CN118219956A - Narrow-working-channel automatic fruit transportation system and method - Google Patents

Abstract

The invention discloses an automatic fruit transportation system and method for a narrow working channel, which are characterized by comprising the following steps: the carriage top conveying channel, the power mechanism and the wheel adjusting assembly; the carriage top conveying way comprises a carriage, upper outlets are respectively arranged on two sides of the upper portion of the carriage, the carriage corresponds to an upper crossing guiding slope with symmetrical upper outlet connection, the carriage is connected with a symmetrical upper page turning steering engine, output shafts of the upper page turning steering engine are respectively and fixedly connected with upper cranks, and the upper cranks are respectively and rotatably connected with upper rockers. The invention relates to the technical field of agricultural transportation control, in particular to an automatic fruit transportation system and method with a narrow working channel. The invention aims to solve the technical problem of providing an automatic fruit transfer system and method for a narrow working channel, which can finish task interchange of two vehicles in a manner of butt-joint load exchange during meeting and meeting of the narrow working channel, and solve the difficult problem of meeting of the vehicles under the condition of the narrow working channel.

Description

Narrow-working-channel automatic fruit transportation system and method

Technical Field

The invention relates to the technical field of agricultural transportation control, in particular to an automatic fruit transportation system and method with a narrow working channel.

Background

Currently, there are mainly several types of solutions for narrow-lane fruit transport:

1. the picking vehicle is provided with a fruit collecting basket, the whole picking vehicle is withdrawn from the operation path after the picking vehicle is fully picked up, the picking vehicle goes to a designated position to deliver the picking basket, and then a conveyor belt or a palletizing robot is used for subsequent processing.

2.A middle position is arranged at the end of the working channel, the picking robot stacks the collecting basket on the middle position, and the collecting basket is transported to a parking place, a warehouse or a sorting working line by a special transporting robot.

3. The special transfer trolley is in butt joint with the picking trolley, the picking trolley places fruits in a basket of the transfer trolley, and after the basket is filled, the transfer trolley is separated from the picking trolley and then sent to a transfer station. .

The prior art has the following defects:

1. The picking operation can be interrupted by the self-transportation of the picking vehicle, so that the production efficiency is reduced. In addition, as the picking vehicle is provided with the mechanical arm and the picking head, the dead weight is large, and the picking vehicle is used for self-transferring, thereby being time-consuming and electricity-consuming.

2. For indoor operation or greenhouse operation of a narrow operation road, a position for turning around and turning around of a vehicle is not usually available due to narrow traffic roads, and the vehicle is easy to overturn in the turning around process due to uneven ground.

3. The vehicles are difficult to meet under the condition of narrow operation channels, and two vehicles can not meet side by side in the same operation channel. If the vehicle size is reduced (the width is reduced to half of the width of the working channel), the vehicle body is easy to roll over due to the thinness, the carrying capacity is too small, and the transportation efficiency is too low.

Disclosure of Invention

The invention aims to solve the technical problem of providing an automatic fruit transfer system and method for a narrow working channel, which can finish task interchange of two vehicles in a manner of butt-joint load exchange during meeting and meeting of the narrow working channel, and solve the difficult problem of meeting of the vehicles under the condition of the narrow working channel.

The invention adopts the following technical scheme to realize the aim of the invention:

an automated fruit transportation system and method for narrow working tunnels, comprising: the carriage top conveying channel, the power mechanism and the wheel adjusting assembly; the carriage top conveying channel comprises a carriage, wherein upper outlets are respectively arranged on two sides of the upper part of the carriage, the carriage is connected with symmetrical upper crossing guide slopes corresponding to the upper outlets, the carriage is connected with symmetrical upper page turning steering engines, output shafts of the symmetrical upper page turning steering engines are respectively and fixedly connected with upper cranks, the symmetrical upper cranks are respectively and rotatably connected with upper rockers, the symmetrical upper rockers are respectively and rotatably connected with top page turning slide ways, the symmetrical top page turning slide ways are respectively and rotatably connected with the carriage, and four corners of the upper side of the carriage are respectively and fixedly connected with upper power gears; the power mechanism comprises symmetrical side plates, two ends of the upper part of each symmetrical side plate are respectively connected with a hanging shaft belt pulley through bearings, two ends of the lower part of each symmetrical side plate are respectively connected with a central shaft of a crawler belt driving outer wheel through bearings, the middle part of each symmetrical side plate is respectively connected with a central shaft of a belt pressing wheel through bearings, and each symmetrical side plate is respectively connected with a central shaft of a driving wheel through bearings; two belts respectively encircle the corresponding hanging shaft belt pulley, the crawler belt driving outer wheel, the belt pressing wheel and the driving wheel;

