CN206879486U - Automatic classification orange picking machine - Google Patents

Automatic classification orange picking machine Download PDF

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Publication number
CN206879486U
CN206879486U CN201720454808.6U CN201720454808U CN206879486U CN 206879486 U CN206879486 U CN 206879486U CN 201720454808 U CN201720454808 U CN 201720454808U CN 206879486 U CN206879486 U CN 206879486U
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fruit
classification
orange
picking
mechanical arm
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CN201720454808.6U
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Inventor
敖茂尧
陈婷
杨洪元
江文
毛忠警
周少秋
张秋杰
申会明
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Guangxi Vocational and Technical College
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Guangxi Vocational and Technical College
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Abstract

The utility model provides a kind of automatic classification orange picking machine, belongs to field of agricultural production technologies.It is slow that it solves existing picking rate, it is impossible to the technical problem such as classification storage.It includes support, it is provided with above support and is divided into the classification freight house that several sizes can adjust relatively independent chamber, the clasfficiator for traversing classification freight house is provided with above classification freight house, is provided with operating desk above clasfficiator, operating desk both sides are respectively arranged with separate picking mechanism.The utility model there is mechanical arm to carry pass through color sensor, identify orange position, and locating speed is fast, picking mechanism simulation human hand work, plucks fast and stable, suitable for single fruit and fruit of growing thickly, orange is classified automatically according to volume using mechanical system and stored, efficient stable.

