CN112772147A

CN112772147A - Fruit picking and sorting all-in-one machine

Info

Publication number: CN112772147A
Application number: CN202110106339.XA
Authority: CN
Inventors: 蒋银成; 郑彬; 蔡毅; 税钦涛; 黄涛; 简吉红
Original assignee: Panzhihua University
Current assignee: Panzhihua University
Priority date: 2021-01-26
Filing date: 2021-01-26
Publication date: 2021-05-11

Abstract

The invention discloses a fruit picking and sorting all-in-one machine which comprises a picking and conveying support (1), a mechanical arm (5), a conveying device (6), a sorting support (11), a sorting disc (13), a driving piece (12) and sorting blades (14); the manipulator (5) and the conveying device (6) are arranged on the picking conveying support (1), the sorting blades (14) are arranged on the sorting disc (13), the driving piece (12) enables the sorting blades (14) and the sorting disc (13) to rotate mutually, and sorting openings (10) are formed in the sorting disc (13). Place after picking fruit and deliver to letter sorting disc (13) on conveyer (6) through manipulator (5), rotate letter sorting blade (14) and make its not fruit of equidimension sieve through letter sorting mouth (10) to realize picking the integrative completion of letter sorting. The problems that the existing picking and sorting are low in efficiency and high in labor intensity, damage to fruits is large and the like are solved.

Description

Fruit picking and sorting all-in-one machine

Technical Field

The invention discloses a fruit picking and sorting all-in-one machine, and belongs to the technical field of visual detection.

Background

Agriculture in developed countries in Europe and America is mainly carried out on large farms, large fruit harvesters are mainly used for picking fruits, and the picking devices are mainly divided into shaking, impacting and cutting types. The shaking type is that external force is adopted to make the fruit trees and the branches vibrate, so that the fruit is separated at the base which is weakest connected with the branches; the impact type is that fruit branches are directly impacted to make the fruits fall; the cutting type is to cut off the branches or the pedicles by using a tool and pick the fruits. The most widely used picking machines in China are picking devices such as blade-assisted manual picking devices, pulling-assisted manual picking devices, lifting picking tables and the like, which are independently arranged for picking and sorting. The blade-assisted manual picking device is divided into two types: one device is that the fruit is cut off from the fruit base by a knife edge manually; another device is to use a clamp to hold the fruit first and then use a knife to cut the fruit. Drag supplementary manual work of dragging and pick the device and constitute by telescopic link and picking head, the device utilizes picking head to step up fruit, and the manpower is dragged the telescopic link after that for fruit drops. The lifting picking platform is used for manually picking fruits by standing a person on the picking platform and controlling the height of the picking platform according to the height of the fruits. The later-stage sorting can also use most of manpower or machine sorting, and the time and the energy are spent. The defects mainly include low picking efficiency, high labor intensity, large damage to fruits, more time consumption and the like.

Disclosure of Invention

The invention aims to solve the technical problems of low efficiency, high labor intensity, large damage to fruits and much time consumption caused by respectively finishing the existing picking and sorting.

The technical scheme adopted by the invention for solving the technical problems is as follows: the fruit picking and sorting integrated machine comprises a picking and conveying mechanism and a sorting mechanism, wherein the picking and conveying mechanism comprises a picking and conveying support, a mechanical arm and a conveying device, and the mechanical arm and the conveying device are arranged on the picking and conveying support; the sorting mechanism comprises a sorting bracket, a sorting disc, a driving piece and sorting blades, the sorting blades are arranged on the sorting disc and are in rotating connection with the sorting disc, the driving piece enables the sorting blades and the sorting disc to rotate mutually, and an openable sorting opening is formed in the sorting disc; and one end of the picking conveying support is connected with the sorting support, so that the discharge end of the conveying device is communicated with the sorting disc inlet.

Wherein, among the above-mentioned device picking conveying support middle part is provided with the recess, and conveyer sets up in the recess, and is provided with the letter sorting camera on the picking conveying support of conveyer's discharge end, the steerable letter sorting mouth's of letter sorting camera switching.

Furthermore, in the device, the number of the mechanical arms is six, the mechanical arms are respectively arranged on two sides of the groove, and the jacking devices are arranged at the connecting ends of the mechanical arms and the picking and conveying support.

Wherein, among the above-mentioned device conveyer is the belt feeder, and conveyer keeps away from the one end level of letter sorting support and is greater than the other end.

One end of the manipulator in the device is connected with the picking and conveying support, and the other end of the manipulator is provided with an identification camera, scissors and a soft clamp.

Wherein, the sorting disc in the device is provided with an annular sorting baffle plate with an opening, and the opening is positioned at the discharge end of the conveying device.

