CN114175924B

CN114175924B - Red date is picked and is collected miscellaneous letter sorting system that goes

Info

Publication number: CN114175924B
Application number: CN202111470697.5A
Authority: CN
Inventors: 陈炎冬; 王颖; 衡若宁; 叶亮亮
Original assignee: Wuxi Taihu University
Current assignee: Wuxi Taihu University
Priority date: 2021-12-03
Filing date: 2021-12-03
Publication date: 2022-09-23
Anticipated expiration: 2041-12-03
Also published as: CN114175924A

Abstract

The invention discloses a red date picking, collecting, impurity removing and sorting system, which comprises a vehicle, a picking mechanism, a collecting mechanism and an impurity removing and sorting mechanism, wherein the picking mechanism and the collecting mechanism are arranged on the vehicle; the picking mechanism comprises a telescopic mechanical arm and an openable or closable mechanical paw, and the mechanical paw is provided with a vibration exciter; the collecting mechanism comprises a gear rack transmission assembly, a scroll transmission assembly and damping cloth, the damping cloth can be wound on the scroll transmission assembly and is connected with a rack of the gear rack transmission assembly, the damping cloth is unfolded to receive the red dates when the rack extends out, a gap for the red dates to slide exists between the scroll transmission assembly and the side wall of the vehicle, and a conveyor belt is arranged between the scroll transmission assembly and the side wall of the vehicle to convey the red dates collected on the damping cloth; the conveyer belt end is carried the red date to removing miscellaneous sorting mechanism through the material loading conveyer, removes miscellaneous through the fan in removing miscellaneous sorting mechanism and utilizes the shale shaker to realize big fruit sorting. The invention realizes the automatic picking, collection, conveying, impurity removal and sorting of red dates, forms the assembly line operation and greatly improves the working efficiency.

Description

Red date is picked and is collected miscellaneous letter sorting system that removes

Technical Field

The invention relates to the technical field of agricultural equipment, in particular to a red date picking, collecting, impurity removing and sorting system.

Background

At present, for picking of fruits, a traditional manual picking mode is adopted, for example, the fruits such as grapes, peaches and persimmons are not too many in number and are easy to damage, and the purely mechanical picking operation is not suitable, but some fruits with ripe and large number on trees are very labor-wasting if the manual picking is adopted, for example, red dates, medlar and the like.

At present, the existing machinery suitable for picking red dates in China has high manufacturing cost, general farmers rarely adopt the existing red date picking machines, and a large amount of manpower is still needed to manually pick the red dates during the mature period of the red dates. And the jujube tree has more thorns, and the jujube tree is easy to thorny hand in manual picking, so that the working efficiency is very low by only relying on manual work in the face of a farm which needs large-scale red jujube picking, and the damage of the red jujube and the injury probability of picking personnel are also very high in the picking process. After picking, picking personnel are required to collect the red dates picked respectively and convey the red dates to other working sections, and because a lot of leaves and dust are mixed in the red dates, the red dates are different in size, and impurity removal and sorting are required. According to size classification, the fruit sorting machine is a common sorting mode, and the sorting machine which is common in the market at present is provided with a roller sieve hole type fruit sorting machine and a roller belt type fruit sorting machine. The roller sieve hole type fruit sorting machine generates centrifugal force when rotating, so that the surface of fruits is easily damaged, the yield of the fruits is reduced, and waste is caused. The roller belt type fruit sorting machine is low in sorting efficiency and is not suitable for sorting the small-diameter and large-quantity red dates.

Therefore, an equipment needs to be designed, which can replace manpower to pick up red dates and realize automatic impurity removal and sorting, and the heavy manpower labor is reduced.

Disclosure of Invention

In order to solve the problems, the invention provides a red date picking, collecting, impurity removing and sorting system which can realize automatic picking, collecting, impurity removing and sorting, replaces manual operation and is high in working efficiency.

According to one aspect of the invention, a red date picking, collecting, impurity removing and sorting system is provided, which comprises a movable vehicle, a picking mechanism and a collecting mechanism which are arranged on the vehicle, and an impurity removing and sorting mechanism;

the picking mechanism comprises a telescopic mechanical arm and an openable or closable mechanical paw, the mechanical paw is connected with the mechanical arm, the mechanical arm is rotatably arranged on the vehicle through a base frame, the mechanical arm can control the displacement of the mechanical paw, and a vibration exciter is arranged on the mechanical paw;

the collecting mechanism comprises a gear rack transmission assembly, a scroll transmission assembly and damping cloth, the gear rack transmission assembly is installed on a vehicle through a base, the damping cloth can be wound on the scroll transmission assembly, the front end of the damping cloth is fixed with the scroll transmission assembly, the tail end of the damping cloth is connected with the top end of a rack of the gear rack transmission assembly, the rack is in an upward-warped arc shape, the damping cloth is unfolded to receive picked red dates when the rack extends out towards the side far away from the vehicle, a gap for the red dates to slip exists between the scroll transmission assembly and the side wall of the vehicle, and a conveyor belt is arranged at the gap to convey the red dates collected on the damping cloth;

the tail end of the conveying belt conveys the red dates to an impurity removing and sorting mechanism through a feeding conveyor, the impurity removing and sorting mechanism comprises a bin body, a fan and a vibrating screen which are arranged in the bin body, a vibrating motor is arranged on the vibrating screen, and the vibrating screen is provided with holes for the small fruits to pass through.