As a further limitation of the technical scheme, the wheel adjusting assembly comprises symmetrical electric push rods, the symmetrical electric push rods are respectively and rotatably connected with the side plates, the symmetrical push rods of the electric push rods are respectively and rotatably connected with adjusting frames, the symmetrical adjusting frames are respectively and rotatably connected with the central shafts of the corresponding suspension shaft belt pulleys, the central shafts of the symmetrical suspension shaft belt pulleys are respectively and fixedly connected with the inner wheels of the suspension shaft belt pulleys, the symmetrical adjusting frames are respectively and fixedly connected with the central shafts of the wheel shaft belt pulleys, one ends of the symmetrical wheel shaft belts respectively encircle the inner wheels of the corresponding suspension shaft belt pulleys, and the other ends of the symmetrical wheel shaft belts respectively encircle the corresponding wheel shaft belt pulleys;

As a further limitation of the technical scheme, the symmetrical adjusting frames are respectively and fixedly connected with steering gears, two ends of an output shaft of each steering gear are respectively and fixedly connected with one end of a steering gear rocker arm, the other end of each steering gear rocker arm is respectively and fixedly connected with a crank round block, the symmetrical adjusting frames are respectively and rotatably connected with shifting forks, the symmetrical shifting forks are respectively provided with symmetrical second straight grooves, and each crank round block is respectively arranged in the corresponding second straight groove;

As a further limitation of the technical scheme, the central shaft of each wheel shaft belt pulley is respectively and fixedly connected with a spline shaft, each spline shaft is respectively arranged in a spline groove of the wheel shaft, each wheel shaft is respectively and fixedly connected with a mounting seat, each mounting seat is respectively and fixedly connected with an adjusting round block, symmetrical shifting forks are respectively provided with symmetrical first straight grooves, each adjusting round block is respectively arranged in the corresponding first straight groove, and each wheel shaft is respectively and fixedly connected with a wheel.

As a further limitation of the technical scheme, the central shaft of each crawler belt driving outer wheel is fixedly connected with the crawler belt driving inner wheel respectively, and two ends of the symmetrical crawler belt encircle the corresponding crawler belt driving inner wheel respectively.

As a further limitation of the technical scheme, the vehicle cabin bottom conveying channel comprises two groups of symmetrical lower power gears, four corners of the lower side of the vehicle cabin are respectively and fixedly connected with the corresponding lower power gears, two sides of the lower part of the vehicle cabin are respectively provided with a lower outlet, and the vehicle cabin corresponds to the lower outlet and is fixedly connected with the symmetrical lower crossing guide slope.

As a further limitation of the technical scheme, the elevator system further comprises an elevator module, wherein the elevator module comprises symmetrical elevators, the elevators are respectively and fixedly connected with the carriage, the side plates are respectively and fixedly connected with the corresponding elevators, the elevators are respectively and symmetrically provided with symmetrical tracks, the sliders of the elevators are respectively nested in the corresponding tracks, the sliders of the elevators are respectively and fixedly connected with elevator plates, the elevator plates are respectively and fixedly connected with a group of elevator slide mounting seats, the elevator plates are respectively and fixedly connected with a lower page turning steering engine, the output shafts of the lower page turning steering engine are respectively and fixedly connected with lower cranks, the lower cranks are respectively and rotatably connected with lower rockers, the lower rockers are respectively and rotatably connected with connecting rods, the connecting rods are respectively and rotatably connected with elevator slide pages, and the elevator slide pages are respectively and rotatably connected with the corresponding elevator slide mounting seats.

As a further limitation of the technical scheme, two ends of the lower part of the carriage are respectively and fixedly connected with a butting device, the butting device comprises a U frame, the U frame is fixedly connected with the carriage, four corners of the U frame are respectively and fixedly connected with an optical identification lamp, the center of a vertical plate of the U frame is fixedly connected with a camera, one transverse rod of the U frame is fixedly connected with an electromagnetic butting lock male plug, the other transverse rod of the U frame is fixedly connected with an electromagnetic butting lock female plug, and the electromagnetic butting lock male plug is matched with the electromagnetic butting lock female plug.

As the further limitation of this technical scheme, still include fruit and gather the basket, the both sides of fruit gathers the basket and fixedly connected sawtooth respectively, go up the power gear with lower power gear matches the sawtooth, the bottom both sides of fruit gathers the basket and fixedly connected with a set of rib plate of taking the step respectively, the bottom fixed connection of fruit gathers the basket is a set of slip strip.

As a further limitation of the present technical solution, the fruit collecting basket is made of plastic material.

As a further limitation of the technical scheme, the two ends of the carriage are respectively fixedly connected with the equipment handles.

