberry is deposited the case, 16, the area, 17, driving motor, 18, picking scissors, 19, the vision sensor, 20, the lift arm, 21, net cover cutting knife, 22, the vision sensor, 23, net cover cutting manipulator
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings:
the invention discloses an automatic packaging mechanism for strawberry picking, which is characterized in that: the strawberry harvesting and packaging device comprises strawberry picking equipment, strawberry packaging equipment and a power transmission system; the robot picking equipment and the strawberry packaging equipment are respectively fixed on the frame (1) and the machine base (13);
the strawberry picking equipment comprises a rack (1), a conveying belt (8), a strawberry receiver fixing frame (9), a strawberry receiver (10) and a picking manipulator (11). The picking manipulators (11) are divided into two rows and are positioned at the upper end of the rack (1), and the rack (1) is provided with guide rails; the picking manipulator (11) comprises a picking shear (18), a lifting arm (20) and a visual sensor (19). A visual sensor (19) is arranged below the upper end of the picking scissors (18); a strawberry receiver (10) is arranged below the picking manipulator (11), is fixed on a strawberry receiver fixing frame (9), and is fixed on the frame (1); the rotating shaft of the conveyor belt (8) is fixed on the frame (1);
the strawberry packaging equipment consists of a net cover conveyor (3), a conveyor belt (12), a net cover turning column (5), a net cover fixing port (6), a net cover cutting manipulator (23) and a net cover clamping manipulator (7). The net cover conveyor (3) is fixed on the rack (1), the net cover turning column (5) and the net cover conveyor (3) are at the same height, and the net cover turning column (5) rotates around a center hole in the rack (1). A net cover fixing port (6) is arranged on the machine frame (1) at the lower end of the net cover turning column (5). The net sleeve cutting manipulator (23) and the three net sleeve clamping manipulators (7) are positioned on the rack (1), the rack (1) is provided with a guide rail, and the manipulators are all provided with vision sensors (22). The net sleeve cutting manipulator (23) is provided with a net sleeve cutting knife (21). The packaging equipment is provided with two conveyor belts, wherein the tail end of one conveyor belt is provided with a strawberry storage box (15) which is fixed on a base (13).
The power transmission system is composed of a drive motor (17) and a belt. The driving motor (17) is fixed on the machine base (13) and is connected with the conveying belt (8) in the strawberry picking equipment by the belt; the conveying belt (8) of the picking equipment is connected with the conveying belt (4) of the packaging equipment through a belt (2); the two conveyor belts of the packaging device are also defined by a belt (12) connection.
The strawberry picking machine comprises a strawberry receiver fixing frame (9), a strawberry receiver (10), a picking manipulator (11), a net sleeve cutting manipulator (23) and a net sleeve clamping manipulator (7), wherein elastic foam is used for wrapping;
the invention depends on the wheel moving operation under the machine base (13), and the picking and packaging process is as follows:
starting a driving motor (17), a picking mechanical arm (11), a net cover conveyor (3), a net cover cutting mechanical arm (23) and a net cover clamping mechanical arm (7), wherein the driving motor (17) drives a conveying belt (8) in the strawberry picking equipment to move through a belt (16), the picking mechanical arm (11) realizes movement through a guide rail and a lifting arm (20) on a rack (1), the picking work is finished through the control of a visual sensor (19) and the movement of the picking shear (18), strawberries are placed into a strawberry receiver (10), the strawberries fall onto the conveying belt (8) through the strawberry receiver (10), and the conveying belt (8) drives the strawberries to enter the conveying belt (4) in the strawberry packaging equipment; the net cover conveying machine (3), the net cover turning column (5) and the net cover fixing port (6) work in a combined mode, the conveying work of the net cover is achieved, a net cover cutting mechanical arm (23) cuts the net cover under the matching of a visual sensor (22) and a net cover cutting knife (21), two net cover clamping mechanical arms (7) located on the upper portion of the rack (1) are used for clamping the cut net cover well and bringing the cut net cover to the position where strawberries fall, the net cover clamping mechanical arm (7) located on the lower portion is clamped at the lowest end of the net cover, when the visual sensor (22) detects that the strawberries enter the net cover, the lower end net cover clamping mechanical arm (7) descends to bring the strawberries to the upper end of the conveying belt (14), then the net cover clamping mechanical arm (7) is opened to place the packaged strawberries onto the conveying belt (14), then the net cover clamping mechanical arm (7) ascends to the initial position, the two net cover clamping mechanical arms (7) at the, carrying out circulating packaging; the conveyor (14) brings the packaged strawberries to a strawberry storage bin (15) until the desired number of strawberries is reached in the bin.
