CN204948793U - Collection device is picked to strawberry - Google Patents
Collection device is picked to strawberry Download PDFInfo
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- CN204948793U CN204948793U CN201520745452.2U CN201520745452U CN204948793U CN 204948793 U CN204948793 U CN 204948793U CN 201520745452 U CN201520745452 U CN 201520745452U CN 204948793 U CN204948793 U CN 204948793U
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- motor
- slide rail
- fruit
- screw
- strawberry
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Abstract
The utility model provides a collection device is picked to strawberry, harvesting mechanism on includes the base and locates the base should pluck the mechanism and including locating the second slide rail on the base perpendicularly, be equipped with the second motor on the second slide rail, and the second motor is connected with the second lead screw, is equipped with the second screw on this second lead screw, the second screw is improved level and is equipped with the third slide rail, is equipped with the third motor on the third slide rail, and the third motor is connected with the third lead screw, is equipped with third screw seat on this third lead screw, be equipped with the harvesting arm on the third screw seat, the tip of picking the arm is equipped with the cutter, and the below of fixing a cutting tool at the harvesting arm is equipped with the harvesting basket. Through controlling under mode that a plurality of slide rails carry out right angle motion will pick harvesting basket operation to this fruit of arm anterior segment to cut off the fruit through the cutter, the fruit slows down along a fruit transmission section of thick bamboo of picking the basket lower extreme under the action of gravity and slides in the collecting box, accomplishes the harvesting of a strawberry, and it is high, with low costs to have stability, and it is high to pick the precision, and difficult damage fruit outward appearance is picked efficiently.
Description
Technical field
The utility model relates to agricultural mechanical field, and specifically a kind of strawberry plucks gathering unit.
Background technology
At present, intelligentized strawberry picker does not also really enter into market, and majority is in research and development or experimental stage.Conventional picking machine mechanical arm is series connection five degree of freedom arm type; Picking mechanical arm many uses gripping body.Picking process wins fruit by picking mechanical arm twisting, and fruit put into fruit case by arm space motion, and the arm-type picker of this manipulator exists following defect: series connection degree of freedom arm type picking machine mechanical arm cost is higher, poor stability; Gripping type manipulator easily causes the damaged picking process of strawberry appearance slower.
Utility model content
Goal of the invention: in order to overcome the deficiencies in the prior art, the utility model provides a kind of strawberry to pluck gathering unit.
Technical scheme: for solving the problems of the technologies described above, a kind of strawberry of the present utility model plucks gathering unit, comprise base and be located at the picking mechanism on base, this picking mechanism comprises the second slide rail be vertical on base, described second slide rail is provided with the second motor, second motor is connected with the second screw mandrel, and this second screw mandrel is provided with the second screw; On described second screw, level is provided with the 3rd slide rail, and the 3rd slide rail is provided with the 3rd motor, and the 3rd motor is connected with the 3rd screw mandrel, and the 3rd screw mandrel is provided with the 3rd nut seat; Described 3rd nut seat is provided with Picker arm, and the end of described Picker arm is provided with cutter, and the below of fixing a cutting tool in Picker arm is provided with Picking basket.The Picking basket of Picker arm leading portion moves to immediately below this fruit by the mode of carrying out right angle motion by controlling multiple slide rail, and cuts off fruit by cutter, and fruit enters Picking basket under gravity.
Further, described base is provided with the first slide rail, the first screw mandrel that the first slide rail is provided with the first motor and is connected with the first motor, and described first screw mandrel is provided with the first screw, and described second slide rail is located on the first screw.
Further, described cutter comprises the steering wheel be located in Picker arm, and described steering wheel is provided with blade.Steering wheel can be with knife section to move back and forth.
Further, the anglec of rotation of described blade is 0 ~ 135 °, and under the drive of steering wheel, blade is reciprocal high-speed rotation.
Further, be provided with fruit transmission cylinder below described Picking basket, this fruit transmission cylinder lower end connects collecting box.
Further, described fruit transmission cylinder is the soft cylinder of plastic material.Soft fruit transmission cylinder can not injure fruit.
