CN117256314B - Automatic fruit collecting device and method for stringed tomatoes - Google Patents
Automatic fruit collecting device and method for stringed tomatoes Download PDFInfo
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- CN117256314B CN117256314B CN202311542813.9A CN202311542813A CN117256314B CN 117256314 B CN117256314 B CN 117256314B CN 202311542813 A CN202311542813 A CN 202311542813A CN 117256314 B CN117256314 B CN 117256314B
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- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 123
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 23
- 240000003768 Solanum lycopersicum Species 0.000 title abstract description 116
- 230000007246 mechanism Effects 0.000 claims description 79
- 239000004744 fabric Substances 0.000 claims description 19
- 238000005096 rolling process Methods 0.000 claims description 19
- 238000012216 screening Methods 0.000 claims description 14
- 238000010008 shearing Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 238000007664 blowing Methods 0.000 claims description 3
- 241000227653 Lycopersicon Species 0.000 claims 7
- 235000012055 fruits and vegetables Nutrition 0.000 abstract description 3
- 238000003306 harvesting Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 10
- 241000196324 Embryophyta Species 0.000 description 6
- 230000001681 protective effect Effects 0.000 description 6
- 239000002699 waste material Substances 0.000 description 5
- 235000003953 Solanum lycopersicum var cerasiforme Nutrition 0.000 description 4
- 240000003040 Solanum lycopersicum var. cerasiforme Species 0.000 description 4
- 244000309464 bull Species 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 238000005303 weighing Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 244000141353 Prunus domestica Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000002028 premature Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/90—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in food processing or handling, e.g. food conservation
Abstract
The invention relates to the technical field of greenhouse fruit and vegetable harvesting, and discloses an automatic fruit collecting device and method for string tomatoes.
Description
Technical Field
The invention relates to the technical field of greenhouse fruit and vegetable harvesting, in particular to an automatic fruit collecting device for stringed tomatoes.
Background
In order to ensure picking quality, when the tomatoes (cherry tomatoes) are picked, the tomatoes (cherry tomatoes) are required to be picked in strings, the growing environment of the tomatoes (cherry tomatoes) is complex, the natural growing state of the tomatoes (cherry tomatoes) is random and various, the spatial layout of crop branches (vines), true leaves, brackets and the like and fruits and vegetables is complex, the shape of the tomatoes is complex and various, the number of fruit strings and fruits planted is large, each plant can obtain a plurality of strings all year round, and generally each string has a plurality of tomato fruits, so that the tomatoes are picked in strings, longer time and larger labor force are consumed, and picking operation can be finished by using a picking robot to improve picking efficiency and save labor force.
However, the existing picking robot can only realize automatic picking of tomato strings, stems and leaves falling in the picking process or ripe fruits are rolled by the device to cause difficult cleaning, the picking work of subsequent workers is difficult to be caused in a fruit basket for picking, the picking progress is affected, and the collection and placement of the tomato strings are usually realized manually.
Disclosure of Invention
Aiming at the defects of the prior art, the invention solves the technical problems by adopting the following technical scheme: the invention discloses an automatic fruit collecting device for tomatoes in strings, which comprises a picking mechanism, wherein the top of the picking mechanism is fixedly connected with a collecting mechanism, a pretreatment mechanism is arranged above the collecting mechanism, the bottom of the pretreatment mechanism is fixedly connected with the top of the picking mechanism, storage mechanisms are symmetrically arranged on the outer surface of the pretreatment mechanism, and the bottom of the storage mechanisms is rotationally connected with the top of the picking mechanism;
the pretreatment mechanism comprises a telescopic column, the bottom of the telescopic column is fixedly connected with the top of the picking mechanism, the top of the telescopic column is fixedly connected with a collecting box, the top of the collecting box is symmetrically provided with a cover plate, the bottom of the cover plate is fixedly connected with the top of the collecting box, the top of the cover plate is fixedly connected with a blower, the inside of the collecting box is symmetrically provided with a conveyor belt, the outer wall of the conveyor belt is rotationally connected with the inner wall of the collecting box, the middle shaft of the top of the collecting box is fixedly connected with a screening assembly, the outer surface of the screening assembly is symmetrically provided with a selecting assembly, the bottom of the selecting assembly is fixedly connected with the top of the collecting box, the lower part of the cover plate is provided with a rolling assembly, the outer wall of rolling element rotates with the inner wall of collecting box to distinguish the cluster tomato through setting for the gram weight to collect respectively through placing on different conveyer belts, reduce follow-up staff and select the work of big or small fruit, select the subassembly to automatic to cut immature or rotten fruit and unnecessary stem leaf on the cluster tomato, strengthen the picking quality of cluster tomato, the debris that prunes advances together through the conveyer belt following the cluster tomato, reach rolling element after, rolling element promotes the cluster tomato, make debris and cluster tomato separation, debris drops in the collecting box, the both ends of collecting box set up certain radian, the cooperation air-blower avoids debris to drop, square macropore is seted up to the bottom of collecting box, make debris directly fall into the debris box inside, convenient centralized processing.
