CN113950952A

CN113950952A - Portable semi-automatic waxberry picking machine

Info

Publication number: CN113950952A
Application number: CN202111114706.7A
Authority: CN
Inventors: 刘榕潇; 徐荣祥; 赵连锁; 罗翔; 杨超君
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2022-01-21

Abstract

The invention provides a portable semi-automatic waxberry picking machine which comprises a cutting assembly, a back basket assembly, a crank rocker mechanism, a driving mechanism, a telescopic rod, a color sensor and a controller, wherein the back basket assembly is arranged on the upper portion of a main body; the cutting assembly comprises a cutter handle upper petal and a cutter handle lower petal, one end of the cutter handle upper petal is hinged with one end of the cutter handle lower petal, the cutter handle upper petal is connected with the back basket assembly through a telescopic rod, the driving mechanism is installed on the telescopic rod, and the driving mechanism is connected with the cutter handle lower petal through a crank rocker mechanism so that the cutter handle lower petal swings in a reciprocating manner and is used for cutting the waxberries entering the cutting assembly; the color sensor is positioned in the upper petal of the cutter handle and used for detecting the color of the red bayberries entering the cutting assembly; and the value detected by the controller color sensor controls the crank rocker mechanism to enable the lower valve of the cutter handle to swing. The invention utilizes the color sensor to identify the waxberries and utilizes the singlechip to control the stepping motor, thereby realizing semi-automation of waxberry picking.

Description

Portable semi-automatic waxberry picking machine

Technical Field

The invention relates to the field of waxberry picking, in particular to a portable semi-automatic waxberry picking machine.

Background

The red bayberry has luxuriant branches and leaves, the crown of the tree is round, the fruit tree is tall and large and can reach 15 meters, the red bayberry grows on hillsides or valley forests with the altitude of 125-1500 meters, the production season is concentrated in June, and the area in the south of the Yangtze river is in plum rain season, so that the picking period can be greatly reduced, the picking difficulty can be increased, and the mountain road picking is dangerous due to slippery road.

At present, two main methods for picking fruits exist, namely shaking off the fruits by utilizing vibration and then collecting the fruits, the method is high in efficiency, is a more concentrated method researched at present, but has damage to the fruits and fruit trees, is not suitable for delicate and soft fruits such as waxberries, cherries and the like, and is difficult to collect in a picking environment with relatively complex terrain.

Secondly, mechanical picking, which is a simple mechanical structure for most fruit and vegetable picking equipment on the market at present, is only to simply lengthen the picking length or greatly damage soft fruits such as waxberries and the like, and the picking efficiency is not ideal enough.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a portable semi-automatic waxberry picking machine, which utilizes a color sensor to identify waxberries and utilizes a singlechip to control a stepping motor to realize semi-automation of waxberry picking.

The present invention achieves the above-described object by the following technical means.

A portable semi-automatic waxberry picking machine comprises a cutting assembly, a back basket assembly, a crank and rocker mechanism, a driving mechanism, a telescopic rod, a color sensor and a controller;

the cutting assembly comprises a cutter handle upper petal and a cutter handle lower petal, one end of the cutter handle upper petal is hinged with one end of the cutter handle lower petal, the cutter handle upper petal is connected with the back basket assembly through a telescopic rod, the driving mechanism is installed on the telescopic rod, and the driving mechanism is connected with the cutter handle lower petal through a crank rocker mechanism so that the cutter handle lower petal swings in a reciprocating manner and is used for cutting the waxberries entering the cutting assembly;

the color sensor is positioned in the upper petal of the cutter handle and used for detecting the color of the red bayberries entering the cutting assembly; and the value detected by the controller color sensor controls the crank rocker mechanism to enable the lower valve of the cutter handle to swing.

Further, the basket carrying assembly comprises straps, a basket carrying body, a bottom shaft and bottom rods, wherein two ends of the bottom shaft are respectively sleeved on the two bottom rods, the two bottom rods are connected with the basket carrying body, and straps are arranged between each bottom rod and the basket carrying body.

Further, a rotary table is fixed on the bottom shaft and connected with the telescopic rod, and rotary buckles are arranged at two ends of the bottom shaft and used for enabling the bottom shaft to rotate.

Further, the crank rocker mechanism comprises a sleeve, a connecting rod and a crank, the sleeve is installed on the lower valve of the cutter handle, one end of the connecting rod is connected with a sleeve rotating pair, the other end of the connecting rod is connected with the crank rotating pair, and the crank is connected with the output end of the driving mechanism.

Further, the driving mechanism is a stepping motor.

Furthermore, the upper petal and the lower petal of the knife handle are in the shape of shells.