The sorting blades in the device are multiple and are in radial spiral line connection with the sorting disc in a rotating mode.

Wherein, in the device, the two side walls of the sorting support are provided with discharge ports which are communicated with the sorting ports in a one-to-one correspondence manner.

Wherein, the bottom surfaces of the picking and conveying bracket and the sorting bracket in the device are both provided with rollers.

Wherein, the picking and conveying bracket in the device is provided with a hook at one end far away from the sorting bracket.

The invention has the beneficial effects that: this device places after picking fruit through the manipulator and delivers to letter sorting disc on conveyer, makes its not fruit of equidimension sieve through the letter sorting mouth through rotating the letter sorting blade to realize picking the integrative completion of letter sorting. The actual starting switch, manipulator begin to get into operating condition, and fruit picking letter sorting all-in-one begins the function. The fruit on the discernment camera on the manipulator begins to discern the place, picks ripe fruit to six manipulators can cooperate closely, when close nearer distance, work of suspending temporarily can be accomplished according to the operating condition at that time to one of them manipulator, waits for another manipulator to accomplish once picking the back, again carries out the workflow before suspending, accomplishes the work of picking of this machinery. On the conveyor, the manipulator aligns the picked fruit in a line for sorting by the sorting disc sorting device. Picking at fruit and putting in conveyer conveying back, reach the conveyer discharge end, the letter sorting camera begins to sort fruit, fruit grade according to the different grade, carry out signal mark with fruit, then give the letter sorting disc sorting device at rear with the signal transmission, after receiving the signal, fruit gets into the disc and erects the horse and sort it, the letter sorting mouth on the fruit district of same grade type can be opened its containing port, carry out like accomodating, the opening of different grade then can be closed, from not influencing mutual work, in the export of its like fruit, can install the containing box, or special machine transports. After the machine finishes the work, the manipulator can be folded to achieve a shape with small volume so as to be convenient to place.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic front view of the structure of FIG. 1 according to the present invention;

FIG. 3 is a schematic top view of the structure of FIG. 1 according to the present invention;

FIG. 4 is a schematic right-view structural diagram of FIG. 1 in accordance with the present invention;

FIG. 5 is an enlarged structural view of the structure at I in FIG. 1 according to the present invention.

Labeled as: the picking and conveying device comprises a picking and conveying support 1, rollers 2, a sorting door 3, a sorting camera 4, a manipulator 5, a conveying device 6, a discharge hole 7, scissors 8, a soft clamp 9, a sorting opening 10, a sorting support 11, a driving piece 12, a sorting disc 13, a sorting baffle 131, sorting blades 14, a recognition camera 15 and a hook 16.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1 to 5, the fruit picking and sorting all-in-one machine comprises a picking conveying mechanism and a sorting mechanism, wherein the picking conveying mechanism comprises a picking conveying support 1, a mechanical arm 5 and a conveying device 6, and the mechanical arm 5 and the conveying device 6 are arranged on the picking conveying support 1; the sorting mechanism comprises a sorting bracket 11, a sorting disc 13, a driving part 12 and sorting blades 14, wherein the sorting blades 14 are arranged on the sorting disc 13 and are rotationally connected with the sorting disc 13, the driving part 12 enables the sorting blades 14 and the sorting disc 13 to mutually rotate, and the sorting disc 13 is provided with an openable sorting opening 10; and one end of the picking conveying bracket 1 is connected with the sorting bracket 11, so that the discharge end of the conveying device 6 is communicated with the inlet of the sorting disc 13. As can be understood by those skilled in the art, the fruit picking and sorting device can actually realize the fruit picking and sorting by only realizing that the picking and sorting are integrally arranged on one device, so that the fruit picking efficiency is improved. This device mainly includes picks transport mechanism and letter sorting mechanism, it includes picks transport support 1 to specifically prefer to pick transport mechanism, manipulator 5 and conveyer 6, specifically set up manipulator 5 and conveyer 6 on picking transport support 1, the structure of picking transport support 1 sets up as required, this device preferably is rectangular structure, and manipulator 5 is prior art, as long as realize about, from top to bottom, back-and-forth movement can, and conveyer 6 mainly used fruit's transportation, in fact place the fruit after picking on conveyer 6 through manipulator 5, send fruit to letter sorting disc 13 through conveyer 6 on. And the letter sorting mechanism of this device includes letter sorting support 11 and letter sorting disc 13, driving piece 12 and letter sorting blade 14, will sort blade 14 and set up on letter sorting disc 13, and rotate rather than being connected, driving piece 12 makes letter sorting blade 14 and letter sorting disc 13 rotatory each other, driving piece 12 can drive letter sorting blade 14 also can drive letter sorting disc 13, this device is preferred driving piece 12 drive letter sorting blade 14 rotatory, in order to conveniently sort the fruit of equidimension, this device further is provided with open closed letter sorting mouth 10 on letter sorting disc 13, through shifting out from letter sorting mouth 10 with the fruit correspondence of not uniform in size, realize categorizing the fruit volume. Simultaneously this device still will pick the one end and the letter sorting support 11 of conveying support 1 and be connected for conveyer 6's discharge end and letter sorting disc 13 entry intercommunication, the fruit after this kind of setting just can realize picking manipulator 5 sends the purpose to letter sorting disc 13 through conveyer 6.