Preferably, the picking mechanism comprises a roller, an organic table is arranged at the top of the roller, the bottom of the machine table is rotationally connected with the outer wall of the roller, a base is fixedly connected with the top of the machine table, a mechanical arm is fixedly connected with the top of the base, and a first shearing knife is rotationally connected with the top of the mechanical arm.
Preferably, the collection mechanism comprises a fixed column, the bottom of fixed column and the top fixed connection of board, the outer wall of fixed column rotates and is connected with the support, the inside of support is provided with the bull stick, the outer wall fixedly connected with filter cloth of bull stick, the one end that the bull stick was kept away from to the filter cloth and the opposite side fixed connection of support, the first telescopic link of outer wall fixedly connected with of support, the one end that the support was kept away from to the first telescopic link is rotated with the outer wall of collection box and is connected, the bottom of support is provided with the glove compartment, the bottom of glove compartment and the top fixed connection of board, the opposite side of glove compartment inner wall rotates and is connected with the pivot, the surface of pivot evenly is provided with the revolving rack, the inner wall of revolving rack and the outer wall fixed connection of pivot, the one end that the pivot was kept away from to the revolving rack rotates and is connected with the rapping bar, the outer wall that the rapping bar contacts with the top of filter cloth.
Preferably, the screening assembly comprises a supporting plate, the bottom of backup pad and the top fixed connection of collecting box, the backup pad uses the collecting box to set up as central symmetry, the opposite side of backup pad rotates and is connected with accepts the board, it has gravity detection module to accept the top fixedly connected with of board, gravity detection module's top fixedly connected with holds the dish, it has the carriage to accept the top sliding connection of board, the outer wall of carriage cup joints with the inner wall that holds the dish mutually, the inner wall rotation of carriage is connected with the roller bearing, and the weight of the cluster tomato is emptyd to the right side to the cluster tomato that will be higher than the gram weight of setting for, and the cluster tomato that is less than the gram weight of setting is emptyd to the left side, and the carriage is convenient for place unstably to lead to the cluster tomato to drop the differentiation effect through weighing from vertical state change into horizontal state at the in-process that the cluster tomato was placed.
Preferably, the selecting assembly comprises a turntable, a motor is fixedly connected to the top of the turntable, a supporting rod is rotatably connected to the outer wall of the motor, one end, far away from the motor, of the supporting rod is rotatably connected with a mounting groove, and a second shearing knife is slidably connected to the inner wall of the mounting groove.
Preferably, the rolling assembly comprises an interception rod, the outer wall of the interception rod is rotationally connected with the inner wall of the collecting box, a protecting shell is uniformly arranged on the outer wall of the interception rod, the inner wall of the protecting shell is fixedly connected with the outer wall of the interception rod, a second telescopic rod is uniformly arranged in the protecting shell, the outer wall of the second telescopic rod is fixedly connected with the outer wall of the interception rod, one end of the second telescopic rod, which is far away from the protecting shell, is fixedly connected with a push plate, the outer wall of the second telescopic rod is sleeved with the inner wall of the protecting shell, and is matched with a blower to blow sundries to the bottom of the collecting box, so that the processing of stringed tomatoes is completed, the working time of manually removing bad fruits and stems and leaves is shortened, and the quality of products is improved.