Therefore, the vehicle moves to one side of a fruit tree, the mechanical arm controls the mechanical claw to clamp the trunk, the rack gradually extends out, the damping cloth synchronously expands, the rack is in an upward arc shape, the damping cloth which is completely expanded is also in an arc shape, after the damping cloth is completely expanded, the vibration exciter generates exciting force to drive the mechanical claw and the fruit tree to vibrate, so that the red dates vibrate and fall on the damping cloth, the conveying belt is started in the picking process, the red dates fall on the arc-shaped damping cloth and roll off from gaps to the conveying belt, the conveying belt conveys the red dates to the feeding conveyor, the feeding conveyor conveys the red dates to a bin body of the impurity removal and separation mechanism in order, after the red dates enter the bin body, impurities such as leaves and dust are blown away by the fan, meanwhile, the vibration motor starts the vibration screen to vibrate, small fruits fall from holes of the vibration screen by vibration, and large fruits are retained on the vibration screen, the separation of big and small fruits is realized, and the big and small fruits are respectively collected to realize automatic sorting; the system realizes automatic picking, collection, conveying, impurity removal and sorting of the red dates, forms assembly line operation, greatly reduces manpower, and improves work efficiency.

In some embodiments, the mechanical arm includes a mechanical arm, a mechanical arm and a first hydraulic cylinder, the mechanical arm is located at one end of the mechanical arm, a cylinder body and a piston rod of the first hydraulic cylinder are respectively connected to the mechanical arm and the mechanical arm, the mechanical gripper is installed at the front end of the mechanical arm, the mechanical arm is hinged to the base frame, a second hydraulic cylinder is arranged between the base frame and the mechanical arm, a cylinder body of the second hydraulic cylinder is hinged to a side wall of the base frame, a piston rod of the second hydraulic cylinder is hinged to a side wall of the mechanical arm, a piston rod of the second hydraulic cylinder stretches out and draws back to drive the mechanical arm to rotate relative to the base frame, and a rubber block is installed on the mechanical gripper. From this, adjust the relative position of mechanical forearm and mechanical forearm through first pneumatic cylinder, realize stretching out and contracting of mechanical forearm, make mechanical forearm rotate for the bed frame through the flexible of second pneumatic cylinder, realize raising or reducing of the position of the mechanical forearm of mechanical forearm front end to the position of adjustment mechanical gripper accurately delivers to the trunk of waiting to pick by, and the rubber block is installed to the mechanical gripper, can reduce the damage that causes when pressing from both sides tight trunk.

In some embodiments, the vibration exciter comprises a hydraulic plunger motor, an eccentric shaft, a spring and a vibration box body, the spring is mounted in the vibration box body through a spring fixing part, the eccentric shaft penetrates through the spring fixing part and is mounted at two ends of the eccentric shaft in the vibration box body through bearings, the eccentric shaft is provided with an eccentric block, and the hydraulic plunger motor is connected to the eccentric shaft through a gear box shaft. Therefore, the hydraulic plunger motor is started, the eccentric block rotates, and the centrifugal motion is utilized to generate an exciting force to drive the mechanical gripper and the tree trunk to vibrate, so that the red dates fall off.

In some embodiments, the rack and pinion assembly includes a gear shaft, both ends of the gear shaft are rotatably mounted on the base through a bracket, the arc-shaped rack is meshed with the gear shaft, both front and rear ends of the bracket are provided with rack pressing blocks, the rack pressing blocks form a track for limiting movement of the rack, and the gear shaft is connected with a speed reduction motor. Therefore, the gear motor is started, the gear shaft is driven to rotate, the arc-shaped rack is meshed with the gear shaft, the arc-shaped rack moves back and forth, the tail end of the shock absorption cloth is connected with the top end of the rack, the rack can play a role of supporting the shock absorption cloth, and meanwhile, the shock absorption cloth after being unfolded has an arc-shaped structure, so that the red dates falling off can be conveniently received.

In some embodiments, the reel transmission assembly includes a reel and a motor, a support plate is mounted on an upper portion of a side wall of the vehicle, both ends of the reel are mounted on the support plate through bearing seats, an output shaft of the motor is connected with the reel, the damping cloth is wound on the reel, the conveyor belt is located below the support plate, and one side of the conveyor belt is mounted on the side wall of the vehicle. From this, the motor drive spool is rotatory to realize the expansion or the rolling of shock attenuation cloth, motor and rack and pinion drive assembly's gear motor synchronous motion, when guaranteeing that the rack stretches out the tensioning, the expansion of shock attenuation cloth, when the rack withdraws, the synchronous rolling of shock attenuation cloth.

In some embodiments, base, rack and pinion drive assembly and spool drive assembly all are equipped with two sets ofly, and picking mechanism is equipped with a set ofly, and picking mechanism's bed frame is located between two bases, and two sets of spool drive assembly are connected with the shock attenuation cloth respectively, have the interval between two shock attenuation cloths, and the shock attenuation cloth adopts PVC plastic-coated cloth, is equipped with a plurality of cross slabs on the shock attenuation cloth, and the both sides of shock attenuation cloth are equipped with perpendicular baffle. From this, control the shock attenuation cloth of distribution, the area of accepting the red date that drops has been increaseed, the perpendicular baffle of both sides can be avoided the red date to drop from the side, a plurality of cross slabs can prolong the life of shock attenuation cloth and can make the red date that drops, on the conveyer belt of slowly landing, avoid the excessive extrusion of red date, and block the red date in cross slab department, at the in-process of the rolling of last shock attenuation cloth, also can be transported in the conveyer belt, shock attenuation cloth adopts PVC plastic-coated cloth to have 100% waterproof performance, and have the mould proof concurrently, cold-resistant, ageing-resistant, advantages such as antistatic.