Further, described Picker arm is provided with vision positioning system, vision positioning system connection control device; This positional information for identifying the position of waiting to pluck fruit place, and is sent to controller by described vision positioning system; Described controller accepts the position signalling that vision positioning system sends, and according to this position signalling, controls the first motor, the second motor, the 3rd motor rotation, makes Picker arm arrive the position at fruit place.
Beneficial effect: a kind of strawberry of the present utility model plucks gathering unit, the Picking basket of Picker arm leading portion moves to immediately below this fruit by the mode of carrying out right angle motion by controlling multiple slide rail, and cut off fruit by cutter, fruit slows down along the fruit of Picking basket lower end transmission cylinder under gravity and slips into collecting box, after completing the harvesting of a strawberry, repeat above-mentioned action and pluck next fruit, have that stability is high, cost is low, harvesting precision is high, not easy damaged fruit appearance, picking efficiency is high.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is the plan structure schematic diagram of Fig. 1;
Fig. 3 is the left view of Fig. 1.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further described.
A kind of strawberry as shown in Figure 1 to Figure 3 plucks gathering unit, the picking mechanism comprising base 1 and be arranged on base 1, this picking mechanism comprises the first slide rail 3 be arranged on base 1, first slide rail 3 one end is provided with the first motor 2 and the first screw mandrel 4, first screw mandrel 4 of being connected with the motor shaft of the first motor 2 and the first slide rail 3 are arranged in parallel.First screw mandrel 4 is provided with the first screw 15, second slide rail 5 be arranged on the first screw 15, and vertically with base 1 arranges.The motor shaft that second slide rail 5 one end is provided with the second motor 6, second motor 6 is connected with the second screw mandrel 7, this second screw mandrel 7 is provided with the second screw 8; The motor shaft that on the 3rd slide rail the 9, three slide rail 9 that second screw 8 is provided with level, the 3rd motor the 10, three motor 10 is equipped with in one end is connected with the 3rd screw mandrel, the 3rd screw mandrel is equipped with the 3rd screw 11; 3rd screw 11 is connected with Picker arm 12, and the end of Picker arm 12 arranges cutter 13, Picker arm 12 fix a cutting tool 13 below Picking basket 14 is installed.Can also connect fruit transmission cylinder below Picking basket 14, this fruit transmission cylinder lower end connects collecting box, and fruit transmission cylinder is the soft cylinder of plastic material.Soft fruit transmission cylinder can not injure fruit.Cutter 13 comprises the steering wheel being arranged on Picker arm 12 end, and blade is equipped with in the rotating shaft of steering wheel, and the anglec of rotation of blade is 0 ~ 135 °, and under the drive of steering wheel, blade is reciprocal high-speed rotation, can fast shut-off fruit handle.
Picker arm 12 can be installed the vision positioning system of such as dual camera image collecting device class, vision positioning system connection control device; This positional information for identifying the position of waiting to pluck fruit place, and is sent to controller by vision positioning system; Controller accepts the position signalling that vision positioning system sends, and according to this position signalling, controls the first motor 2, second motor 6, the 3rd motor 10 operates, make Picker arm 12 arrive the position at fruit place.
A kind of strawberry of the present utility model plucks gathering unit, the Picking basket 14 of Picker arm 12 leading portion moves to immediately below this fruit by the mode of carrying out right angle motion by controlling multiple slide rail, and cut off fruit by cutter 13, fruit slows down along the fruit of Picking basket 14 lower end transmission cylinder under gravity and slips into collecting box, after completing the harvesting of a strawberry, repeats above-mentioned action and plucks next fruit, have that stability is high, cost is low, harvesting precision is high, not easy damaged fruit appearance, and picking efficiency is high.
The above is only preferred embodiment of the present utility model; be noted that for those skilled in the art; under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (7)
1. a strawberry plucks gathering unit, it is characterized in that: comprise base and be located at the picking mechanism on base, this picking mechanism comprises the second slide rail be vertical on base, described second slide rail is provided with the second motor, second motor is connected with the second screw mandrel, and this second screw mandrel is provided with the second screw; On described second screw, level is provided with the 3rd slide rail, and the 3rd slide rail is provided with the 3rd motor, and the 3rd motor is connected with the 3rd screw mandrel, and the 3rd screw mandrel is provided with the 3rd nut seat; Described 3rd nut seat is provided with Picker arm, and the end of described Picker arm is provided with cutter, and the below of fixing a cutting tool in Picker arm is provided with Picking basket.