Preferably, the storage mechanism comprises a slide, the bottom of slide is rotated with the top of board and is connected, the slide uses pretreatment mechanism to set up as central symmetry, the opposite side of slide evenly is provided with the fixture block, the outer wall of fixture block and the inner wall sliding connection of slide, the top of fixture block is provided with collects the basket, collect the bottom of basket and the top looks joint of fixture block, after filling, the fixture block drives the collection basket that fills and removes the terminal of slide, and the next collection basket continues to hold the cluster tomato simultaneously, waits that the staff to move away or unify to picking and finish transporting away, when not influencing picking process, need not pause after filling, can continuous operation, improves work efficiency.
An automatic fruit collecting method for tomato strings comprises the following steps:
s1: the picking mechanism drives the device to move, the ripe tomatoes are sheared and picked, fallen leaves are blocked by the filter cloth and fall into the glove box;
s2: weight distinguishing is carried out on the picked tomatoes, and collection and placement are respectively carried out;
s3: checking picked tomatoes, shearing off bad and immature fruits, vibrating and blowing and selecting by a blower to enable sundries to enter a collecting box, and falling into a sundry box for unified treatment;
s4: and aligning the collecting baskets with the feed opening respectively, and collecting the pretreated tomatoes in strings.
The beneficial effects of the invention are as follows:
1. according to the invention, the collecting mechanism is arranged, the rotating angle of the bracket is determined by the distance between the machine table and the tomatoes, so that the plants can be closed as far as possible under the condition of not damaging the plants, fallen leaves or fruits are collected, the unfolding length of the filter cloth is changed by rotating the rotating rod, the collecting range is flexibly controlled by matching with the bracket, the filter cloth is made of a material with certain elasticity, the rotating shaft drives the rotating frame to rotate, the knocking rod is beaten on the filter cloth, the sliding of the leaves or fruits is accelerated, the leaves or fruits can be quickly moved into the sundries box, the fallen leaves or fruits are cleaned during picking, the sundries are prevented from falling to the ground to clamp the roller, the cleaning of the device is kept, and meanwhile, the picking progress is prevented from being influenced.
2. According to the invention, the pretreatment mechanism is arranged, the telescopic column drives the collecting box to move up and down in cooperation with the collecting mechanism, so that the picking mechanism is convenient for picking tomatoes in strings at different distances, the picked tomatoes in strings are placed on the screening component for weight detection, the tomatoes in strings are distinguished by setting gram weights, and are respectively collected by being placed on different conveying belts, so that the work of selecting fruits of different sizes by subsequent workers is reduced, the picking component automatically cuts immature or rotten fruits and redundant stems and leaves on the tomatoes in strings, the picking quality of the tomatoes in strings is enhanced, the pruned sundries advance along with the tomatoes in strings through the conveying belts, after reaching the rolling component, the rolling component pushes the tomatoes in strings, the sundries are separated from the tomatoes in strings, the two ends of the collecting box are provided with a certain radian, the sundries are prevented from falling through the blower, and square macropores are arranged at the bottom of the collecting box, so that the sundries directly fall into the sundries box, and the centralized processing is convenient.
3. According to the invention, the screening assembly is arranged, the string tomatoes are placed on the containing tray, the weight of the string tomatoes is measured through the gravity detection module, the string tomatoes with the gram weights higher than the set gram weights are dumped to the right side, the string tomatoes with the gram weights lower than the set gram weights are dumped to the left side, the sliding frame is convenient for changing the string tomatoes from a vertical state to a horizontal state in the process from picking to placing, and poor distinguishing effect caused by falling of the string tomatoes without weighing due to unstable placement of the mechanical arm is avoided.
4. According to the invention, the rolling assembly is arranged, the tomatoes are trimmed and then conveyed to the interception rod by the conveyor belt, the second telescopic rod arranged on the interception rod drives the push plate to irregularly stir the tomatoes, so that gaps are formed between the tomatoes and the sundries which are sheared off, and the sundries are blown to the bottom of the collecting box by the blower, so that the tomatoes are processed, the working time of manually removing bad fruits and stems and leaves is reduced, and the quality of products is improved.