A method for transporting a narrow-working-lane automated fruit transport system, comprising the steps of:

S1: the butt joint device is arranged at the tail part of the picking vehicle, a plurality of transfer systems are connected in sequence, and the foremost transfer system is connected with the picking vehicle;

s2: three fruit collecting baskets which are distributed up and down are respectively placed in each carriage;

The carriage is provided with four fruit collecting basket placing positions, when four fruit collecting baskets are placed, the uppermost fruit collecting basket is matched with a top page turning slideway, and the lowermost fruit collecting basket is matched with a lifter page;

S3: after the first fruit collecting basket of the first transfer system is filled with fruits, controlling the page turning-down steering engine of the other transfer systems to work so that the elevator sliding pages contact the saw teeth at the lowest side;

the lower page turning steering engine drives the lower crank to swing, the lower crank drives the lower rocker to swing, the lower rocker drives the connecting rod to swing, and the connecting rod drives the sliding page of the lifter to swing from a vertical position to a horizontal position;

S4: controlling the elevators of the transfer system to work, so that the rest elevator sliding pages drive the corresponding three fruit collecting baskets to move upwards by one fruit collecting basket height position, enabling the first lifting plate to move upwards by one fruit collecting basket height position, and controlling the first page-turning-down steering engine to work so as to enable the first page-turning-down steering engine to contact the middle saw teeth;

s5: controlling the page turning steering engine of other transport systems to work so that the top page turning slideway contacts the uppermost fruit collecting basket;

S6: the lower power gears and the upper power gears of all the transfer systems are controlled to move, the upper power gears drive the corresponding saw teeth to move, the saw teeth move along the corresponding upper crossing guide slope and the top page turning slideway, the whole forward movement of the fruit collecting basket at the rear side is realized, and the backward movement of the fruit collecting basket at the lowest side is realized by one position;

S7: the lower page turning steering engine and the upper page turning steering engine are controlled to work, so that the sliding pages of the lifter and the top page turning slideway are vertical, and all empty fruit collecting baskets are enabled to fall downwards;

s8: repeating the steps S3 to S7, finishing loading of the last carriage, filling three fruit collecting baskets, and controlling the docking device of the last operation system to be separated from the docking device of the previous operation system;

s9: and repeating the step S8 until the last two carriages finish loading.

Compared with the prior art, the invention has the advantages and positive effects that:

1. the width of the transfer system of the invention is close to the width of the working channel, the size and the carrying capacity are large, when the road surface is uneven, such as muddy, the chassis is filled with weeds or lodged crops, the wheels can be suspended and cannot advance, and in this case, the crawler belt 58 at the bottom can drive the vehicle to get rid of the collapse, so that the operation can be carried out on uneven ground.

2. The device adopts a butt joint load exchange mode to realize the task exchange of two vehicles, and does not occupy extra ground area. The camera 43 of the docking device shoots the opposite optical marker light 42, controls the electric push rod 61 and the lateral shifting steering engine 64 of the wheel suspension system to align the electromagnetic docking lock with the opposite docking lock, inserts the electromagnetic docking lock, and starts the electromagnet to tightly suck the corresponding docking lock. When the load is exchanged, the fruits are stored in the fruit collecting basket for integral transportation, so that the damage to the fruit quality is avoided.

3. The transfer system of the same model of the device can realize different operation intensities in a queue mode, and can be realized only by increasing the quantity of the transfer systems, so that the device is convenient to use.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic partial perspective view of the present invention.

Fig. 3 is a schematic perspective view of an elevator module according to the present invention.

Fig. 4 is a schematic perspective view of a docking device according to the present invention.

Fig. 5 is a schematic perspective view of a power mechanism and a wheel adjusting assembly according to the present invention.

Fig. 6 is a schematic diagram showing a three-dimensional structure of a power mechanism and a wheel adjusting assembly according to the present invention.

Fig. 7 is a schematic perspective view of a wheel adjusting assembly according to the present invention.

Fig. 8 is a schematic view of a partial perspective view of a wheel adjustment assembly according to the present invention.

Fig. 9 is a schematic partial perspective view of a wheel adjusting assembly according to the present invention.

Fig. 10 is a schematic perspective view of a fruit picking basket according to the present invention.

Fig. 11 is a schematic top transport view of the fruit pick basket of the present invention.

Fig. 12 is a schematic view of the fruit picking basket of the present invention in transit.

In the figure:

1. The device comprises a carriage top conveying channel, 11, an equipment handle, 12, an upper power gear, 13, a top page turning slideway, 14, a carriage, 15, an upper page turning steering engine, 16, an upper crank, 17, an upper rocker, 18, an upper crossing guide slope, 19 and an upper outlet;

2. the carriage bottom conveying way, 21, the lower outlet, 22, the lower crossing guiding slope, 23 and the lower power gear;

3. the device comprises an elevator module 31, a battery and control module 32, an elevator, 33, a track 34, an elevator plate 35, an elevator sliding page 36, an elevator sliding page mounting seat 37, a connecting rod 38, a lower rocker, 39, a lower crank 310 and a lower page turning steering engine;

4. The docking device comprises a docking device 41, a U frame 42, an optical identification lamp 43, a camera 44, an electromagnetic docking lock male plug 45 and an electromagnetic docking lock female plug;

5. The belt pulley device comprises a power mechanism 51, a suspension shaft belt pulley 52, side plates 53, a track driving outer wheel 54, a belt compression wheel 55, a driving wheel 56, a belt 57, a track driving inner wheel 58, a track 59, a suspension shaft belt inner wheel 510, a wheel shaft belt 511 and a wheel shaft belt pulley;

6. The wheel adjusting assembly, 61, the electric push rod, 62, the adjusting bracket, 63, the wheel, 64, the steering engine, 65, the steering engine rocker arm, 66, the shifting fork, 67, the first straight groove, 68, the adjusting round block, 69, the mounting seat, 610, the crank round block, 611, the second straight groove, 612, the wheel shaft, 613 and the spline shaft;

7. fruit collection basket, 71, saw teeth, 72, rib plates with steps, 73 and sliding strips.

