CN113812261B

CN113812261B - Automatic picking machine for apple subfamily fruits

Info

Publication number: CN113812261B
Application number: CN202110286027.1A
Authority: CN
Inventors: 叶金梅
Original assignee: Shaanxi Top Fruit Industry Technology Co ltd
Current assignee: Shaanxi Top Fruit Industry Technology Co ltd
Priority date: 2021-03-17
Filing date: 2021-03-17
Publication date: 2023-05-09
Anticipated expiration: 2041-03-17
Also published as: CN113812261A

Abstract

The invention relates to the field of agricultural picking, and discloses an automatic picking machine for apple subfamily fruits, which comprises a picking vehicle, wherein an umbrella-shaped picking net is arranged at the right end of the picking vehicle, the umbrella-shaped picking net comprises an umbrella frame and umbrella ribs, an opening is formed in one side of each umbrella rib, the opening is used for passing through a target tree when in work, a hinge joint is arranged at one end of each umbrella frame and is fixedly arranged on each umbrella rib, the umbrella frames are arranged in an upper layer and a lower layer, annular racks are arranged at the inner sides of the hinge joints and meshed with the hinge joint, and elastic bands are arranged on the umbrella frames; according to the automatic picking machine for the apple subfamily fruits, the umbrella-shaped picking frame is provided with the elastic bandages, the elastic bandages are formed into a net shape, gaps are reserved among the bandages for sinking the fruits, the elastic bandages are arranged in two layers, the gap between the bandages of the upper layer is larger than that of the second layer, and the gaps between the bandages of the second layer are staggered with the gaps of the first layer, so that the fruits falling down to the second layer can be prevented from colliding with the fruits of the first layer after rebounding.

Description

Automatic picking machine for apple subfamily fruits

Technical Field

The invention relates to the technical field of agricultural picking, in particular to an automatic picking machine for apple subfamily fruits.

Background

Fruits mainly represented by the fruit of the apple subfamily are apples, pears and the like, the fruit is arbor, the fruit is ripe and has a certain height from the ground, the fruit is difficult to completely pick up under the condition of not using tools, the method of climbing the tree firstly has great hidden danger to workers, the trees are possibly damaged, the yield of the next year is affected, the length of the common picking rod on the market is limited, the fruits are directly dropped without protection and are easy to damage, the higher fruit trees still cannot be completely picked up, the operation is laborious, the picking equipment with a mechanical trolley is high enough, the fruit identification still needs manual operation, the picking efficiency depends on the proficiency of operators, certain picking equipment relying on image identification still generates great errors under the condition that the fruit colors such as green apples are similar to the leaves, the fruit is still easy to miss under the higher places, the mechanical picking arm is easy to break away from the trees by scissors, a large number of apples often grow on the same rhizome in actual practice, the rootstock of the apple subfamily is easy to damage, the fruit tree is easy to be damaged by the skin, and the fruit tree is difficult to be damaged by the scissors, and the yield is also difficult to be damaged by the false in the practical practice.

Disclosure of Invention

The invention aims to provide an automatic picking machine for apple subfamily fruits, which is used for overcoming the defects in the prior art.

The invention is realized by the following technical scheme.

The invention discloses an automatic picking machine for apple subfamily fruits, which comprises a picking vehicle, wherein an umbrella-shaped picking net is arranged at the right end of the picking vehicle, the umbrella-shaped picking net comprises an umbrella frame, umbrella ribs are arranged on one side of each umbrella rib, an opening is formed in the opening and is used for enabling a target tree to pass through when the automatic picking machine works, one end of each umbrella frame is provided with a hinge joint, the hinge joint is fixedly arranged on the umbrella ribs, the umbrella frames are vertically arranged in a double-layer manner, annular racks are arranged on the inner sides of the hinge joints and meshed with the hinge joint, elastic belts are arranged on the umbrella frames, gaps between the elastic belts on the upper umbrella frames are larger than gaps on the lower layers, but not larger than the diameter of apples, the gaps between the elastic belts on the upper umbrella frames and the lower umbrella frames are staggered to prevent collision, an electric push rod is arranged at the lower end of each annular rack and is used for pushing the annular racks to achieve the opening and closing state of the umbrella frames, and a mounting frame is arranged on the lower side of each umbrella frame and is fixedly arranged on the vehicle, and the bottom end of each umbrella frame is provided with a vibrating groove.