Drawings
FIG. 1 is a front view of the entire present invention;
FIG. 2 is a rear elevational view of the entire present invention;
FIG. 3 is a schematic view of the structure of the picking mechanism of the present invention;
FIG. 4 is a schematic view of the structure of the collection mechanism of the present invention;
FIG. 5 is a schematic view of the structure of the pretreatment mechanism of the present invention;
FIG. 6 is a schematic view of the storage mechanism of the present invention;
FIG. 7 is a schematic view of the structure of the screening assembly of the present invention;
FIG. 8 is a schematic view of the structure of the picking assembly of the present invention;
FIG. 9 is a schematic view of the construction of the rolling assembly of the present invention;
FIG. 10 is a schematic diagram of the automated fruit gathering method of the present invention;
in the figure: 1. a picking mechanism; 101. a roller; 102. a machine table; 103. a base; 104. a mechanical arm; 105. a first shearing blade; 2. a collection mechanism; 201. fixing the column; 202. a bracket; 203. a rotating rod; 204. a filter cloth; 205. a first telescopic rod; 206. a rotating shaft; 207. a rotating frame; 208. knocking the rod; 209. a glove box; 3. a pretreatment mechanism; 301. a telescopic column; 302. a collection box; 303. a cover plate; 304. a blower; 305. a conveyor belt; 306. a screening component; 3061. a support plate; 3062. a receiving plate; 3063. a gravity detection module; 3064. a holding tray; 3065. a carriage; 3066. a roller; 307. selecting a component; 3071. a turntable; 3072. a motor; 3073. a support rod; 3074. a mounting groove; 3075. a second shearing blade; 308. a rolling assembly; 3081. an interception bar; 3082. a second telescopic rod; 3083. a push plate; 3084. a protective shell; 4. a storage mechanism; 401. a slideway; 402. a clamping block; 403. and (5) collecting a basket.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description. The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
An embodiment of an automatic fruit-collecting device and method for tomato strings according to an embodiment of the present invention will be described below with reference to fig. 1 to 6.
As shown in fig. 1-6, the automatic fruit collecting device for the tomatoes in strings comprises a picking mechanism 1, the top of the picking mechanism 1 is fixedly connected with a collecting mechanism 2, a pretreatment mechanism 3 is arranged above the collecting mechanism 2, the bottom of the pretreatment mechanism 3 is fixedly connected with the top of the picking mechanism 1, the outer surface of the pretreatment mechanism 3 is symmetrically provided with a storage mechanism 4, the bottom of the storage mechanism 4 is rotationally connected with the top of the picking mechanism 1, the picking mechanism 1 moves sequentially along the planting direction of the tomatoes in strings during operation, the tomatoes in mature strings are automatically sheared and picked, stems and leaves of the plants can be touched in the picking process and fall down, the tomatoes in strings are caught and processed by the collecting mechanism 2 to avoid the device from being blocked or toppled down, obstacles are reduced, the tomatoes in strings higher than the preset gram weight are toppled to the right side, the tomatoes in strings lower than the preset gram weight are left side, the fruits in strings are distinguished, the manual selection workload is reduced, the pretreatment mechanism 3 further detects the selected strings, the single tomatoes in the process and the ripe strings and the ripe tomatoes in the strings are separated from the strings by the collecting mechanism 4, and the waste is concentrated and the waste is collected by the concentrated and concentrated by the collecting mechanism to be concentrated, and the waste is collected by the concentrated and the concentrated in the processing mechanism.