Further, when the value detected by the color sensor is different from the set value, the controller controls the driving mechanism to enable the lower valve of the cutter handle to keep an open state; when the value detected by the color sensor is the same as the set value, the controller controls the driving mechanism to enable the cutter handle to close the lower valve.

Furthermore, a pipeline communicated with the back basket assembly is arranged at the bottom of the lower valve of the cutter handle and used for conveying picked waxberries.

The invention has the beneficial effects that:

1. the portable semi-automatic waxberry picking machine skillfully realizes that the motor drives the blade to rotate within a range by utilizing a simple mechanism of the crank rocker.

2. The portable semi-automatic waxberry picking machine disclosed by the invention has the advantages that the waxberries are identified by the color sensors, and the stepping motors are controlled by the controller, so that semi-automation of waxberry picking is realized.

3. According to the portable semi-automatic waxberry picking machine, the upper petal and the lower petal of the cutter handle are in the shape of shells, so that the cut waxberry fruits firstly enter the inner cavity of the cutter petal, then fall from the lower end of the bottom and roll into the back basket along the collecting pipeline to realize the collection of the waxberries.

4. The portable semi-automatic waxberry picking machine is backpack, is convenient to carry, is not influenced by terrain and topography, and can smoothly pick waxberry fruits on the tips of trees by adjusting direction angles and extending and retracting the length of the rods even on mountainous regions without climbing trees.

Drawings

Fig. 1 is a general view of the portable semi-automatic waxberry picking machine according to the present invention.

Fig. 2 is a block diagram of a cutting assembly according to the present invention.

Fig. 3 is a view showing the installation position of the motor according to the present invention.

In the figure:

1-petal feeding of a knife handle; 2-lower petal of the knife handle; 3-a sleeve; 4-a connecting rod; 5-a rotating shaft; 6-a color sensor; 7-a backing plate; 8-a motor box; 9-a box cover; 10-a crank; 11-a support frame; 12-a telescopic rod; 13-a harness; 14-carrying a basket; 15-bottom bar; 16-screwing; 17-a bottom shaft; 18-rotating disk.

Detailed Description

The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1, the portable semi-automatic waxberry picking machine of the present invention comprises a cutting assembly, a basket carrying assembly, a crank and rocker mechanism, a driving mechanism, a telescopic rod 12, a color sensor 6 and a controller;

the cutting assembly comprises a handle upper petal 1 and a handle lower petal 2, the handle upper petal 1 and the handle lower petal 2 are in a shell shape, and the sheared waxberry fruits can enter the blade inner cavity firstly. The back basket assembly comprises straps 13, a back basket 14, bottom shafts 17 and bottom rods 15, two ends of each bottom shaft 17 are respectively sleeved on the two bottom rods 15, the two bottom rods 15 are connected with the back basket 14, the straps 13 are arranged between each bottom rod 15 and the back basket 14, and a user can conveniently carry on the back of the back on the shoulder. The rotary table 18 is fixed on the bottom shaft 17, the rotary table 18 is connected with the telescopic rod 12, and the rotary buckles 16 are arranged at two ends of the bottom shaft 17 and used for enabling the bottom shaft 17 to rotate, so that the angle of the telescopic rod 12 can be adjusted. As shown in fig. 2, one end of the upper blade 1 of the knife handle is hinged to one end of the lower blade 2 of the knife handle, the upper blade 1 of the knife handle is connected with the back basket assembly through a telescopic rod 12, the driving mechanism is installed on the telescopic rod 12, and the driving mechanism is connected with the lower blade 2 of the knife handle through a crank and rocker mechanism, so that the lower blade 2 of the knife handle swings back and forth to cut the waxberries entering the cutting assembly; the driving mechanism is a stepping motor. The crank rocker mechanism comprises a sleeve 3, a connecting rod 4 and a crank 10, the sleeve 3 is installed on the lower valve 2 of the knife handle, one end of the connecting rod 4 is connected with a rotating pair of the sleeve 3, the other end of the connecting rod 4 is connected with a rotating pair of the crank 10, and the crank 10 is connected with a rotating shaft 5 of the driving mechanism. The color sensor 6 is positioned in the upper section 1 of the cutter handle and is used for detecting the color of the red bayberries entering the cutting assembly; the value detected by the controller color sensor 6 controls the crank rocker mechanism to enable the lower valve 2 of the knife handle to swing. When the value detected by the color sensor 6 is different from the set value, the controller controls the driving mechanism to keep the lower valve 2 of the knife handle in an open state; when the value detected by the color sensor 6 is the same as the set value, the controller controls the driving mechanism to enable the lower valve 2 of the knife handle to be closed. And a pipeline communicated with the back basket assembly is arranged at the bottom of the lower valve 2 of the knife handle and is used for conveying picked waxberries.