Detailed Description

One embodiment of the present invention will be described in detail below with reference to the attached drawings, but it should be understood that the scope of the present invention is not limited by the embodiment.

The invention comprises a bottom plate 7, a carriage top conveying channel 1, a power mechanism 5 and a wheel adjusting assembly 6; the carriage top conveying channel 1 comprises a carriage 14, wherein upper outlets 19 are respectively arranged on two sides of the upper part of the carriage 14, the carriage 14 is connected with symmetrical upper crossing guide slopes 18 corresponding to the upper outlets 19, the carriage 14 is connected with symmetrical upper page turning steering gears 15, output shafts of the symmetrical upper page turning steering gears 15 are respectively and fixedly connected with upper cranks 16, the symmetrical upper cranks 16 are respectively and rotatably connected with upper rocking bars 17, the symmetrical upper rocking bars 17 are respectively and rotatably connected with top page turning slide ways 13, the symmetrical top page turning slide ways 13 are respectively and rotatably connected with the carriage 14, and four corners of the upper side of the carriage 14 are respectively and fixedly connected with upper power gears 12; the power mechanism 5 comprises symmetrical side plates 52, wherein the upper two ends of the symmetrical side plates 52 are respectively connected with a hanging shaft belt pulley 51 in a bearing way, the lower two ends of the symmetrical side plates 52 are respectively connected with the central shaft of a crawler belt driving outer wheel 53 in a bearing way, the middle parts of the symmetrical side plates 52 are respectively connected with the central shaft of a belt pressing wheel 54 in a bearing way, and the symmetrical side plates 52 are respectively connected with the central shaft of a driving wheel 55 in a bearing way; two belts 56 respectively encircle the corresponding suspension shaft pulley 51, the crawler belt driving outer wheel 53, the belt pinch roller 54 and the driving wheel 55;

The wheel adjusting assembly 6 includes symmetrical electric push rods 61, the symmetrical electric push rods 61 are respectively and rotatably connected with the side plates 52, push rods of the symmetrical electric push rods 61 are respectively and rotatably connected with adjusting frames 62, the symmetrical adjusting frames 62 are respectively and rotatably connected with the central shafts of the corresponding suspension shaft belt pulleys 51, the central shafts of the symmetrical suspension shaft belt pulleys 51 are respectively and fixedly connected with suspension shaft belt inner wheels 59, the symmetrical adjusting frames 62 are respectively and fixedly connected with the central shafts of the wheel shaft belt pulleys 511, one ends of the symmetrical wheel shaft belts 510 respectively encircle the corresponding suspension shaft belt inner wheels 59, and the other ends of the symmetrical wheel shaft belts 510 respectively encircle the corresponding wheel shaft belt pulleys 511;

The symmetrical adjusting frames 62 are respectively and fixedly connected with the steering engine 64, two ends of an output shaft of the symmetrical steering engine 64 are respectively and fixedly connected with one end of a steering engine rocker arm 65, the other end of each steering engine rocker arm 65 is respectively and fixedly connected with a crank round block 610, the symmetrical adjusting frames 62 are respectively and rotatably connected with a shifting fork 66, the symmetrical shifting forks 66 are respectively provided with symmetrical second straight grooves 611, and each crank round block 610 is respectively arranged in the corresponding second straight groove 611;

The central shaft of each wheel axle pulley 511 is fixedly connected with a spline shaft 613, each spline shaft 613 is arranged in a spline groove of a wheel axle 612, each wheel axle 612 is connected with a mounting seat 69 in a bearing manner, each mounting seat 69 is fixedly connected with an adjusting round block 68, each symmetrical shifting fork 66 is provided with a symmetrical first straight groove 67, each adjusting round block 68 is arranged in a corresponding first straight groove 67, and each wheel axle 612 is fixedly connected with a wheel 63.

The steering engine 64 can push the wheels 63 to move outwards by a distance of about 15mm, and when the wheels 63 at two sides are converged and stretched out, the vehicle body can be moved to one side by 15mm so as to align the vehicle bodies and complete the butt joint action.

The central shaft of each of the outer track driving wheels 53 is fixedly connected to the inner track driving wheel 57, and both ends of the symmetrical track 58 are respectively wound around the corresponding inner track driving wheel 57.

The wheels 63 and the tracks 58 are two sets of running systems, and only the wheels 63 are normally grounded, and the tracks 58 are not grounded. When the road surface is uneven, such as mud, the chassis is filled with weeds or lodged crops, it may cause the wheels 63 to hang up and not advance, in which case the bottom tracks 58 can drive the vehicle out of the way.

The system has no steering mechanism and can only carry out tiny turning correction action by means of speed difference at two sides (turning is carried out by means of crawler speed difference at two sides like a crawler excavator). Normally, the working channel is straight, and a large-amplitude turning action is not needed.