In some embodiments, the bottom of the storehouse body is erected through the frame, the top of the storehouse body is equipped with the funnel, the below of funnel is equipped with reposition of redundant personnel mechanism, and reposition of redundant personnel mechanism extends to the storehouse internal, the fan is installed in the lateral wall of the storehouse body, be equipped with the impurity discharge port on the just opposite storehouse body lateral wall of fan, the shale shaker is located the lower part of the storehouse body, be equipped with the little fruit slide rail that the slope set up under the shale shaker, the little fruit slide rail is fixed in the frame, one side of shale shaker has the big fruit export, one side below that the big fruit export was kept away from to the shale shaker is equipped with electric putter, one side big fruit discharge port that the storehouse body leaned on the big fruit export, big fruit discharge port department is equipped with the big fruit slide rail that the slope set up. From this, red date after the material loading conveyer will be picked drops into the funnel, get into reposition of redundant personnel mechanism, the red date shunts through reposition of redundant personnel mechanism, slowly pass through the fan, under the blowing of fan, the leaf, impurity such as dust blows to the impurity discharge port discharge storehouse body, red date after removing the impurity falls into the shale shaker, through the vibration, the small fruit falls down from the hole of shale shaker, get into the conveying of small fruit slide rail, the big fruit is detained on the shale shaker, realize big and small fruit separation, the big fruit is after the shale shaker is collected, the feeding is stopped in funnel department, electric putter's push rod stretches out and lifts up the shale shaker, the shale shaker is emptyd from big fruit export to the big fruit, the big fruit gets into the big fruit slide rail through the big fruit discharge port, realize big and small fruit letter sorting and collect.

In some embodiments, a switch plate is arranged in the funnel, two ends of the switch plate are rotatably arranged on the side wall of the funnel, the switch plate is connected with a steering engine, the steering engine is arranged on the outer side of the funnel, a discharging plate capable of moving up and down is arranged at the big fruit discharging port, and the discharging plate is connected with a discharging plate switch. From this, at the in-process of red date letter sorting, the stripper is located the below and closes big fruit discharge port, and after sorting out a quantitative red date, rotate to the closed condition through steering engine control switch board, start the stripper switch and open the stripper, electric putter lifts up shale shaker one side, and the red date of big fruit gets into big fruit slide rail, and big fruit is emptyd and is accomplished the back, and the shale shaker resets.

In some embodiments, the shunting mechanism is located below the switch board, the shunting mechanism includes two feeding rails which are distributed crosswise from left to right, the feeding rails are curved and have open tops, and the ends of the two feeding rails face to the directions of two sides of the bin body. From this, make the red date reposition of redundant personnel that gets into the funnel through two feeding rails and be two strands, the speed that the red date fell into the shale shaker from the funnel can be reduced to the feeding rail of crooked form, and the red date after the speed reduction is favorable to the fan to go on removing the miscellaneous to the red date, and the open structure of feeding rail also is favorable to the fan to go on removing the miscellaneous red date in the feeding rail, and the design of this feeding rail has improved the effect of removing the miscellaneous.

In some embodiments, the vibrating screen is rotatably installed on the bin body through a shaft rod, the shaft rod is located on the side of the big fruit outlet, springs are arranged at four corners of the bottom of the vibrating screen, a mounting plate is hung at the bottom of the vibrating screen, and the vibrating motor is fixed on the mounting plate and is provided with a protective cover. From this, four springs can reduce high-frequency vibration's shale shaker to the dynamic load of equipment, play the cushioning effect, are favorable to reducing red date surface damage, and when electric putter's push rod drive shale shaker, the shale shaker realized lifting or resetting of shale shaker around the axle rod at storehouse internal rotation.

The invention has the advantages that: the red date picking, collecting and impurity removing sorting system is scientific and reasonable in design and high in practicability, is suitable for large farm operation, the front and back or up and down positions of a mechanical large arm relative to a trunk are ingeniously controlled through a first hydraulic cylinder and a second hydraulic cylinder, the trunk is assisted to be clamped accurately by a mechanical gripper, the mechanical gripper is enabled to drive the trunk to vibrate by utilizing the exciting force generated by the centrifugal motion of an eccentric block of a vibration exciter, red dates can fall off without being picked manually, a foldable damping cloth is matched with a movable arc-shaped rack, the arc-shaped damping cloth is ingeniously unfolded to form the arc-shaped damping cloth, the fallen red dates are effectively caught, the fallen red dates are protected to the greatest extent, roll down to a moving transmission belt along an arc line of the damping cloth and are continuously conveyed to a bin body through a feeding conveyor, two bent feeding rails are distributed in a left-right cross manner to divide the red dates and reduce the moving speed of the red dates, improve the miscellaneous effect of removing of fan, utilize the shale shaker and the route of the big or small fruit letter sorting of rational design, ensure the accurate letter sorting of big or small fruit, this system has realized that the automation of red date is picked, collected, carried, goes miscellaneous, letter sorting, has formed assembly line operation, reduces the manpower, has improved work efficiency greatly.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a red date picking, collecting, impurity removing and sorting system according to the present invention;