The pretreatment mechanism 3 comprises a telescopic column 301, the bottom of the telescopic column 301 is fixedly connected with the top of the picking mechanism 1, the top of the telescopic column 301 is fixedly connected with a collecting box 302, the top of the collecting box 302 is symmetrically provided with a cover plate 303, the bottom of the cover plate 303 is fixedly connected with the top of the collecting box 302, the top of the cover plate 303 is fixedly connected with a blower 304, the inside of the collecting box 302 is symmetrically provided with a conveyor belt 305, the outer wall of the conveyor belt 305 is rotationally connected with the inner wall of the collecting box 302, the middle shaft of the top of the collecting box 302 is fixedly connected with a screening component 306, the outer surface of the screening component 306 is symmetrically provided with a selecting component 307, the bottom of the selecting component 307 is fixedly connected with the top of the collecting box 302, a rolling component 308 is arranged below the cover plate 303, the outer wall of the rolling component 308 is rotationally connected with the inner wall of the collecting box 302, the telescopic column 301 drives the collecting box 302 to move up and down in cooperation with the collecting mechanism 2, the picking mechanism 1 is convenient for picking the string tomatoes with different distances, the picked string tomatoes are placed on the screening component 306 for weight detection, the string tomatoes are distinguished by setting gram weights and are respectively collected by being placed on different conveying belts 305, the work of selecting fruits with different sizes by subsequent workers is reduced, the picking component 307 automatically cuts immature or rotten fruits and redundant stems and leaves on the string tomatoes, the picking quality of the string tomatoes is enhanced, the pruned sundries advance along with the string tomatoes through the conveying belt 305, after reaching the rolling component 308, the rolling component 308 pushes the string tomatoes to separate the sundries from the string tomatoes, the sundries fall into the collecting box 302, two ends of the collecting box 302 are provided with a certain radian and matched with the blower 304 to avoid the sundries from falling, the bottom of the collecting box 302 is provided with square macropores, the sundries directly fall into the sundries box 209, and the centralized treatment is convenient.
Picking mechanism 1 includes gyro wheel 101, and gyro wheel 101's top is provided with board 102, and board 102's bottom is connected with gyro wheel 101's outer wall rotation, and board 102's top fixedly connected with base 103, base 103's top fixedly connected with arm 104, arm 104's top rotation is connected with first shearing sword 105, and arm 104 flexibility ratio is high, can adjust the angle wantonly, and first shearing sword 105 is accurate to cut the cluster tomato.
The collecting mechanism 2 comprises a fixed column 201, the bottom of the fixed column 201 is fixedly connected with the top of the machine 102, the outer wall of the fixed column 201 is rotationally connected with a bracket 202, a rotating rod 203 is arranged in the bracket 202, the outer wall of the rotating rod 203 is fixedly connected with a filter cloth 204, one end of the filter cloth 204, which is far away from the rotating rod 203, is fixedly connected with the opposite side of the bracket 202, the outer wall of the bracket 202 is fixedly connected with a first telescopic rod 205, one end of the first telescopic rod 205, which is far away from the bracket 202, is rotationally connected with the outer wall of a collecting box 302, the bottom of the bracket 202 is provided with a sundry box 209, the bottom of the sundry box 209 is fixedly connected with the top of the machine 102, the opposite side of the inner wall of the sundry box 209 is rotationally connected with a rotating shaft 206, the outer surface of the rotating shaft 206 is uniformly provided with a rotating frame 207, the inner wall of the rotating frame 207 is fixedly connected with the outer wall of the rotating shaft 206, the one end that pivot 206 was kept away from to revolving rack 207 rotates and is connected with and beats pole 208, beat the outer wall of pole 208 and the top of filter cloth 204 and contact, the rotation angle of support 202 is decided to the distance between board 102 and the cluster tomato, make it can be as close as possible under the condition of not destroying the plant, collect the blade or the fruit that fall down, make the expansion length of filter cloth 204 change through the rotation of bull stick 203, cooperate support 202 nimble control to collect the scope, filter cloth 204 is the material that has certain elasticity, pivot 206 drives revolving rack 207 and rotates, beat pole 208 on filter cloth 204, accelerate the slip of leaf or fruit, make it get into in the glove box 209 fast, clear up the blade or the fruit that drop when picking, avoid debris to fall to the ground and block gyro wheel 101, keep the cleanness of device avoid influencing the picking progress simultaneously.
The storage mechanism 4 comprises a slide way 401, the bottom of the slide way 401 is rotationally connected with the top of the machine table 102, the slide way 401 is symmetrically arranged by taking the pretreatment mechanism 3 as a center, clamping blocks 402 are uniformly arranged on opposite sides of the slide way 401, the outer walls of the clamping blocks 402 are in sliding connection with the inner walls of the slide way 401, a collecting basket 403 is arranged at the top of the clamping blocks 402, the bottom of the collecting basket 403 is clamped with the top of the clamping blocks 402, picked fruits are placed in the collecting basket 403, the collecting basket 403 is driven by the clamping blocks 402 to be close to the tail end of the collecting box 302, the tomatoes in strings fall into the collecting basket 403 after being pretreated, after being filled, the clamping blocks 402 drive the filled collecting basket 403 to move to the tail end of the slide way 401, meanwhile, the next collecting basket 403 continues to contain the tomatoes in strings, and the process of picking is not influenced, and the tomatoes in strings do not need to pause after being filled, so that the tomatoes can continuously work, and the working efficiency is improved.