Further technical scheme, collect basket is equipped with at picking car middle part, collect the basket and be fan-shaped structure to adapt to the trees branch, collect for the slope structure in the basket and be used for making the fruit concentrate to one, it is provided with vibration receiving piece to collect the basket downside.

According to a further technical scheme, a large number of inflatable pellets are arranged in the collecting basket, the inflatable pellets are white in color and are convenient to distinguish fruits, and the diameter of each inflatable pellet is smaller than that of an apple.

According to the further technical scheme, the right end of the picking vehicle is fixedly provided with the vibrator, the left side of the vibrator is provided with the vibration frame which can be combined with the vibration receiving block, and the vibrator enables the collecting basket to vibrate through the vibration frame so that internal fruits are gathered.

Further technical scheme, umbrella type picking net bottom is provided with vibration bayonet socket, vibration bayonet socket opens leftwards, and after the during operation was picked the net with umbrella type and is close to trees, make vibration bayonet socket with vibrator output is connected, utilizes the vibration of vibrator drives the rib vibration to make the fruit tree that is picked take place the vibration, shake the fruit down.

Further technical scheme, collect basket left side fixed electric putter that is provided with, electric putter be used for with collect basket right side removes to working position, make vibration receiving piece with vibrator left side vibration frame cooperation work to remove to the below of umbrella type picking net in order to collect the fruit.

Further technical scheme, collect basket top for the opening design, can be provided with external mechanical assembly line when in actual use, mechanical assembly line's manipulator space is than aerify the pellet slightly big in order to be convenient for collect the fruit and will aerify the pellet screening in real time and leave.

According to a further technical scheme, a working control seat is arranged on the left side of the picking vehicle.

The invention has the beneficial effects that: the device designs a brand new umbrella-shaped picking frame, elastic bandages are arranged on the picking frame, the elastic bandages are formed into a net shape, gaps are reserved among the bandages for sinking fruits, the elastic bandages are arranged into two layers, the gap between the bandages on the upper layer is larger than that of the bandages on the second layer, and the gaps among the bandages on the second layer are staggered with that of the first layer, so that the fruits falling down on the second layer can be prevented from colliding with the fruits on the first layer after rebounding, the inertia of the fruits can be reduced, the fruits are prevented from being crushed, meanwhile, the double-layer staggered design is adopted, the collision among the fruits falling down at different heights is avoided, and the integrity of the fruits is ensured.

The collection basket arranged below the picking frame is in fan-shaped design and can be matched with fruit trees better, a large number of inflatable pellets are arranged in the picking basket during working, the diameter of each pellet is smaller than the minimum diameter of picked apples, when fruits fall into the collection basket after being buffered by the elastic bandage of the picking frame, the inflatable pellets can play a buffering role on the fruits, and meanwhile, the collection basket is vibrated regularly to enable the fruits with larger density to sink, so that the fruits which continuously fall down are prevented from being damaged due to collision.

The fruit picking device is characterized in that the fruit picking device is arranged behind the picking basket, the picking line of the picking line penetrates through the picking basket, fruits in the picking basket are fished up through transmission and are conveyed to the packing basket for packing, the inflatable pellets are not carried out due to the design of the interval of the picking line, the fruit density in the picking basket is guaranteed not to collide, meanwhile, the efficiency is improved, and the continuous operation of the picking vehicle is realized.

The core component of the device is the low-amplitude high-frequency vibrator arranged below the picking frame, the damage to trees is not caused because of the lower vibration amplitude, the fruits can fall off under the high-frequency vibration due to the inertia effect caused by the weight of the fruits, the damage to the branches is extremely small, the fruits at any height can be picked rapidly, and compared with the traditional semi-mechanized picking efficiency, the labor cost is also reduced.

The device is suitable for all fruits with growth characteristics similar to apples, such as pears, peaches and the like, and has wide application range.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.

The invention will be further described with reference to the drawings and examples.

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

FIG. 2 is a schematic view of the right view of FIG. 1;

FIG. 3 is an enlarged schematic top view of the vibrator of FIG. 1;

FIG. 4 is an enlarged schematic top view of the umbrella picking net of FIG. 1;

FIG. 5 is a schematic view of an enlarged front view of the umbrella picking net of FIG. 1;

FIG. 6 is a right-view enlarged schematic illustration of the umbrella picking net of FIG. 1;

FIG. 7 is an enlarged schematic top view of the collection basket of the present invention.