FIG. 2 is a schematic view of the mounting of the vehicle to the picking mechanism and the collecting mechanism;

FIG. 3 is a side view of FIG. 2;

FIG. 4 is a top view of FIG. 2 with the shock absorbing cloth deployed;

FIG. 5 is a schematic perspective view of the collection mechanism and conveyor belt;

FIG. 6 is a top view of the rack and pinion drive assembly;

fig. 7 is a schematic perspective view of a picking mechanism;

fig. 8 is a schematic perspective view of the vibration exciter;

FIG. 9 is a front view of FIG. 8;

FIG. 10 is a cross-sectional view A-A of FIG. 9;

FIG. 11 is a cross-sectional view B-B of FIG. 10;

FIG. 12 is a schematic perspective view of the cull sorting mechanism with the loading conveyor;

FIG. 13 is a top view of the cull sorting mechanism;

FIG. 14 is a schematic cross-sectional view of C-C of FIG. 13;

FIG. 15 is a schematic cross-sectional view of D-D of FIG. 14;

fig. 16 is a schematic sectional view of E-E in fig. 15.

Detailed Description

The present invention will be further described with reference to the following embodiments.

As shown in fig. 1, a red date picking, collecting, impurity removing and sorting system according to an embodiment of the present invention includes a movable vehicle 100, a picking mechanism and a collecting mechanism mounted on the vehicle 100, and an impurity removing and sorting mechanism on one side.

As shown in fig. 2 and 7, the picking mechanism comprises a pedestal 10, a retractable robotic arm 11, and an openable or closable gripper 12. The base frame 10 is fixed on the vehicle 100, one end of the mechanical arm 11 is hinged to the base frame 10, the mechanical claw 12 is connected to the other end of the mechanical arm 11, the mechanical arm 11 can control the displacement of the mechanical claw 12, and the vibration exciter 13 is installed on the mechanical claw 12. The mechanical arm 11 controls the mechanical claw 12 to clamp the trunk, and the vibration exciter 13 generates an exciting force to drive the mechanical claw 12 to vibrate with the fruit tree, so that the red dates fall off.

As shown in fig. 3 to 4, the collecting mechanism includes a base 20, a rack and pinion gear assembly 21, a reel gear assembly 22, and a damping cloth 23. The base 20 is fixed to the vehicle 100, and the rack and pinion gear assembly 21 is mounted to the base 20. The reel transmission assembly 22 includes a reel 221 and a motor 222 (as shown in fig. 5), a support plate 24 is mounted on the upper portion of the side wall of the vehicle 100, two ends of the reel 221 are mounted on the support plate 24 through bearing seats, an output shaft of the motor 222 is connected with the reel 221, the damping cloth 23 is wound on the reel 221, the front end of the damping cloth 23 is fixed with the reel 221, and the tail end of the damping cloth 23 is connected with the top end of the rack 211 of the rack-and-pinion transmission assembly 21. The rack 211 is in an upward arc shape, and when the rack 211 extends out towards the side where the scroll 221 is located, the damping cloth 23 is driven to be unfolded. A gap for red dates to slide exists between the reel transmission assembly 22 and the side wall of the vehicle 100, a conveyor belt 3 is arranged in the gap, the conveyor belt 3 is located below the supporting plate 24, and one side of the conveyor belt 3 is fixedly installed on the side wall of the vehicle 100 to convey red dates collected on the damping cloth 23. The rack 211 stretches out gradually, and the shock attenuation cloth 23 expandes in step, because the rack 211 is the arc of upwarping, the shock attenuation cloth 23 that expandes completely also is the arc, and the red date drops on curved shock attenuation cloth 23, at the in-process of picking, conveyer belt 3 starts, and the red date rolls from arc shock attenuation cloth 23 and falls to conveyer belt 3 on, and next process is carried with the red date to conveyer belt 3.

As shown in fig. 1, the tail end of the conveyor belt 3 conveys the red dates to an impurity removing and sorting mechanism through a feeding conveyor 4, the impurity removing and sorting mechanism comprises a bin body 5, a fan 51 and a vibrating screen 7, the fan and the vibrating screen are arranged in the bin body 5, a vibrating motor 71 is arranged on the vibrating screen 7, and the vibrating screen 7 is provided with holes 701 for small fruits to pass through. Conveyer belt 3 carries the red date to material loading conveyer 4, and material loading conveyer 4 carries the red date to the storehouse body 5 of removing miscellaneous sorting mechanism in order, and the red date gets into storehouse body 5 after, under blowing of fan 51, impurity such as leaf, dust are blown away, and vibrating motor 71 starts shale shaker 7 and begins the vibration simultaneously, and through the vibration, the small fruit falls down from the hole 701 of shale shaker 7, and the big fruit is detained on shale shaker 7, realizes big or small fruit separation.