The specific working procedure is as follows:
during operation, the picking mechanism 1 sequentially moves along the planting direction of the tomatoes, automatically cuts and picks the ripe tomatoes, stems and leaves of plants can be touched in the picking process and fall down, the tomatoes are caught and treated by the collecting mechanism 2, the situation that the device runs is prevented from being blocked or toppled down is reduced, the obstacles are reduced, the picked tomatoes are detected by the pretreatment mechanism 3 in weight, the tomatoes with the weight higher than the set gram weight are toppled to the right side, the tomatoes with the weight lower than the set gram weight are toppled to the left side, the fruit sizes of the tomatoes are distinguished, the workload of manual selection is reduced, the pretreatment mechanism 3 further detects the tomatoes with the selected and finished tomato strings, the single fruits with the premature fruits and the excessive stems and leaves are trimmed, the trimmed waste is separated from the tomatoes with the tomato strings, the waste enters the collecting mechanism 2 for centralized treatment, the trimmed tomatoes are concentrated in the storing mechanism 4, and the tomatoes wait for picking to be completed, and the tomatoes are transported by workers uniformly.
In a second embodiment, an automatic fruit collecting device and method for tomato strings according to an embodiment of the present invention will be described below with reference to fig. 1 to 10.
As shown in fig. 1-10, in the automatic fruit collecting device for string tomatoes according to the present invention, on the basis of the first embodiment, the screening component 306 comprises a supporting plate 3061, the bottom of the supporting plate 3061 is fixedly connected with the top of the collecting box 302, the supporting plate 3061 is symmetrically arranged with the collecting box 302 as a center, the opposite sides of the supporting plate 3061 are rotatably connected with a receiving plate 3062, the top of the receiving plate 3062 is fixedly connected with a gravity detection module 3063, the top of the gravity detection module 3063 is fixedly connected with a containing plate 3064, the top of the receiving plate 3062 is slidably connected with a sliding frame 3065, the outer wall of the sliding frame 3065 is sleeved with the inner wall of the containing plate 3064, the inner wall of the sliding frame 3065 is rotatably connected with a rolling shaft 3066, string tomatoes are placed on the containing plate 3064, the weight of the string tomatoes is measured by the gravity detection module 3063, the string tomatoes higher than the set gram weight are inclined to the right side, the string tomatoes lower than the set gram weight are prevented from falling to the left side, the sliding frame 3065 is convenient to change from a vertical state to a horizontal state in the process of picking process, and the mechanical arm 104 is prevented from falling down to a poor weighing effect.
The selecting assembly 307 comprises a rotary table 3071, a motor 3072 is fixedly connected to the top of the rotary table 3071, a supporting rod 3073 is rotatably connected to the outer wall of the motor 3072, a mounting groove 3074 is rotatably connected to one end, far away from the motor 3072, of the supporting rod 3073, a second shearing knife 3075 is slidably connected to the inner wall of the mounting groove 3074, the second shearing knife 3075 flexibly rotates, immature fruits are sheared from the tomatoes in series through automatic identification, and the product quality is improved.
The rolling component 308 comprises an interception rod 3081, the outer wall of the interception rod 3081 is rotationally connected with the inner wall of the collecting box 302, a protective shell 3084 is uniformly arranged on the outer wall of the interception rod 3081, the inner wall of the protective shell 3084 is fixedly connected with the outer wall of the interception rod 3081, a second telescopic rod 3082 is uniformly arranged in the protective shell 3084, the outer wall of the second telescopic rod 3082 is fixedly connected with the outer wall of the interception rod 3081, one end, far away from the protective shell 3084, of the second telescopic rod 3082 is fixedly connected with a push plate 3083, the outer wall of the second telescopic rod 3082 is sleeved with the inner wall of the protective shell 3084, after the tomatoes are trimmed, the tomatoes are conveyed to the interception rod 3081 by a conveying belt 305, the push plate 3083 is driven to irregularly stir the tomatoes, gaps are formed between the tomatoes and the cut-off sundries, and the bottom of the collecting box 302 is blown by a blower 304, the processing of the tomatoes is completed, the manual removal of the tomatoes and the working time of the fruits and stems are improved.