The present embodiment is not intended to limit the shape, material, structure, etc. of the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (3)
1. The utility model provides an automatic packagine machine constructs is picked to strawberry which characterized in that: the strawberry harvesting and packaging device comprises strawberry picking equipment, strawberry packaging equipment and a power transmission system; the robot picking equipment and the strawberry packaging equipment are respectively fixed on the frame and the base; the strawberry picking equipment comprises a rack, a conveying belt, a strawberry receiver fixing frame, a strawberry receiver and a picking manipulator. The picking mechanical arms are divided into two rows and are positioned at the upper end of the rack, guide rails are arranged on the rack, strawberry receivers are arranged below the picking mechanical arms and are fixed on a strawberry receiver fixing frame, and the strawberry receivers are both fixed on the rack; the rotating shaft of the conveyor belt is fixed on the frame. The picking manipulator comprises a picking scissors, a lifting arm and a vision sensor. The upper end of the picking shears is provided with a vision sensor; the strawberry packaging equipment consists of a net cover conveyor, a conveyor belt, a net cover turning column, a net cover fixing port, a net cover cutting manipulator and a net cover clamping manipulator; the net cover conveyor is fixed on the rack, the net cover turning column and the net cover conveyor are at the same height, and the net cover turning column rotates around a center hole in the rack. A net cover fixing port is formed in the machine frame at the lower end of the net cover turning column; the net sleeve cutting manipulator and the three net sleeve clamping manipulators are positioned on the rack, the rack is provided with guide rails, and the manipulators are provided with vision sensors; the net sleeve cutting manipulator is provided with a net sleeve cutting knife; the packaging equipment is provided with two conveyor belts, wherein the tail end of one conveyor belt is provided with a strawberry storage box which is fixed on the machine base; the power transmission system is composed of a drive motor and a belt.
2. The automatic strawberry picking and packaging mechanism according to claim 1, wherein: the strawberry receiver fixing frame, the strawberry receiver, the picking mechanical arm, the net sleeve cutting mechanical arm and the net sleeve clamping mechanical arm are all wrapped by elastic foam.
3. The automatic strawberry picking and packaging mechanism according to claim 1, wherein: the driving motor is fixed on the base and is connected with a conveying belt in the strawberry picking equipment by a belt; the conveying belt of the picking equipment is connected with the conveying belt of the packaging equipment through a belt; the two conveyor belts of the packaging device are also defined by a belt connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011022856.0A CN112219562A (en) | 2020-09-25 | 2020-09-25 | Automatic packaging mechanism for strawberry picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011022856.0A CN112219562A (en) | 2020-09-25 | 2020-09-25 | Automatic packaging mechanism for strawberry picking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112219562A true CN112219562A (en) | 2021-01-15 |
Family
ID=74107665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011022856.0A Pending CN112219562A (en) | 2020-09-25 | 2020-09-25 | Automatic packaging mechanism for strawberry picking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112219562A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107572030A (en) * | 2017-10-17 | 2018-01-12 | 西南大学 | A kind of semi-automatic harvesting packaging facilities of strawberry and its strawberry packaging bag |
| CN208597344U (en) * | 2018-07-03 | 2019-03-15 | 安徽新华学院 | A kind of movable type fruit picking packaging blanking device |
| US10292414B1 (en) * | 2018-02-08 | 2019-05-21 | Agrobot Inc. | Apparatus and method for fruit decapping |
| CN110915420A (en) * | 2019-10-23 | 2020-03-27 | 江苏康缘尤赛金生物科技有限公司 | Watermelon picking device |
-
2020
- 2020-09-25 CN CN202011022856.0A patent/CN112219562A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107572030A (en) * | 2017-10-17 | 2018-01-12 | 西南大学 | A kind of semi-automatic harvesting packaging facilities of strawberry and its strawberry packaging bag |
| US10292414B1 (en) * | 2018-02-08 | 2019-05-21 | Agrobot Inc. | Apparatus and method for fruit decapping |
| CN208597344U (en) * | 2018-07-03 | 2019-03-15 | 安徽新华学院 | A kind of movable type fruit picking packaging blanking device |
| CN110915420A (en) * | 2019-10-23 | 2020-03-27 | 江苏康缘尤赛金生物科技有限公司 | Watermelon picking device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210115 |