Description

Automatic classification orange picking machine
Technical field
The utility model belongs to field of agricultural production technologies, is related to heating installation, more particularly, to a kind of automatic classification tangerine Sub- picking machine.
Background technology
With the improvement of living standards, market is increasing to the demand of fruit, people are continuous to the consumption figure of fruit Increase, therefore, the cultivated area of fruit greatly increases in agricultural production, is different from the farming production of cereal crops, application Manufacturing requirements it is higher, labor intensity is bigger, especially the harvesting work of fruit, deep by time conditions and steric requirements Influence, complete the harvesting task of high work density in a short time, to reduce the labor intensity of production and danger, industry inner product Picker is researched and developed to realize that machine for people, reduces the demand of labour, reduces the working strength of labour, it is raw to improve agricultural in pole Produce water product and product quality.Diversified picking mechanical is designed by constantly research and development, people.
For example, Chinese patent literature discloses a kind of fruits picking mechanical [application number:201510356566.2], including machine Frame, frame top are provided with manipulation device and operation end, are hinged with grabbing arm on job platform, angle position is provided with grabbing arm Displacement sensor, angular displacement sensor are connected with transmission circuit, control grabbing arm crawl fruit.
Although the preferable fruit-picking of such scheme tool energy, grabbing arm need manual control position and crawl fruit, And a fruit is captured in the cycle is once captured, operator still possesses larger workload, and operating efficiency is low, it is impossible to suitable A large amount of it should pluck and shape fruit of growing thickly the short time.
Utility model content
The purpose of this utility model is in view of the above-mentioned problems, providing a kind of automatic classification orange picking machine.
To reach above-mentioned purpose, the utility model employs following technical proposal:A kind of automatic classification orange picking machine, bag Support is included, is provided with above described support and is divided into the classification freight house that several sizes can adjust relatively independent chamber, it is described The clasfficiator for traversing classification freight house is provided with above classification freight house, operating desk, described behaviour are provided with above described clasfficiator Make platform both sides and be respectively arranged with separate picking mechanism.
In above-mentioned automatic classification orange picking machine, described picking mechanism includes mechanical arm and fruit picker, described machine Tool arm includes base, and first rotary joint of the rotation axis perpendicular to horizontal plane is installed with above described base, described The first rotary joint in cylinder and rotation axis is provided with the face of cylinder perpendicular to the first rotary joint rotation axis Second rotary joint.
First mechanical arm is fixedly connected with above-mentioned automatic classification orange picking machine, the second described rotary joint Body, the described one end of first mechanical arm body away from the second rotary joint have been rotatably connected second mechanical arm body, and described Two one end of mechanical arm body away from first mechanical arm body are provided with expansion link, and described telescopic rod end is fixedly connected with fruit picking Device, the 3rd rotary joint that can be rotated in a circumferential direction along flexible rod axis is provided between described fruit picker and expansion link.
In above-mentioned automatic classification orange picking machine, described fruit picker is provided with fruit inlet and through the logical of fruit picker Road, described fruit inlet top are provided with fruit picking pawl, and the flexible driver of driving fruit picking pawl is set on described fruit picking pawl, described Fruit picking mouth below be provided with color sensor and range sensor, be connected with hundred section pipes below described passage, described hundred Section pipe leads to operating desk.
In above-mentioned automatic classification orange picking machine, described operating desk is provided with console and pigeonholes, described point Pick and conveyer belt is provided among platform, the described hundred section pipe mouths of pipe are connected on one end of conveyer belt, and described conveyer belt is away from hundred section pipes The other end be provided with buffer table, described buffer table both sides are provided with guide plate.
In above-mentioned automatic classification orange picking machine, described guide plate is inwardly tightened up to form single fruit in the end of conveyer belt Passage, described single fruit channel end are provided with distributor.
In above-mentioned automatic classification orange picking machine, described distributor includes fan-shaped substrate, and described fan-shaped substrate is set Put and for fan outer and incline close to the side of single fruit passage in lower section of the single fruit passage away from belt direction, described fan-shaped substrate Obliquely.
In above-mentioned automatic classification orange picking machine, described fan-shaped upper surface of base plate is provided with lane separation device, described point Logos and utensils includes shunting plate, and described shunting plate is detachably arranged on fan-shaped substrate, described fan-shaped substrate at least provided with The regulation waist hole of twice arc, described shunting plate can slide the spacing changed between the plate of shunting along regulation waist hole.
Cover plate, described cover plate are provided with above above-mentioned automatic classification orange picking machine, described lane separation device end The shunting mouth formed with lane separation device described in several shunting mouths is connected to a clasfficiator, described clasfficiator include slideway and Backplate, described slideway gradually reduce along the direction away from distributor, and inner side is provided with several classification gears on described backplate Plate, described classification baffle plate increase successively perpendicular to backplate and along the direction height away from distributor.
Drive device, described driving dress are provided with below above-mentioned automatic classification orange picking machine, described support Put including deflecting roller and crawler belt.
Compared with prior art, the utility model has the advantage of:
1. mechanical arm, which carries, passes through color sensor, identification orange position, locating speed is fast.
2. picking mechanism simulation human hand work, plucks fast and stable, suitable for single fruit and fruit of growing thickly.
Stored 3. being automatically classified orange according to volume using mechanical system, efficient stable.
Brief description of the drawings
Fig. 1 is structural scheme of mechanism provided by the utility model;
Fig. 2 is picking mechanism schematic diagram provided by the utility model;
Fig. 3 is operating desk structural representation provided by the utility model;
Fig. 4 is partial sectional view provided by the utility model.