As shown in fig. 8, the robot arm 11 specifically includes a robot large arm 111, a robot small arm 112, and a first hydraulic cylinder 113. One end of the large mechanical arm 111 is sleeved outside the small mechanical arm 112, the end of the first hydraulic cylinder 113 is connected with the small mechanical arm 112, and the piston rod of the first hydraulic cylinder 113 is connected with the large mechanical arm 111. The gripper 12 is mounted on the front end of the arm 111, and the arm 112 is hinged to the base frame 10. A second hydraulic cylinder 14 is disposed between the base frame 10 and the mechanical arm 112. The cylinder body of the second hydraulic cylinder 14 is hinged to the side wall of the base frame 10, specifically, a fixing base 140 is installed at the side wall of the base frame 10, the bottom of the fixing base 140 is installed on the vehicle 100, and the cylinder body of the second hydraulic cylinder 14 is rotatably hinged to the fixing base 140. The piston rod of the second hydraulic cylinder 14 is hinged to the side wall of the mechanical arm 112, and the piston rod of the second hydraulic cylinder 14 extends and retracts to drive the mechanical arm 112 to rotate relative to the base frame 10. The relative positions of the small mechanical arm 112 and the large mechanical arm 111 are adjusted through the first hydraulic cylinder 113, so that the large mechanical arm 111 extends and retracts, the position of the mechanical gripper 12 is adjusted, and the mechanical gripper 12 is accurately conveyed to the side of a trunk to be picked. The small mechanical arm 112 is rotated relative to the base frame 10 through the extension and contraction of the second hydraulic cylinder 14, so that the position of the large mechanical arm 111 at the front end of the small mechanical arm 112 is raised or lowered, the mechanical claw 12 can clamp tree trunks with different heights, and the applicability of the device is improved.

As shown in fig. 8 to 11, the exciter 13 includes a hydraulic plunger motor 131, an eccentric shaft 133, a spring 135, and a vibration case 137. The spring 135 is installed in the vibration box 137 through a spring fixing member 136, the eccentric shaft 133 penetrates through the spring fixing member 136, both ends of the eccentric shaft 133 are installed in the vibration box 137 through bearings, and two fan-shaped eccentric blocks 134 which are vertically distributed are installed on the eccentric shaft 133. The hydraulic ram motor 131 is connected to an eccentric shaft 133 by a gearbox shaft 132, and the hydraulic ram motor 131 is bolted to one of the gripper arms 12 by a mounting plate 130. The gripper 12 is provided with a rubber block 121. The damage caused when the trunk is clamped can be reduced. The hydraulic plunger motor 131 is started, the eccentric block 134 rotates, the centrifugal motion is utilized to generate exciting force, the mechanical claw 12 and the tree trunk are driven to vibrate, the red dates are vibrated to fall, and in the picking process, the mechanical claw 12 is not directly contacted with the red dates, so that the red dates can be prevented from being crushed.

As shown in fig. 5 and 6, the rack and pinion assembly 21 includes a pinion shaft 212, and both ends of the pinion shaft 212 are rotatably mounted on the base 20 by brackets 213. The arc-shaped rack 211 is meshed with the gear shaft 212, rack pressing blocks 214 are arranged at the front end and the rear end of the support 213, the rack pressing blocks 214 are totally four, the rack pressing blocks 214 are installed on the base 20 through bolts, and the four rack pressing blocks 214 form a track for limiting the movement of the rack 211. One end of the gear shaft 212 is connected to a reduction motor 215. When the speed reducing motor 215 is started, the gear shaft 212 is driven to rotate, the arc-shaped rack 211 is meshed with the gear shaft 212, the arc-shaped rack 211 moves back and forth, the tail end of the shock-absorbing cloth 23 is connected with the top end of the rack 211, the rack 211 can play a role of supporting the shock-absorbing cloth 23, and meanwhile, the unfolded shock-absorbing cloth 23 is enabled to have an arc-shaped structure, so that the red dates falling off can be conveniently received. Fig. 3 shows the movement path of the rack 211, the rack 211 is under tension when extended, and the rack 211 is retracted after the deceleration motor 215 is reversed.

In the present embodiment, as shown in fig. 2 and 4, the base 20, the rack and pinion drive assembly 21 and the reel drive assembly 22 are provided in two sets, the picking mechanism is provided in one set, and the pedestal 10 of the picking mechanism is located between the two bases 20. The two groups of reel transmission components 22 are respectively connected with damping cloth 23, and a space is reserved between the two damping cloths 23. The damping cloth 23 is made of double-layer 4mm PVC plastic-coated cloth and is spliced in a heat-sealing mode, folds of 40mm are reserved at intervals of 300mm on the upper layer of the plastic-coated cloth to form a transverse partition plate 231, and 5mm is reserved at the edges of two sides of the damping cloth 23 to form a vertical partition plate 232. The damping cloth 23 is made of PVC plastic-coated cloth, so that the damping cloth 23 has 100% of waterproof performance and has the advantages of mildew resistance, cold resistance, aging resistance, static resistance and the like. Control the damping cloth 23 that distributes, increaseed the area of accepting the red date that drops, the perpendicular baffle 232 of both sides can avoid the red date to drop from the side, and a plurality of cross slabs 231 can prolong the life of damping cloth 23 and can make the red date that drops, slowly landing is to conveyer belt 3 on, avoids the red date to excessively extrude, and blocks the red date in cross slab 231 department, at the in-process of 23 rolling of last damping cloth, also can be transported in conveyer belt 3.