Preferably, in the device, a groove is formed in the middle of the picking conveying support 1, the conveying device 6 is arranged in the groove, the picking conveying support 1 at the discharge end of the conveying device 6 is provided with the sorting camera 4, and the sorting camera 4 can control the opening and closing of the sorting port 10. It will be appreciated by those skilled in the art that for ease of arrangement, the present device is preferably provided with a recess in the middle of the picking conveyor carriage 1 along its length, with the conveyor 6 being located within the recess, which arrangement is effective to prevent fruit from falling to the ground. Be provided with letter sorting camera 4 on the picking conveying support 1 of conveyor 6's discharge end simultaneously, the switching of the steerable letter sorting mouth 10 of letter sorting camera 4 for the size of fruit can be scanned to actual letter sorting camera 4, compares through the size with the fruit size after the scanning and letter sorting mouth 10, thereby decides to open the letter sorting mouth 10 that corresponds, realizes the categorised purpose of fruit. In order to prevent fruit size data acquisition, 360 degrees free rotation can be realized to preferred letter sorting camera 4 of this device, and sets up letter sorting door 3 at conveyer 6's discharge end, realizes a fruit of scanning with letter sorting door 3 and letter sorting camera 4 interlocking, and letter sorting door 3 just opens, avoids leading to the fact the unsafe problem of letter sorting because of the scanning is incomplete.

Preferably, in the device, the number of the mechanical arms 5 is six, the mechanical arms are respectively arranged on two sides of the groove, and the jacking devices are arranged at the connecting ends of the mechanical arms 5 and the picking and conveying support 1. As can be understood by those skilled in the art, the device preferably selects the number of the mechanical hands 5, particularly arranges the mechanical hands 5 at two sides of the groove, and further arranges a jacking device at the connecting end of the mechanical hands 5 and the picking and conveying support 1, thereby being convenient for picking fruits at higher positions.

Preferably, in the above device, the conveying device 6 is a belt conveyor, and the horizontal height of one end of the conveying device 6 far away from the sorting bracket 11 is larger than that of the other end. It can be understood by those skilled in the art that the conveying device 6 is preferably a belt conveyor, and for the convenience of fruit conveying, the horizontal height of one end of the conveying device 6 far away from the sorting bracket 11 is preferably larger than that of the other end, so that the fruit can reduce the energy consumption of the equipment under the action of gravity.

Preferably, one end of the manipulator 5 in the device is connected with the picking and conveying bracket 1, and the other end is provided with an identification camera 15, scissors 8 and a soft clamp 9. As can be understood by those skilled in the art, in order to facilitate the manipulator 5 to pick up fruit accurately, the device preferably connects one end of the manipulator 5 to the picking and conveying support 1, so as to realize the connection of the manipulator 5, and the other end is provided with the identification camera 15, the scissors 8 and the soft clamp 9, so that the maturity of the fruit is actually identified through the identification camera 15, then the scissors 8 are driven to cut off the pedicles of the fruit, the soft clamp 9 clamps the fruit, and the fruit is placed on the conveying device 6 through the manipulator 5.

Preferably, in the above device, the sorting disc 13 is provided with an annular sorting baffle 131 with an opening, and the opening is positioned at the discharge end of the conveying device 6. As will be appreciated by those skilled in the art, to prevent fruit from escaping sorting disk 13, the apparatus is preferably provided with an annular sorting barrier 131 having an opening in sorting disk 13, with the opening being at the discharge end of conveyor 6 to facilitate the entry of fruit through conveyor 6 into sorting disk 13.

Preferably, in the above device, the sorting blades 14 are a plurality of blades, and are rotatably connected with the sorting disc 13 in a radial spiral line. As will be appreciated by those skilled in the art, in order to achieve that there is only one fruit adjacent to the sorting blade 14, it is preferred that the sorting blade 14 is a plurality of blades and is rotatably connected to the sorting disc 13 in a radial spiral. The gathering end, i.e. the closed central end, of the sorting blade 14 may be connected to a rotating shaft, which is rotatably connected to the sorting disc 13, and the driving member 12 directly drives the rotating shaft to rotate and then drives the sorting blade 14 to rotate.