2. a kind of strawberry according to claim 1 plucks gathering unit, it is characterized in that: described base is provided with the first slide rail, the first screw mandrel that first slide rail is provided with the first motor and is connected with the first motor, described first screw mandrel is provided with the first screw, and described second slide rail is located on the first screw.
3. a kind of strawberry according to claim 1 plucks gathering unit, and it is characterized in that: described cutter comprises the steering wheel be located in Picker arm, described steering wheel is provided with blade.
4. a kind of strawberry according to claim 3 plucks gathering unit, it is characterized in that: the anglec of rotation of described blade is 0 ~ 135 °.
5. a kind of strawberry according to claim 1 plucks gathering unit, it is characterized in that: be provided with fruit transmission cylinder below described Picking basket, and this fruit transmission cylinder lower end connects collecting box.
6. a kind of strawberry according to claim 5 plucks gathering unit, it is characterized in that: described fruit transmission cylinder is the soft cylinder of plastic material.
7. a kind of strawberry according to claim 1 plucks gathering unit, it is characterized in that: described Picker arm is provided with vision positioning system, vision positioning system connection control device; This positional information for identifying the position of waiting to pluck fruit place, and is sent to controller by described vision positioning system; Described controller accepts the position signalling that vision positioning system sends, and according to this position signalling, controls the first motor, the second motor, the 3rd motor rotation, makes Picker arm arrive the position at fruit place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520745452.2U CN204948793U (en) | 2015-09-24 | 2015-09-24 | Collection device is picked to strawberry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520745452.2U CN204948793U (en) | 2015-09-24 | 2015-09-24 | Collection device is picked to strawberry |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204948793U true CN204948793U (en) | 2016-01-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520745452.2U Expired - Fee Related CN204948793U (en) | 2015-09-24 | 2015-09-24 | Collection device is picked to strawberry |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204948793U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105144992A (en) * | 2015-09-24 | 2015-12-16 | 江苏农林职业技术学院 | Strawberry picking and collecting device |
| CN107032074A (en) * | 2017-04-09 | 2017-08-11 | 剑河县台沙村众创种植养殖有限责任公司 | A kind of strawberry cultivating Picking basket mobile device |
| CN107258227A (en) * | 2017-06-05 | 2017-10-20 | 三峡大学 | A kind of automatic picking machine of strawberry |
| CN108401683A (en) * | 2018-04-20 | 2018-08-17 | 南昌大学 | A kind of auxiliary strawberry picking mechanical |
| CN108575320A (en) * | 2018-05-23 | 2018-09-28 | 芮杰 | Strawberry picking robot |
| CN108575321A (en) * | 2018-07-06 | 2018-09-28 | 广州大学 | A kind of control method and device of fruit picking robot |
| CN110226412A (en) * | 2019-06-20 | 2019-09-13 | 潍坊学院 | A kind of track-mounted orchard management machine people with picking function |
-
2015
- 2015-09-24 CN CN201520745452.2U patent/CN204948793U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105144992A (en) * | 2015-09-24 | 2015-12-16 | 江苏农林职业技术学院 | Strawberry picking and collecting device |
| CN107032074A (en) * | 2017-04-09 | 2017-08-11 | 剑河县台沙村众创种植养殖有限责任公司 | A kind of strawberry cultivating Picking basket mobile device |
| CN107258227A (en) * | 2017-06-05 | 2017-10-20 | 三峡大学 | A kind of automatic picking machine of strawberry |
| CN108401683A (en) * | 2018-04-20 | 2018-08-17 | 南昌大学 | A kind of auxiliary strawberry picking mechanical |
| CN108575320A (en) * | 2018-05-23 | 2018-09-28 | 芮杰 | Strawberry picking robot |
| CN108575320B (en) * | 2018-05-23 | 2020-08-25 | 芮杰 | Strawberry picking robot |
| CN108575321A (en) * | 2018-07-06 | 2018-09-28 | 广州大学 | A kind of control method and device of fruit picking robot |
| CN110226412A (en) * | 2019-06-20 | 2019-09-13 | 潍坊学院 | A kind of track-mounted orchard management machine people with picking function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 Termination date: 20180924 |