As shown in fig. 12 to 16, the bottom of the bin 5 of the impurity removing and sorting mechanism is erected by the rack 50, specifically, the top of the rack 50 is provided with a top plate 501, the top plate 501 is provided with a small fruit outlet 502, the bin 5 is mounted on the top plate 501, the upper part of the bin 5 is provided with an upper cover 503, and the upper cover 503 is provided with a funnel 6. The lower part of the funnel 6 is provided with a shunt mechanism which extends into the bin body 5. The fan 51 is arranged on the side wall of the bin body 5, and the side wall of the bin body 5 opposite to the fan 51 is provided with an impurity discharge port 52. The vibrating screen 7 is positioned at the lower part of the bin body 5, the vibrating screen 7 is rotatably arranged on the bin body 5 through a shaft rod 63, and two ends of the shaft rod 63 are arranged on the side wall of the bin body 5. The bottom of the vibrating screen 7 is suspended by an elongated mounting plate 711, the vibrating motor 71 is fixed to the mounting plate 711, and a protective cover 712 covers the vibrating motor 71. The springs 135 are mounted at the four corners of the bottom of the vibrating screen 7, and the springs 135 are located between the top plate 501 and the bottom of the vibrating screen 7 in the vibrating screen 7 screening process. The top of the vibrating screen 7 is open, so that red dates after impurity removal can fall into the vibrating screen 7 conveniently. The vibrating screen 7 is provided with surrounding baffles 702 on three sides, a big fruit outlet 70 is formed on one side without the surrounding baffles 702, the shaft rod 63 is positioned on the side of the big fruit outlet 70, and an electric push rod 72 is arranged below one side of the vibrating screen 7 far away from the big fruit outlet 70. When the push rod of the electric push rod 72 drives the vibrating screen 7, the vibrating screen 7 rotates around the shaft rod 63 in the bin body 5, so that the vibrating screen 7 is lifted or reset. A small fruit discharging opening 502 on the top plate 501 is aligned right below the vibrating screen 7, a small fruit slide rail 8 is obliquely arranged below the small fruit discharging opening 502, and the small fruit slide rail 8 is fixed on the rack 50. The big fruit outlet 504 is arranged at one side of the bin body 5 close to the big fruit outlet 70, and a big fruit slide rail 9 which is obliquely arranged is arranged at the outer side of the big fruit outlet 504. The red date impurity removing and sorting mechanism is provided with a feeding conveyor 4, and picked red dates can be automatically fed to a hopper 6.

The picked red dates are put into the funnel 6 and enter the flow dividing mechanism, the red dates are divided by the flow dividing mechanism and slowly pass through the fan 51, under the blowing of the fan 51, the impurities such as leaves, dust and the like are blown to the impurity discharge port 52 and discharged out of the bin body 5, simultaneously, the vibrating motor 71 starts the vibrating screen 7 to vibrate, the red dates after impurity removal fall into the vibrating screen 7, through vibration, the small fruits fall down from the holes 701 of the vibrating screen 7 and enter the small fruit slide rail 8 from the small fruit discharge port 502 for conveying away, the big fruits are retained on the vibrating screen 7 to realize the separation of the big fruits and the small fruits, and after the big fruits are collected on the vibrating screen 7, the feeding is stopped at the funnel 6, the push rod of the electric push rod 72 extends to lift the vibrating screen 7, the big fruits are poured out of the vibrating screen 7 from the big fruit outlet 70, the big fruits enter the big fruit slide rail 9 through the big fruit outlet 504, the red date impurity removing and sorting mechanism effectively realizes automatic impurity removing and large and small fruit sorting of red dates. The four springs 135 at the bottom of the vibrating screen 7 can reduce the dynamic load of the vibrating screen 7 vibrating at high frequency to the equipment, so that the vibration absorption effect is achieved, and the surface damage of the red dates is reduced.

As shown in fig. 14, in order to realize the feeding control of the hopper 6, a rotatable switch plate 61 is installed in the hopper 6, two ends of the switch plate 61 are installed on the side wall of the hopper 6 through shaft pins, the shaft pin at one end of the switch plate 61 is connected with a steering engine 62, and the steering engine 62 is installed outside the hopper 6. The steering engine 62 controls the switch board 61 to rotate, the electric push rod 72 acts on the vibrating screen 7 and is lifted to the reset process, the switch board 61 is in the closed state, and unsorted red dates can be prevented from being mixed in the sorted big fruits.

As shown in fig. 15 and 16, the shunt mechanism is located below the switch plate 61 and between the fan 51 and the impurity discharge port 52. The shunting mechanism comprises two feeding rails 63 which are distributed in a left-right cross manner, the feeding rails 63 are bent, the tops of the feeding rails are open, and the tail ends of the two feeding rails 63 face the directions of the two sides of the bin body 5. Make the red date reposition of redundant personnel that gets into funnel 6 through two feeding rails 63 and be two strands, crooked form feeding rail 63 can reduce the speed that the red date fell into shale shaker 7 from funnel 6, and the red date after the speed reduction is favorable to fan 51 to go on removing the miscellaneous to the red date, and feeding rail 63 opens the structure, also is favorable to fan 51 to go on removing the miscellaneous red date in feeding rail 63, and this feeding rail 63's design has improved the effect of removing the miscellaneous.

As shown in fig. 14, a stripper plate 53 which can move up and down is arranged outside the big fruit outlet 504, a stripper plate switch 531 is connected to the stripper plate 53, and the stripper plate switch 531 is arranged on the outer wall of the silo body 5. During the sorting process of red dates, the discharging plate 53 is positioned below and closes the big fruit discharging opening 504, when a certain amount of red dates are sorted out, the discharging plate switch 531 is started to open the discharging plate 53, and the big red dates enter the big fruit slide rail 9.