An automatic fruit collecting method for tomato strings comprises the following steps:
s1: the picking mechanism 1 drives the device to move, the ripe tomatoes are sheared and picked, fallen leaves are blocked by the filter cloth 204, and fall into the glove box 209;
s2: weight distinguishing is carried out on the picked tomatoes, and collection and placement are respectively carried out;
s3: inspecting the picked tomatoes, shearing off the bad and immature fruits, vibrating and blowing by a blower 304 to make sundries enter a collecting box 302, and falling into a sundry box 209 for unified treatment;
s4: the collection baskets 403 are aligned with the feed openings, respectively, and the pre-treated tomato strings are collected.
The specific working procedure is as follows:
during operation, the string tomatoes are placed on the containing tray 3064, the weight of the string tomatoes is measured through the gravity detection module 3063, the string tomatoes with the gram weights higher than the preset gram weights are poured to the right side, the string tomatoes with the gram weights lower than the preset gram weights are poured to the left side, the sliding frame 3065 is convenient to change from a vertical state to a horizontal state in the process of picking and placing the string tomatoes, immature fruits are sheared off from the string tomatoes through automatic identification, the string tomatoes are conveyed to the interception rod 3081 through the conveying belt 305 after being sheared, the second telescopic rod 3082 arranged on the interception rod 3081 drives the pushing plate 3083 to irregularly stir the string tomatoes, gaps are formed between the string tomatoes and the sheared sundries, and the cut sundries are blown to the bottom of the collection box 302 in cooperation with the blower 304, so that the processing of the string tomatoes is completed.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art and which are included in the embodiments of the present invention without the inventive step, are intended to be within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (3)
1. The utility model provides an automatic fruit device that gathers of cluster tomato, includes picking mechanism (1), its characterized in that: the top of the picking mechanism (1) is fixedly connected with a collecting mechanism (2), a pretreatment mechanism (3) is arranged above the collecting mechanism (2), the bottom of the pretreatment mechanism (3) is fixedly connected with the top of the picking mechanism (1), storage mechanisms (4) are symmetrically arranged on two sides of the pretreatment mechanism (3), and the bottom of the storage mechanisms (4) is rotationally connected with the top of the picking mechanism (1);
the pretreatment mechanism (3) comprises a telescopic column (301), the bottom of the telescopic column (301) is fixedly connected with the top of the picking mechanism (1), the top of the telescopic column (301) is fixedly connected with a collecting box (302), the top of the collecting box (302) is symmetrically provided with a cover plate (303), the bottom of the cover plate (303) is fixedly connected with the top of the collecting box (302), the top of the cover plate (303) is fixedly connected with a blower (304), the inside of the collecting box (302) is symmetrically provided with a conveying belt (305), the middle part of the top of the collecting box (302) is connected with a screening assembly (306), two ends of the screening assembly (306) are symmetrically provided with a selecting assembly (307), the bottom of the selecting assembly (307) is fixedly connected with the top of the collecting box (302), the lower part of the cover plate (303) is provided with a rolling assembly (308), and the rolling assembly (308) is rotationally connected with the inner wall of the collecting box (302).