The driving wheel 55 is controlled to rotate, the driving wheel 55 drives the belt 56 to move, the belt 56 drives the belt pressing wheel 54, the crawler belt driving outer wheel 53, the crawler belt driving inner wheel 57, the hanging shaft belt pulley 51 and the hanging shaft belt inner wheel 59 to rotate, the crawler belt driving inner wheel 57 drives the crawler belt 58 to move, and the hanging shaft belt inner wheel 59 drives the wheel shaft belt pulley 511, the spline shaft 613, the wheel shaft 612 and the wheel 63 to rotate through the wheel shaft belt 510.

When the mud and the chassis are filled with weeds or lodged crops, the electric push rod 61 is controlled to shrink, the electric push rod 61 drives the adjusting frame 62 to swing, and the adjusting frame 62 drives the wheels 63, the steering engine 64, the steering engine rocker arm 65, the shifting fork 66, the adjusting round block 68, the mounting seat 69, the crank round block 610, the wheel shaft 612, the spline shaft 613, the wheel shaft belt 510, the wheel shaft belt pulley 511 and the wheels 63 to swing, so that the wheels 63 are far away from the ground.

The vehicle is characterized by further comprising a vehicle bottom conveying channel 2, wherein the vehicle bottom conveying channel 2 comprises two groups of symmetrical lower power gears 23, four corners of the lower side of the vehicle 14 are respectively and fixedly connected with the corresponding lower power gears 23, two sides of the lower part of the vehicle 14 are respectively provided with a lower outlet 21, and the vehicle 14 is correspondingly and fixedly connected with a symmetrical lower crossing guide slope 22 of the lower outlet 21.

The elevator system further comprises an elevator module 3, the elevator module 3 comprises symmetrical elevators 32, the symmetrical elevators 32 are respectively and fixedly connected with the carriage 14, the symmetrical side plates 52 are respectively and fixedly connected with the corresponding elevators 32, the symmetrical elevators 32 are respectively provided with symmetrical rails 33, the symmetrical sliders of the elevators 32 are respectively nested in the corresponding rails 33, the symmetrical sliders of the elevators 32 are respectively and fixedly connected with elevator plates 34, the symmetrical elevator plates 34 are respectively and fixedly connected with a group of elevator slide mounting seats 36, the symmetrical elevator plates 34 are respectively and fixedly connected with lower page turning steering gears 310, the symmetrical output shafts of the lower page turning steering gears 310 are respectively and fixedly connected with lower cranks 39, the symmetrical lower cranks 39 are respectively and rotatably connected with lower rockers 38, the symmetrical lower rockers 38 are respectively and rotatably connected with connecting rods 37, the symmetrical connecting rods 37 are respectively and rotatably connected with elevator slide 35, and the symmetrical elevator slide 35 are respectively and rotatably connected with the corresponding elevator slide mounting seats 36.

The lower part both ends of carriage 14 are fixed connection interfacing apparatus 4 respectively, interfacing apparatus 4 includes U frame 41, U frame 41 fixed connection carriage 14, the four corners of U frame 41 are fixed connection optical identification lamp 42 respectively, the riser center fixed connection camera 43 of U frame 41, a horizontal pole fixed connection electromagnetism butt joint lock male and female plug 44 of U frame 41, another horizontal pole fixed connection electromagnetism butt joint lock female plug 45 of U frame 41, electromagnetism butt joint lock male and female plug 44 matches electromagnetism butt joint lock female plug 45.

The camera 43 of the docking device shoots the opposite optical marker light 42, controls the electric push rod 61 and the lateral shifting steering engine 64 of the wheel suspension system to align the electromagnetic docking lock with the opposite docking lock, inserts the electromagnetic docking lock, and starts the electromagnet to tightly suck the corresponding docking lock. If the deviation of the two vehicles is large and the electromagnetic pair unlocking cannot be aligned, the vehicle can be retreated for a certain distance, the vehicle body is rotated in situ for a certain angle by utilizing the difference of the wheel speeds of the two sides (or the forward rotation of one side wheel and the reverse rotation of one side wheel), and then the vehicle body approaches to the vehicle body again for implementing the butt joint.

When the camera 43 of the docking device shoots the opposite optical marker light 42, and controls the electric push rod 61 and the lateral steering engine 64 of the wheel suspension system to align the electromagnetic docking lock with the opposite docking lock. The steering engine 64 drives the steering engine rocker arm 65 to swing, the steering engine rocker arm 65 drives the crank round block 610 to swing in the second straight groove 611, the crank round block 610 drives the shifting fork 66 to swing, the shifting fork 66 drives the adjusting round block 68 to move, the adjusting round block 68 drives the mounting seat 69 to move, the mounting seat 69 drives the wheel shaft 612 to move along the spline shaft 613, the wheel shaft 612 drives the wheel 63 to move, and the two docking devices 4 can transversely climb in a small range like a crab through the telescopic combination of the electric push rod 61 and the wheel shaft 612. The electromagnetic butt-joint lock male plug 44 and the electromagnetic butt-joint lock female plug 45 are electrified to realize locking.