As shown in figure 3, the backing plate 7 is positioned on the telescopic rod 12, the support frame 11 is fixed on the backing plate 7 by screws, the motor box 8 is arranged on the support frame 11, the driving mechanism and the controller are arranged in the motor box 8, and the motor box 8 is covered by the box cover 9.

The working principle and the process are as follows:

the upper blade 1 and the lower blade 2 of the knife handle are shell-shaped, the upper blade 1 of the knife handle is fixed, the lower blade 2 of the knife handle rotates in a certain angle through a crank rocker mechanism, a shell-shaped closed structure is formed when the blades of the cutting assembly are closed, power of the closed structure is provided by a stepping motor, and the transmission mechanism is a crank rocker mechanism and converts the full-circle rotation of the motor into the certain-angle rotation of the lower blade.

The controller controls the motor to operate according to the signals input by the color sensor 6 to pick. When the color sensor 6 does not detect that the color standard of the waxberry is met, the motor rotates for half a circle to open the lower petal 2 of the knife handle or keeps the state if the lower petal 2 of the knife handle is in the open state at the moment. When the red bayberries enter the cutting assembly, the color sensor 6 transmits collected signals into the controller, and if the colors are judged to meet the picking standards, the motor is controlled to rotate to pick the red bayberries. When the waxberries fall into the pipeline and the color sensor 6 does not detect that the color standard of the waxberries is met, the lower petals 2 of the knife handle are controlled to be in an open state. This process is repeated when the next waxberry enters the cutting assembly.

It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims

1. A portable semi-automatic waxberry picking machine is characterized by comprising a cutting component, a back basket component, a crank rocker mechanism, a driving mechanism, a telescopic rod (12), a color sensor (6) and a controller;

the cutting assembly comprises a cutter handle upper petal (1) and a cutter handle lower petal (2), one end of the cutter handle upper petal (1) is hinged with one end of the cutter handle lower petal (2), the cutter handle upper petal (1) is connected with the back basket assembly through a telescopic rod (12), the driving mechanism is installed on the telescopic rod (12), and the driving mechanism is connected with the cutter handle lower petal (2) through a crank and rocker mechanism, so that the cutter handle lower petal (2) swings in a reciprocating mode and is used for cutting the waxberries entering the cutting assembly;

the color sensor (6) is positioned in the upper valve (1) of the cutter handle and is used for detecting the color of the red bayberries entering the cutting assembly; the value detected by the controller color sensor (6) controls the crank rocker mechanism to enable the lower valve (2) of the knife handle to swing.

2. The portable semi-automatic waxberry picking machine according to claim 1, wherein the basket assembly comprises a carrying strap (13), a basket (14), a bottom shaft (17) and bottom rods (15), the two ends of the bottom shaft (17) are respectively sleeved on the two bottom rods (15), the two bottom rods (15) are connected with the basket (14), and the carrying strap (13) is installed between each bottom rod (15) and the basket (14).

3. The portable semi-automatic waxberry picking machine according to claim 2, wherein a rotary disc (18) is fixed on the bottom shaft (17), the rotary disc (18) is connected with the telescopic rod (12), and two ends of the bottom shaft (17) are provided with a rotary button (16) for rotating the bottom shaft (17).

4. The portable semi-automatic waxberry picking machine according to claim 1, wherein the crank and rocker mechanism comprises a sleeve (3), a connecting rod (4) and a crank (10), the sleeve (3) is mounted on the lower blade (2) of the handle, one end of the connecting rod (4) is connected with a rotating pair of the sleeve (3), the other end of the connecting rod (4) is connected with a rotating pair of the crank (10), and the crank (10) is connected with an output end of the driving mechanism.

5. The portable semi-automatic waxberry picking machine according to claim 1, wherein the driving mechanism is a stepping motor.

6. The portable semi-automatic waxberry picking machine according to claim 1, wherein the handle upper petal (1) and the handle lower petal (2) are in the shape of shells.

7. The portable semi-automatic waxberry picking machine according to claim 1, wherein when the value detected by the color sensor (6) is different from the set value, the controller controls the driving mechanism to keep the lower valve (2) of the handle in an open state; when the value detected by the color sensor (6) is the same as the set value, the controller controls the driving mechanism to enable the lower valve (2) of the knife handle to be closed.

8. The portable semi-automatic waxberry picking machine according to claim 1, wherein the bottom of the lower petal (2) of the handle is provided with a pipeline communicated with the basket assembly for conveying picked waxberries.