The picking mechanism (1) comprises a roller (101), an organic table (102) is arranged at the top of the roller (101), a base (103) is fixedly connected to the top of the machine table (102), a mechanical arm (104) is fixedly connected to the top of the base (103), and a first shearing knife (105) is rotatably connected to the top of the mechanical arm (104);
the collecting mechanism (2) comprises a fixed column (201), the bottom of the fixed column (201) is fixedly connected with the top of the machine table (102), a support (202) is rotationally connected to the outer wall of the fixed column (201), a rotating rod (203) is arranged in the support (202), a filter cloth (204) is fixedly connected to the outer wall of the rotating rod (203), one end, far away from the rotating rod (203), of the filter cloth (204) is fixedly connected with the opposite side of the support (202), a first telescopic rod (205) is fixedly connected to the outer wall of the support (202), and one end, far away from the support (202), of the first telescopic rod (205) is rotationally connected with the outer wall of the collecting box (302);
the bottom of the bracket (202) is provided with a glove box (209), the bottom of the glove box (209) is fixedly connected with the top of the machine table (102), the opposite sides of the inner wall of the glove box (209) are rotationally connected with a rotating shaft (206), the outer surface of the rotating shaft (206) is uniformly provided with a rotating frame (207), the inner wall of the rotating frame (207) is fixedly connected with the outer wall of the rotating shaft (206), one end, far away from the rotating shaft (206), of the rotating frame (207) is rotationally connected with a knocking rod (208), and the outer wall of the knocking rod (208) is contacted with the top of the filter cloth (204);
the screening assembly (306) comprises a supporting plate (3061), the bottom of the supporting plate (3061) is fixedly connected with the top of a collecting box (302), the number of the supporting plates (3061) is 2, the supporting plates (3061) are symmetrically arranged by taking the collecting box (302) as a center, two opposite sides of the supporting plates (3061) are rotationally connected with a bearing plate (3062), the top of the bearing plate (3062) is fixedly connected with a gravity detection module (3063), the top of the gravity detection module (3063) is fixedly connected with a containing disc (3064), the top of the bearing plate (3062) is slidingly connected with a sliding frame (3065), the outer wall of the sliding frame (3065) is sleeved with the inner wall of the containing disc (3064), and the inner wall of the sliding frame (3065) is rotationally connected with a roller (3066);
the selecting assembly (307) comprises a rotary table (3071), a motor (3072) is fixedly connected to the top of the rotary table (3071), a supporting rod (3073) is rotatably connected to the outer wall of the motor (3072), a mounting groove (3074) is rotatably connected to one end, far away from the motor (3072), of the supporting rod (3073), and a second shearing knife (3075) is slidably connected to the inner wall of the mounting groove (3074);
the utility model provides a rolling assembly (308) is including interception pole (3081), the outer wall of interception pole (3081) rotates with the inner wall of collecting box (302) to be connected, the outer wall of interception pole (3081) evenly is provided with a plurality of protecting crust (3084) along the axis, the inner wall of protecting crust (3084) and the outer wall fixed connection of interception pole (3081), the inside of protecting crust (3084) evenly is provided with a plurality of second telescopic link (3082), the one end of second telescopic link (3082) and the outer wall fixed connection of interception pole (3081), the one end fixedly connected with push pedal (3083) of protecting crust (3084) are kept away from to second telescopic link (3082), the outer wall of second telescopic link (3082) cup joints with the inner wall of protecting crust (3084).
2. An automatic fruit-gathering device for tomato strings as claimed in claim 1, wherein: deposit mechanism (4) including slide (401), the bottom of slide (401) is rotated with the top of board (102) and is connected, the quantity of slide (401) is 2, and two slide (401) symmetry sets up, two opposite sides of slide (401) evenly are provided with fixture block (402), the outer wall of fixture block (402) and the inner wall sliding connection of slide (401), the top of fixture block (402) is provided with collects basket (403), the bottom of collecting basket (403) is mutually joint with the top of fixture block (402).
3. The automatic fruit collecting method for the tomato strings is characterized by comprising the following steps of:
s1: the picking mechanism (1) moves to cut and pick mature tomatoes, fallen leaves are blocked by the filter cloth (204) and fall into the glove box (209);
s2: weight distinguishing is carried out on the picked tomatoes, and collection and placement are respectively carried out;
s3: checking picked tomatoes, shearing off bad and immature fruits, blowing and selecting by a vibrating blower (304) to enable sundries to enter a collecting box (302), and enabling the sundries to fall into a sundry box (209) for unified treatment;
s4: the collection baskets (403) are aligned to the feed opening respectively, and the tomatoes in the strings after pretreatment are collected.
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| CN202311542813.9A CN117256314B (en) | 2023-11-20 | 2023-11-20 | Automatic fruit collecting device and method for stringed tomatoes |
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| CN202311542813.9A CN117256314B (en) | 2023-11-20 | 2023-11-20 | Automatic fruit collecting device and method for stringed tomatoes |
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