Still include fruit collection basket 7, the both sides of fruit collection basket 7 are fixed connection sawtooth 71 respectively, go up power gear 12 with lower power gear 23 matches sawtooth 71, the bottom both sides of fruit collection basket 7 are a set of rib plate 72 of taking the step of fixed connection respectively, the bottom fixed connection of fruit collection basket 7 is a set of sliding strip 73.

The fruit collecting basket 7 is in a rectangular box shape, and the long edge of the top edge is turned outwards and provided with saw teeth 71. The bottom has a sliding bar 73 parallel to the long side direction which reduces the resistance to longitudinal sliding when it is positioned on the floor of the cabin 14. The bottom of the fruit collecting basket 7 is round, and a layer of flexible padding can be paved to protect the fruits. The rib plates 72 with steps are arranged on the outer sides of the bottoms of the collecting baskets, and when a plurality of collecting baskets are stacked together, the rib plates 72 on the bottoms of the collecting baskets on the upper layer can clamp the inner sides of the flanging edges of the collecting baskets on the lower layer, so that the collecting baskets can be stacked neatly.

The fruit collecting basket 7 is made of plastic materials.

The two ends of the carriage 14 are respectively fixedly connected with the equipment handles 11.

The worker carries the equipment handle 11 to place the device on the working channel, so that the device is placed opposite to the working channel, and the worker carries the device to the next working channel after the operation is completed. The whole size of the device is not very large, the length is less than one meter, the weight is less than 20 kg, and the device can be completely and easily carried by adults. The device needs to be matched with a vehicle for use.

The bottom of the carriage 14 is provided with a positioning groove matched with the fruit collecting basket 7.

The lifter 32 (with a motor rack and other components therein can drive the lifter plate 34 to lift).

The lifter module 3 includes a battery and a control module 31, the upper power gear 12, the upper page turning steering engine 15, the lower power gear 23, the lifter 32, the lower page turning steering engine 310, the camera 43, the electric push rod 61 and the steering engine 64 are respectively electrically connected with the battery and the controller and the battery in the control module 31.

The lower power gear 23 and the upper power gear 12 each comprise a motor and a gear, an output shaft of the motor is fixedly connected with the gear, the motor is fixedly connected with the carriage 14, and the motor is electrically connected with the battery and the control module 31.

The driving wheel 55 is fixedly connected with an output shaft of a power motor, the power motor is fixedly connected with the side plate 52, and the power motor is electrically connected with the battery and the control module 31.

A method for transporting a narrow-working-lane automated fruit transport system, comprising the steps of:

S1: the butt joint device 4 is arranged at the tail part of the picking vehicle, a plurality of transfer systems are connected in sequence, and the foremost transfer system is connected with the picking vehicle;

S2: three fruit collecting baskets 7 distributed up and down are respectively arranged in each carriage 14;

The carriage 14 is provided with four fruit collecting baskets 7, when the four fruit collecting baskets are placed, the uppermost fruit collecting basket 7 is matched with the top page turning slideway 13, and the lowermost fruit collecting basket 7 is matched with the elevator page 35;

S3: after the fruit collection basket 7 of the first transport system is filled with fruits, controlling the page turning down steering engine 310 of the rest transport systems to work so that the elevator slide 35 contacts the lowest side of the saw teeth 71;

The lower page turning steering engine 310 drives the lower crank 39 to swing, the lower crank 39 drives the lower rocker 38 to swing, the lower rocker 38 drives the connecting rod 37 to swing, and the connecting rod 37 drives the elevator sliding page 35 to swing from the vertical position to the horizontal position;

S4: controlling the elevators 32 of the transfer system to work, so that the rest elevator sliding pages 35 drive the corresponding three fruit collecting baskets 7 to move upwards by one height position of the fruit collecting basket 7, and the first lifting plate 34 moves upwards by one height position of the fruit collecting basket 7, and controlling the first page-down steering engine 310 to work so as to contact the middle saw teeth 71;

S5: controlling the page-turning-up steering engine 15 of other transport systems to work so that the top page-turning slideway 13 contacts the uppermost fruit collecting basket 7;

the upper page turning steering engine 15 drives the upper crank 16 to swing, the upper crank 16 drives the upper rocker 17 to swing, and the upper rocker 17 drives the top page turning slideway 13 to swing, so that the vertical position is changed into the horizontal position.