Detailed Description

The invention will now be described in detail with reference to fig. 1-7, wherein for convenience of description, the orientations described below are now defined as follows: the vertical, horizontal, front-rear directions described below are identical to the vertical, horizontal, front-rear directions of the projection relationship of fig. 1 itself.

The utility model provides an automatic picking machine of apple subfamily class fruit, includes picking car 21, picking car 21 right-hand member is equipped with umbrella type picking net 44, umbrella type picking net 44 includes umbrella stand 11, rib 14 one side is equipped with opening 66, opening 66 is used for the during operation through the target trees, the articulated joint 12 is equipped with to umbrella stand 11 one end, articulated joint 12 is fixed mounting on rib 14, umbrella stand 11 is upper and lower bilayer installation, the articulated joint 12 inboard is provided with annular rack 13, annular rack 13 with articulated joint 12 meshing, be provided with elastic band 10 on the umbrella stand 11, the clearance between elastic band 10 on the umbrella stand 11 of upper strata is greater than the lower floor clearance, but is not greater than the diameter of apple, and upper and lower two-layer elastic band clearance staggers the setting and avoid striking, annular rack 13 lower extreme is equipped with

push rod

17, 17 is used for promoting annular rack 13 realizes the state of umbrella stand 11, umbrella stand 11 is equipped with down and is equipped with 30 and is used for opening and shutting down, 30 the installation frame 30 is used for picking frame 14 has vibration groove on the umbrella stand 14, the vibration is equipped with the vibration of the bottom of the umbrella stand 21.

Preferably, the collecting basket 18 is arranged in the middle of the picking vehicle 21, the collecting basket 18 is of a fan-shaped structure so as to adapt to tree branches, an inclined structure is arranged in the collecting basket 18 and used for collecting fruits together, and a vibration receiving block 19 is arranged on the lower side of the collecting basket 18.

Preferably, a plurality of inflatable pellets 26 are contained within the collection basket 18, the inflatable pellets 26 being white in color to facilitate differentiation of fruit, the inflatable pellets 26 being smaller in diameter than apples.

Preferably, a vibrator 50 is fixedly mounted at the right end of the picking vehicle 21, a vibration frame is arranged at the left side of the vibrator 50 and can be combined with the vibration receiving block 19, and the vibrator 50 can vibrate the collecting basket 18 through the vibration frame to gather fruits inside.

Preferably, the bottom end of the umbrella-shaped picking net 44 is provided with a vibration bayonet 15, the vibration bayonet 15 is opened leftwards, when the umbrella-shaped picking net 44 is close to a tree in operation, the vibration bayonet 15 is connected with the output end of the vibrator 50, and the vibration of the vibrator 50 is utilized to drive the umbrella ribs 14 to vibrate so that the picked fruit tree vibrates and the fruit is vibrated down.

Preferably, an electric push rod 22 is fixedly arranged on the left side of the collecting basket 18, and the electric push rod 22 is used for moving the collecting basket 18 to the right to a working position, so that the vibration receiving block 19 cooperates with a vibration frame on the left side of the vibrator 50 and moves to the lower side of the umbrella-type picking net 44 so as to collect fruits.

Preferably, the collecting basket 18 is designed with an opening above, and an external mechanical assembly line 51 can be arranged in the design and use process, and the gap of the mechanical arm of the mechanical assembly line 51 is slightly larger than that of the inflatable pellets 26 so as to screen and leave the inflatable pellets 26 in real time when fruits are collected.

The specific use method of the invention is as follows:

when in work, a worker drives the picking vehicle to the front of a specified tree, the opening 66 is aligned with the trunk, the picking vehicle is driven forward to enable the trunk to enter the umbrella rib 14 through the opening 66, the inner wall of the umbrella rib 14 is tightly against the trunk, the push rod 17 is started, the annular rack 13 is pushed upwards, the umbrella stand 11 is opened through the meshing motion of the annular rack 13 and the gear of the hinged joint 12, the second layer of fruits are rebounded and collide with the first layer of fruits, the inertia of the fruits can be reduced through the design of the umbrella stand, the fruits are prevented from being crushed, meanwhile, the double-layer staggered design prevents the fruits falling at different heights from collision, the integrity of the fruits is ensured, then the electric push rod 22 is started to move the collecting basket 18 to the right end to enable the vibration receiving block 19 to be connected with the vibration frame at the right end of the vibrator 50, meanwhile, the main vibration frame at the right end of the vibrator 50 is sleeved into the vibration bayonet 15, a large amount of white inflatable balls are added in the collecting basket 18, the vibrator 50 is started to enable the trunk to vibrate at high frequency, the efficiency is high, all the fruit is picked completely and thoroughly, at the moment, mature fruits fall under the action of inertia, the fruits fall to be contacted with the upper layer elastic band 10, most of the fruits are buffered under the action of the elastic band 10, the fruits fall to the lower layer elastic band 10 through gaps among the elastic bands 10 to further buffer, meanwhile, the fruits rebound of the second layer are prevented from colliding with the fruits falling on the upper layer, the fruits fall into the collecting basket 18 after being buffered by the elastic bands, the inflatable balls are put in the basket to play a buffering role on the fruits, meanwhile, the collecting basket regularly vibrates to enable the fruits with larger density to sink, so as to prevent bad fruits from being generated by collision among the fruits continuously falling, meanwhile, the fruit in the collecting basket 18 can be salvaged to the packaging basket by the external mechanical assembly line 51, so that the fruit tree is picked up, the electric push rod 22 and the push rod 17 return to enable the collecting basket 18 to return to the original position, the umbrella stand 11 is retracted, and the picking vehicle can conveniently travel in an orchard and move to the next picking position.

The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the present invention and implement it without limiting the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.

Claims

1. An automatic picking machine for apple subfamily fruits, which is characterized in that: including picking the car, picking the car right-hand member and being equipped with umbrella formula and picking the net, the umbrella is picked the net and is included the umbrella stand, the rib, rib one side is equipped with the opening, the opening is used for the during operation through target trees, the articulated head is equipped with to umbrella stand one end, the articulated head is fixed mounting on the rib, the umbrella stand is upper and lower bilayer installation, the articulated head inboard is provided with annular rack, annular rack with the articulated head meshing, be provided with the elastic band on the umbrella stand, the clearance between the elastic band on the upper umbrella stand is greater than the lower floor clearance, but is not greater than the diameter of apple, and upper and lower two-layer the elastic band clearance staggers and sets up and avoid striking, the electric putter is equipped with to the annular rack lower extreme, electric putter is used for promoting the annular rack is realized the state that opens and shuts of umbrella stand, the umbrella stand downside is equipped with the mounting bracket is used for with umbrella formula is picked the net fixed mounting on picking the car, the rib bottom is opened and is had the vibration groove.

2. An automatic picking machine for fruit of the apple subfamily according to claim 1, characterized in that: the picking vehicle is characterized in that a collecting basket is arranged in the middle of the picking vehicle and is of a fan-shaped structure so as to adapt to tree branches, an inclined structure is arranged in the collecting basket so as to concentrate fruits to one piece, and a vibration receiving block is arranged on the lower side of the collecting basket.

3. An automatic picking machine for fruit of the apple subfamily according to claim 2, characterized in that: a large number of inflatable pellets are arranged in the collecting basket, the inflatable pellets are white in color and are convenient to distinguish fruits, and the diameter of each inflatable pellet is smaller than that of an apple.

4. An automatic picking machine for fruit of the apple subfamily according to claim 2, characterized in that: the right end of the picking vehicle is fixedly provided with a vibrator, the left side of the vibrator is provided with a vibration frame which can be combined with the vibration receiving block, and the vibrator enables the collecting basket to vibrate through the vibration frame so as to gather fruits inside.

5. An automatic picking machine for fruit of the apple subfamily according to claim 4, wherein: the bottom end of the umbrella-type picking net is provided with a vibrating bayonet, the vibrating bayonet is opened leftwards, when the umbrella-type picking net is close to a tree in operation, the vibrating bayonet is connected with the output end of the vibrator, and the vibrating of the vibrator is utilized to drive the umbrella ribs to vibrate so that the picked fruit trees vibrate, and the fruits vibrate down.

6. An automatic picking machine for fruit of the apple subfamily according to claim 5, wherein: the fixed electric putter that is provided with in collection basket left side, electric putter be used for with collect the basket right side removes to working position, makes vibration receiving piece with vibrator left side vibration frame cooperation work to remove to the below of umbrella type picking net in order to collect the fruit.

7. An automatic picking machine for fruit of the apple subfamily according to claim 3, characterized in that: the top of collecting basket is the opening design, can be provided with external mechanical assembly line when the design is used, the manipulator space of mechanical assembly line is slightly bigger than the inflatable pellet is in order to be convenient for collect the fruit and will aerify the pellet screening and leave in real time.