The working process of the system is as follows: when red dates need to be picked, the vehicle 100 moves to one side of a fruit tree, and the mechanical paw 12 is opened; the second hydraulic cylinder 14 drives the small mechanical arm 112 to rotate upwards, the first hydraulic cylinder 113 drives the large mechanical arm 111 to extend forwards relative to the small mechanical arm 112, the mechanical claw 12 is accurately moved to two sides of the trunk through the cooperation of the first hydraulic cylinder 113 and the second hydraulic cylinder 14, and the mechanical claw 12 is closed and clamps the trunk. Gear shaft 212 is driven to rotate by gear motor 215, and arc rack 211 and gear shaft 212 mesh, and rack 211 stretches out gradually, and motor 222 drive spool 221 rotates, and the rack 211 that stretches out gradually drives the synchronous expansion of shock attenuation cloth 23, because rack 211 is the arc of upwarping, the shock attenuation cloth 23 that expandes completely also is the arc, treats that shock attenuation cloth 23 expandes completely the back, and the trunk that gripper 12 grabbed is located the shock attenuation cloth 23 top of expandes. The vibration exciter 13 is started to drive the mechanical gripper 12 and the fruit tree to vibrate through the centrifugal motion of the internal eccentric block 134, so that the red dates are vibrated and fall on the damping cloth 23. In the picking process, the conveyor belt 3 is started, and after the red dates fall onto the arc-shaped damping cloth 23, most of the red dates can roll onto the conveyor belt 3 along the arc-shaped damping cloth 23. Conveyer belt 3 carries the red date to material loading conveyer 4, sends to funnel 6 in order again, through two crooked feeding rails 63 that cross distribution set up about, shunts and reduces the speed of red date motion to the red date, blows off the storehouse body 5 with impurity such as leaf, dust under the blowing of fan 51. Meanwhile, the red dates after impurity removal are subjected to vibration sorting through the vibrating screen 7, the small fruits fall down from the holes 701 of the vibrating screen 7 and enter the small fruit slide rail 8 from the small fruit discharge port 502, and the large fruits are retained on the vibrating screen 7, so that the separation of the large fruits and the small fruits is realized. After the big fruits are collected on the vibrating screen 7, the switch board 61 is closed, the red dates are stopped from being fed, the vibrating screen 7 is lifted through the electric push rod 72, the discharging board 53 is lifted, the big fruit discharging opening 504 is opened, and the big fruits are poured out of the vibrating screen 7 and enter the big fruit sliding rail 9 through the big fruit discharging opening 504. After picking, vibration exciter 13 stops vibrating, gear motor 215 drives rack 211 and contracts and motor 222 drives damping cloth 23 and winds in spool 221 simultaneously, and at the in-process of damping cloth 23 rolling, the red date that is detained on damping cloth 23 can all fall into on conveyer belt 3, gets into storehouse body 5 through material loading conveyer 4 until all red dates sort and accomplish.

The red date picking, collecting, impurity removing and sorting system is reasonable in design, strong in practicability, high in automation degree and suitable for large farm operation. The front and back or the upper and lower positions of the mechanical arm 111 relative to the trunk are ingeniously controlled through the first hydraulic cylinder 113 and the second hydraulic cylinder 14, the trunk is accurately clamped by the auxiliary mechanical claw 12, the vibration exciting force generated by the eccentric block 134 of the vibration exciter 13 is utilized, the mechanical claw 12 drives the trunk to vibrate, the red dates drop, and manual picking is not needed. The retractable shock absorption cloth 23 is matched with the movable arc-shaped rack 211, the arc-shaped shock absorption cloth 23 is formed by smart expansion, the dropped red dates are effectively caught, and the dropped red dates are protected to the greatest extent. The red date rolls along the pitch arc of shock attenuation cloth 23 and falls to the conveyer belt 3 of motion on, carries storehouse body 5 constantly, and the crooked feeding rail 53 that cross distribution set up about two shunts and reduces the speed of red date motion to the red date, improves fan 51's miscellaneous effect, utilizes shale shaker 7 and the route of the big or small fruit of rational design letter sorting, ensures the accurate letter sorting of big or small fruit. The system realizes automatic picking, collection, conveying, impurity removal and sorting of the red dates, forms assembly line operation, reduces manpower and greatly improves working efficiency.

While only certain embodiments of the present invention have been described, it should be understood that various other changes and modifications could be made by one skilled in the art without departing from the spirit and scope of the invention.

Claims

1. A red date picking, collecting, impurity removing and sorting system is characterized by comprising a movable vehicle, a picking mechanism, a collecting mechanism and an impurity removing and sorting mechanism, wherein the picking mechanism and the collecting mechanism are arranged on the vehicle;

the collecting mechanism comprises a gear rack transmission assembly, a scroll transmission assembly and damping cloth, the gear rack transmission assembly is mounted on a vehicle through a base, the damping cloth can be wound on the scroll transmission assembly, the front end of the damping cloth is fixed with the scroll transmission assembly, the tail end of the damping cloth is connected with the top end of a rack of the gear rack transmission assembly, the rack is in an upward-warped arc shape, the damping cloth is unfolded to receive picked red dates when the rack extends out towards the side far away from the vehicle, a gap for the red dates to slide exists between the scroll transmission assembly and the side wall of the vehicle, and a conveying belt is arranged in the gap to convey the red dates collected on the damping cloth;

the tail end of the conveying belt conveys the red dates to an impurity removing and sorting mechanism through a feeding conveyor, the impurity removing and sorting mechanism comprises a bin body, a fan and a vibrating screen, the fan and the vibrating screen are arranged in the bin body, a vibrating motor is installed on the vibrating screen, and the vibrating screen is provided with holes for small fruits to pass through.