S6: the lower power gears 23 and the upper power gears 12 of all the transfer systems are controlled to move, the upper power gears 12 drive the corresponding saw teeth 71 to move, the saw teeth 71 move along the corresponding crossing guide slope 18 and the top page turning slideway 13, the whole forward movement of the fruit collecting basket 7 at the rear side is realized, and the backward movement of the fruit collecting basket 7 at the lowest side is realized by one position;

s7: the lower page turning steering engine 310 and the upper page turning steering engine 15 are controlled to work, so that the elevator slide 35 and the top page turning slideway 13 are vertical, and all empty fruit collecting baskets 7 are enabled to fall downwards;

S8: repeating the steps S3 to S7, finishing loading the last carriage 14, filling three fruit collecting baskets 7, and controlling the docking device 4 of the last operation system to be separated from the docking device 4 of the previous operation system;

When the fruit collecting basket 7 filled with fruits exists in the last operation system and is not filled with fruits, the lifter 32 is controlled to work firstly, the lifter slide 35 is matched with the fruit collecting basket 7 which is not filled with fruits, the page turning down steering engine 310 is controlled to work, the lifter slide 35 is contacted with the corresponding saw teeth 71, the lifter 32 of the transfer system is controlled to work, and the lifter slide 35 drives the fruit collecting basket 7 to move upwards by a height distance of the fruit collecting basket 7.

S9: the step S8 is repeated until the last two carriages 14 are loaded.

The above disclosure is merely illustrative of specific embodiments of the present invention, but the present invention is not limited thereto, and any variations that can be considered by those skilled in the art should fall within the scope of the present invention.

Claims (9)

1. A narrow lane automated fruit handling system, comprising:

A carriage top conveying channel (1), a power mechanism (5) and a wheel adjusting assembly (6);

The carriage top conveying channel (1) comprises a carriage (14), wherein upper outlets (19) are respectively formed in two sides of the upper part of the carriage (14), the carriage (14) is connected with symmetrical upper crossing guide slopes (18) corresponding to the upper outlets (19), the carriage (14) is connected with symmetrical upper page turning steering gears (15), output shafts of the symmetrical upper page turning steering gears (15) are respectively and fixedly connected with upper cranks (16), the symmetrical upper cranks (16) are respectively and rotatably connected with upper rocking bars (17), the symmetrical upper rocking bars (17) are respectively and rotatably connected with top page turning slide ways (13), the symmetrical top page turning slide ways (13) are respectively and rotatably connected with the carriage (14), and four corners of the upper side of the carriage (14) are respectively and fixedly connected with upper power gears (12);

The power mechanism (5) comprises symmetrical side plates (52), two ends of the upper part of each symmetrical side plate (52) are respectively connected with a hanging shaft belt pulley (51) in a bearing way, two ends of the lower part of each symmetrical side plate (52) are respectively connected with a central shaft of a crawler belt driving outer wheel (53), the middle parts of the symmetrical side plates (52) are respectively connected with a central shaft of a belt pressing wheel (54) in a bearing way, and the symmetrical side plates (52) are respectively connected with the central shaft of a driving wheel (55) in a bearing way;

Two belts (56) respectively encircle the corresponding suspension shaft belt pulley (51), the crawler belt driving outer wheel (53), the belt pressing wheel (54) and the driving wheel (55);

The wheel adjusting assembly (6) comprises symmetrical electric push rods (61), the symmetrical electric push rods (61) are respectively and rotatably connected with the side plates (52), the symmetrical push rods of the electric push rods (61) are respectively and rotatably connected with adjusting frames (62), the symmetrical adjusting frames (62) are respectively and rotatably connected with the central shafts of the corresponding suspension shaft belt pulleys (51), the central shafts of the symmetrical suspension shaft belt pulleys (51) are respectively and fixedly connected with suspension shaft belt inner wheels (59), the symmetrical adjusting frames (62) are respectively and rotatably connected with the central shafts of the wheel shaft belt pulleys (511), one ends of symmetrical wheel shaft belts (510) respectively encircle the corresponding suspension shaft belt inner wheels (59), and the other ends of the symmetrical wheel shaft belts (510) respectively encircle the corresponding wheel shaft belt pulleys (511);

The symmetrical adjusting frames (62) are respectively and fixedly connected with the steering engine (64), two ends of an output shaft of the symmetrical steering engine (64) are respectively and fixedly connected with one end of a steering engine rocker arm (65), the other end of each steering engine rocker arm (65) is respectively and fixedly connected with a crank round block (610), the symmetrical adjusting frames (62) are respectively and rotatably connected with the shifting fork (66), the symmetrical shifting fork (66) is respectively provided with a symmetrical second straight groove (611), and each crank round block (610) is respectively arranged in the corresponding second straight groove (611);

The central shaft of each wheel axle belt pulley (511) is fixedly connected with a spline shaft (613) respectively, each spline shaft (613) is arranged in a spline groove of a wheel axle (612) respectively, each wheel axle (612) is connected with a mounting seat (69) respectively through a bearing, each mounting seat (69) is fixedly connected with an adjusting round block (68) respectively, symmetrical shifting forks (66) are provided with symmetrical first straight grooves (67) respectively, each adjusting round block (68) is arranged in the corresponding first straight groove (67) respectively, and each wheel axle (612) is fixedly connected with a wheel (63) respectively.

2. The narrow lane automated fruit handling system of claim 1, wherein: the central shaft of each crawler belt driving outer wheel (53) is fixedly connected with the crawler belt driving inner wheel (57) respectively, and two ends of the symmetrical crawler belt (58) encircle the corresponding crawler belt driving inner wheel (57) respectively.