Preferably, in the device, the two side walls of the sorting support 11 are provided with the discharge ports 7, and the discharge ports 7 are communicated with the sorting ports 10 in a one-to-one correspondence manner. Those skilled in the art can understand that, in order to collect fruits in a classified manner, the device is preferably provided with the discharge ports 7 on two side walls of the sorting support 11, the sorted fruits are discharged and collected in a classified manner through the discharge ports 7, and it is actually ensured that the discharge ports 7 are communicated with the sorting ports 10 in a one-to-one correspondence manner, that is, one discharge port 7 corresponds to one sorting port 10, and the sorting ports 10 are communicated with the discharge ports 7, so that it is ensured that the fruits are discharged from the discharge ports 7 after entering from the sorting ports 10, so as to be convenient for the classified collection.

Preferably, the picking and conveying bracket 1 and the sorting bracket 11 in the device are both provided with rollers 2 on the bottom surface. It will be appreciated by those skilled in the art that to facilitate movement of the apparatus, it is preferred that both picking transport carriage 1 and sorting carriage 11 be provided with rollers 2 on their underside.

Preferably, the picking conveying bracket 1 in the device is provided with a hook 16 at one end far away from the sorting bracket 11. It will be appreciated by those skilled in the art that the present apparatus is preferably provided with a hook 16 at the end of the picking conveyor carriage 1 remote from the sorting carriage 11 for ease of handling, and that the apparatus may be hooked to the rear end of a drive vehicle, such as a tractor rear end hook 16, as a traction force to move the mechanism.

Claims

1. Fruit is picked letter sorting all-in-one, its characterized in that: the picking and conveying device comprises a picking and conveying mechanism and a sorting mechanism, wherein the picking and conveying mechanism comprises a picking and conveying support (1), a mechanical arm (5) and a conveying device (6), and the mechanical arm (5) and the conveying device (6) are arranged on the picking and conveying support (1); the sorting mechanism comprises a sorting bracket (11), a sorting disc (13), a driving piece (12) and sorting blades (14), the sorting blades (14) are arranged on the sorting disc (13) and are rotationally connected with the sorting disc (13), the driving piece (12) enables the sorting blades (14) and the sorting disc (13) to rotate mutually, and the sorting disc (13) is provided with a sorting opening (10) which can be opened and closed; and one end of the picking conveying bracket (1) is connected with the sorting bracket (11), so that the discharge end of the conveying device (6) is communicated with the inlet of the sorting disc (13).

2. The fruit picking and sorting all-in-one machine according to claim 1, wherein: picking conveying support (1) middle part and being provided with the recess, conveyer (6) set up in the recess, and be provided with letter sorting camera (4) on picking conveying support (1) of the discharge end of conveyer (6), the switching of steerable letter sorting mouth (10) of letter sorting camera (4).

3. The fruit picking and sorting all-in-one machine according to claim 2, wherein: the number of the mechanical arms (5) is six, the mechanical arms are respectively arranged on two sides of the groove, and jacking devices are arranged at the connecting ends of the mechanical arms (5) and the picking conveying support (1).

4. A fruit picking and sorting machine as claimed in any one of claims 1 to 3, wherein: the conveying device (6) is a belt conveyor, and the horizontal height of one end, far away from the sorting support (11), of the conveying device (6) is larger than that of the other end of the conveying device.

5. The fruit picking and sorting all-in-one machine according to claim 1, wherein: one end of the manipulator (5) is connected with the picking and conveying support (1), and the other end of the manipulator is provided with an identification camera (15), scissors (8) and a soft clamp (9).

6. The fruit picking and sorting all-in-one machine according to claim 1, wherein: an annular sorting baffle (131) with an opening is arranged on the sorting disc (13), and the opening is positioned at the discharge end of the conveying device (6).

7. The fruit picking and sorting all-in-one machine according to claim 1, wherein: the sorting blades (14) are multiple and are in radial spiral line connection with the sorting disc (13) in a rotating mode.

8. The fruit picking and sorting all-in-one machine according to claim 1, wherein: and discharge ports (7) are arranged on two side walls of the sorting support (11), and the discharge ports (7) are communicated with the sorting ports (10) in a one-to-one correspondence manner.

9. The fruit picking and sorting all-in-one machine according to claim 1, wherein: the bottom surfaces of the picking conveying support (1) and the sorting support (11) are respectively provided with a roller (2).

10. The fruit picking and sorting all-in-one machine according to claim 1, wherein: and a hook (16) is arranged at one end of the picking conveying support (1) far away from the sorting support (11).