2. The red date picking, collecting, impurity removing and sorting system according to claim 1, wherein the mechanical arm comprises a mechanical large arm, a mechanical small arm and a first hydraulic cylinder, the mechanical small arm is arranged at one end of the mechanical large arm in a sleeved mode, a cylinder body and a piston rod of the first hydraulic cylinder are connected to the mechanical small arm and the mechanical large arm respectively, the mechanical claw is installed at the front end of the mechanical large arm and hinged to the base frame, a second hydraulic cylinder is arranged between the base frame and the mechanical small arm, the cylinder body of the second hydraulic cylinder is hinged to a side wall of the base frame, the piston rod of the second hydraulic cylinder is hinged to a side wall of the mechanical small arm, the piston rod of the second hydraulic cylinder stretches out and draws back to drive the mechanical small arm to rotate relative to the base frame, and a rubber block is installed on the mechanical claw.

3. The red date picking, collecting, impurity removing and sorting system as claimed in claim 2, wherein the vibration exciter comprises a hydraulic plunger motor, an eccentric shaft, a spring and a vibrating box body, the spring is mounted in the box body through a spring fixing member, the eccentric shaft penetrates through the spring fixing member, two ends of the eccentric shaft are mounted in the vibrating box body through bearings, the eccentric shaft is provided with an eccentric block, and the hydraulic plunger motor is connected to the eccentric shaft through a gear box shaft.

4. The red date picking, collecting, impurity removing and sorting system according to claim 3, wherein the gear rack transmission assembly comprises a gear shaft, two ends of the gear shaft are rotatably erected on the base through a support, the arc-shaped racks are meshed with the gear shaft, rack pressing blocks are arranged at the front end and the rear end of the support respectively, the rack pressing blocks form a track for limiting movement of the racks, and the gear shaft is connected with a speed reduction motor.

5. The red date picking, collecting, impurity removing and sorting system as claimed in claim 4, wherein the reel transmission assembly comprises a reel and a motor, a support plate is mounted on the upper portion of a side wall of the vehicle, two ends of the reel are mounted on the support plate through bearing seats, an output shaft of the motor is connected with the reel, the damping cloth is wound on the reel, the conveyor belt is located below the support plate, and one side of the conveyor belt is mounted on the side wall of the vehicle.

6. The red date picking, collecting, impurity removing and sorting system as claimed in claim 5, wherein the bases, the rack and pinion transmission assemblies and the reel transmission assemblies are provided with two groups, the picking mechanism is provided with one group, the base frame of the picking mechanism is located between the two bases, the two groups of reel transmission assemblies are respectively connected with damping cloth, a space is reserved between the two damping cloths, the damping cloth is made of PVC plastic-coated cloth, the damping cloth is provided with a plurality of transverse partition plates, and the two sides of the damping cloth are provided with vertical partition plates.

7. The red date picking, collecting, impurity removing and sorting system as claimed in any one of claims 1 to 6, wherein the bottom of the bin body is erected by a frame, a funnel is arranged at the top of the bin body, a flow dividing mechanism is arranged below the funnel and extends into the bin body, the fan is mounted on a side wall of the bin body, an impurity discharge port is arranged on the side wall of the bin body opposite to the fan, the vibrating screen is located at the lower part of the bin body, a small fruit slide rail is obliquely arranged under the vibrating screen, the small fruit slide rail is fixed on the frame, a large fruit outlet is arranged on one side of the vibrating screen, an electric push rod is arranged under one side of the vibrating screen away from the large fruit outlet, a large fruit discharge port is arranged on one side of the bin body close to the large fruit outlet, and a large fruit slide rail is obliquely arranged at the large fruit discharge port.

8. The red date picking, collecting, impurity removing and sorting system as claimed in claim 7, wherein a switch plate is arranged in the hopper, two ends of the switch plate are rotatably mounted on the side wall of the hopper, the switch plate is connected with a steering engine, the steering engine is mounted on the outer side of the hopper, a discharging plate capable of moving up and down is arranged at a big fruit discharging port, and the discharging plate is connected with a discharging plate switch.

9. The red date picking, collecting, impurity removing and sorting system according to claim 8, wherein the flow dividing mechanism is located below the switch board, the flow dividing mechanism comprises two feeding rails which are distributed in a left-right crossing manner, the feeding rails are curved, the tops of the feeding rails are open, and the tail ends of the two feeding rails face to the directions of two sides of the bin body.

10. The red date picking, collecting, impurity removing and sorting system as claimed in claim 9, wherein the vibrating screen is rotatably mounted on the bin body through a shaft rod, the shaft rod is located on the side of the big fruit outlet, springs are arranged at four corners of the bottom of the vibrating screen, a mounting plate is hung at the bottom of the vibrating screen, the vibrating motor is fixed on the mounting plate, and a protective cover is arranged on the vibrating motor.