3. The narrow lane automated fruit handling system of claim 2, wherein: the automatic train control system is characterized by further comprising a carriage bottom conveying channel (2), wherein the carriage bottom conveying channel (2) comprises two groups of symmetrical lower power gears (23), four corners of the lower side of the carriage (14) are fixedly connected with the corresponding lower power gears (23) respectively, two sides of the lower part of the carriage (14) are provided with lower outlets (21) respectively, and the carriage (14) corresponds to the lower outlets (21) and is fixedly connected with symmetrical lower crossing guide slopes (22).

4. The narrow-lane automated fruit handling system of claim 3, wherein: the elevator system comprises a carriage (14), side plates (52) are fixedly connected with the carriage (14), the side plates (52) are fixedly connected with the carriage (32), the side plates are respectively provided with symmetrical rails (33), sliders of the elevator (32) are respectively nested in the corresponding rails (33), the sliders of the elevator (32) are respectively fixedly connected with lifting plates (34), the lifting plates (34) are respectively fixedly connected with a group of elevator sliding page mounting seats (36), the lifting plates (34) are respectively fixedly connected with a lower page turning steering engine (310), output shafts of the lower page turning steering engine (310) are respectively fixedly connected with lower cranks (39), the lower cranks (39) are respectively and rotationally connected with lower rockers (38), the lower rockers (38) are respectively and rotationally connected with connecting rods (37), the connecting rods (37) are respectively and rotationally connected with the lifting plates (34), and the elevator sliding page mounting seats (35) are respectively and rotationally connected with the elevator page mounting seats (35).

5. The narrow lane automated fruit handling system of claim 4, wherein: the utility model discloses a car, including car (14), lower part both ends fixed connection interfacing apparatus (4) respectively, interfacing apparatus (4) include U frame (41), U frame (41) fixed connection carriage (14), the four corners of U frame (41) are fixed connection optical identification lamp (42) respectively, riser center fixed connection camera (43) of U frame (41), a horizontal pole fixed connection electromagnetism butt joint lock male plug (44) of U frame (41), another horizontal pole fixed connection electromagnetism butt joint lock female plug (45) of U frame (41), electromagnetism butt joint lock male plug (44) mate electromagnetism butt joint lock female plug (45).

6. The narrow lane automated fruit handling system of claim 5, wherein: still include fruit collection basket (7), the both sides of fruit collection basket (7) are fixed connection sawtooth (71) respectively, go up power gear (12) with lower power gear (23) match sawtooth (71), the bottom both sides of fruit collection basket (7) are a set of floor (72) of taking the step of fixed connection respectively, the bottom fixed connection of fruit collection basket (7) is a set of sliding strip (73).

7. The narrow lane automated fruit handling system of claim 6, wherein: the fruit collecting basket (7) is made of plastic materials.

8. The narrow lane automated fruit handling system of claim 1, wherein: two ends of the carriage (14) are respectively fixedly connected with a device handle (11).

9. The method of claim 6, comprising the steps of:

s1: the butt joint device (4) is arranged at the tail part of the picking vehicle, a plurality of transfer systems are connected in sequence, and the foremost transfer system is connected with the picking vehicle;

s2: three fruit collection baskets (7) which are distributed up and down are respectively arranged in each carriage (14);

S3: after the first fruit collecting basket (7) of the first transportation system is filled with fruits, controlling the page turning-down steering engine (310) of the other transportation systems to work so that the elevator sliding page (35) contacts the saw teeth (71) at the lowest side;

S4: controlling the elevators (32) of the transfer system to work, so that the rest elevator sliding pages (35) drive the corresponding three fruit collecting baskets (7) to move upwards by one height position of the fruit collecting basket (7), enabling the first lifting plate (34) to move upwards by one height position of the fruit collecting basket (7), and controlling the first page turning-down steering engine (310) to work so as to enable the page turning-down steering engine to contact the saw teeth (71) in the middle;

s5: controlling the page turning steering engine (15) of the rest transportation systems to work so that the top page turning slideway (13) contacts the uppermost fruit collecting basket (7);

S6: the lower power gears (23) and the upper power gears (12) of all the transfer systems are controlled to move, the upper power gears (12) drive the corresponding saw teeth (71) to move, the saw teeth (71) move along the corresponding upper crossing guide slope (18) and the top page turning slideway (13), the fruit collecting basket (7) at the rear side is integrally moved forwards, and the fruit collecting basket (7) at the lowest side is moved backwards by one position;

S7: the lower page turning steering engine (310) and the upper page turning steering engine (15) are controlled to work, so that the sliding pages (35) of the lifter and the top page turning slideway (13) are vertical, and all empty fruit collecting baskets (7) are enabled to fall downwards;

s8: repeating the steps from S3 to S7, finishing loading of the last carriage (14), filling three fruit collecting baskets (7), and controlling the abutting device (4) of the last operation system to be separated from the abutting device (4) of the previous operation system;

s9: repeating the step S8 until the last two carriages (14) are loaded.