In figure, support 1, classification freight house 2, clasfficiator 3, slideway 31, backplate 32, classification baffle plate 33, operating desk 4, console 41st, pigeonholes 42, conveyer belt 421, single fruit passage 422, buffer table 43, guide plate 431, picking mechanism 5, mechanical arm 6, base 61st, the first rotary joint 62, the second rotary joint 63, first mechanical arm body 64, second mechanical arm body 65, expansion link the 66, the 3rd Rotary joint 67, fruit picker 7, fruit inlet 71, passage 72, fruit picking pawl 73, driver 74, color sensor 75, range sensor 76th, hundred section pipes 77, distributor 8, fan-shaped substrate 81, lane separation device 82, cover plate 821, shunting mouth 822, shunting plate 83, regulation waist hole 84th, drive device 9, deflecting roller 91, crawler belt 92.
Embodiment
As shown in figure 1, a kind of automatic classification orange picking machine, including support 1, the described top of support 1, which is provided with, to be divided into Several sizes can adjust the classification freight house 2 of relatively independent chamber, and the described top of classification freight house 2, which is provided with, traverses classification freight house 2 clasfficiator 3, the described top of clasfficiator 3 are provided with operating desk 4, and the described both sides of operating desk 4 are respectively arranged with independently of each other Picking mechanism 5.
It is in yellow after orange maturation, has any different and determine the direction of ripening fruits in the green of leaf, color sensor 75, away from Fruit picker 7 is determined from sensor 76 and with a distance from fruit, mechanical arm 6 is gathered according to color sensor 75 and range sensor 76 Fruit positional information, fruit picker 7 is delivered to the position of harvesting fruit, fruit picker 7 adopts down fruit, and fruit enters fruit picker 7 And be sent to operating desk by hundred section pipes 77, carry out hand picking, the problems such as selecting breakage fruit, qualified fruit passes through distributor 8 Clasfficiator 3 uniformly is delivered to, according to classification freight house 2 is entered after volume automatic classification, is waited to be transported.
Specifically, as shown in Fig. 2 picking mechanism 5 includes mechanical arm 6 and fruit picker 7, described mechanical arm 6 includes base 61, the top of described base 61 is installed with first rotary joint 62 of the rotation axis perpendicular to horizontal plane, and described first Rotary joint 62 is in cylinder and rotation axis is provided with the face of cylinder perpendicular to the of the rotation axis of the first rotary joint 62 Two rotary joints 63.Two frees degree are obtained by the first rotary joint 62 and the second rotary joint 63.
First mechanical arm body 64 is fixedly connected with second rotary joint 63, described first mechanical arm body 64 is away from second One end of rotary joint 63 has been rotatably connected second mechanical arm body 65, and described second mechanical arm body 65 is away from first mechanical arm One end of body 64 is provided with expansion link 66, and the described end of expansion link 66 is fixedly connected with fruit picker 7, described fruit picker 7 with The 3rd rotary joint 67 that can be rotated in a circumferential direction along the axis of expansion link 66 is provided between expansion link 66.Expansion link 66 can freely be stretched Contracting, fruit picker 7 can be done along second mechanical arm body by expansion link 66 and be moved along a straight line repeatedly, after determining fruit locality, be changed Fruit picker position makes it reach fruit position.
Fruit picker 7 is provided with fruit inlet 71 and the passage 72 through fruit picker 7, and the described top of fruit inlet 71, which is provided with, adopts Fruit pawl 73, the flexible driver 74 of driving fruit picking pawl is set on described fruit picking pawl 73, and the described lower section of fruit inlet 71 is provided with Color sensor 75 and range sensor 76, the described lower section of passage 72 are connected with hundred section pipes 77, and described hundred section pipes 77 lead to Operating desk 4.After driver 74 drives fruit picking pawl 73 to catch fruit, driving fruit picking pawl 73 is retreated picking fruit.The fruit taken After into passage 72 operating desk is transported to by hundred section pipes 77.
Preferably.As shown in Figure 3, operating desk 4 is provided with console 41 and pigeonholes 42, among described pigeonholes 42 Conveyer belt 421 is provided with, the described hundred section mouths of pipe of pipe 77 are connected on one end of conveyer belt 421, and described conveyer belt 421 is away from hundred sections The other end of pipe 77 is provided with buffer table 43, and the described both sides of buffer table 43 are provided with guide plate 431.
Specifically, guide plate 431 is inwardly tightened up to form single fruit passage 422 in the end of conveyer belt 421, described single fruit leads to The end of road 422 is provided with distributor 8.
As shown in figure 4, distributor 8 includes fan-shaped substrate 81, described fan-shaped substrate 81 is arranged under single fruit passage 72 Side, described fan-shaped substrate 81 close to the side of single fruit passage 72 for fan outer and diagonally downward.
The fan-shaped upper surface of substrate 81 is provided with lane separation device 82, and described lane separation device 82 includes shunting plate 83, described shunting Plate 83 is detachably arranged on fan-shaped substrate 81, regulation waist hole of the described fan-shaped substrate 81 at least provided with twice arc 84, described shunting plate 83 can slide the spacing changed between shunting plate 83 along regulation waist hole 84.
Preferably, cover plate 821 is provided with above the end of lane separation device 82, described cover plate 821 and lane separation device 82 form some Individual shunting mouth 822, described shunting mouth 822 are connected to a clasfficiator 3, and described clasfficiator 3 includes slideway 31 and backplate 32, described slideway 31 gradually reduces along the direction away from distributor 8, and inner side is provided with several classifications on described backplate 32 Baffle plate 33, described classification baffle plate 33 increase successively perpendicular to backplate 32 and along the direction height away from distributor 8.
Fruit rolls along slideway 31, on the way by classification baffle plate 33, is graded baffle plate 33 and stops and jacked up, fruit center Fall outside slide rail 31, and during slip, fruit drops, and the fruit of small volume, center offset is small, and center falls In slide rail 31, portion drops and continued along slide rail forward slip.
With the height increase of classification baffle plate 33, when fruit runs into classification baffle plate 33, center offset gradually increases, larger Volume fruit drops into classification freight house prior to smaller size smaller fruit, realizes automatic classification.
Drive device 9 is provided with below support, described drive device 9 includes deflecting roller 91 and crawler belt 92.
Principle of the present utility model:
It is in yellow after orange maturation, has any different and determine the direction of ripening fruits in the green of leaf, color sensor 75, away from Fruit picker 7 is determined from sensor 76 and with a distance from fruit, mechanical arm 6 is gathered according to color sensor 75 and range sensor 76 Fruit positional information, fruit picker 7 is delivered to the position of harvesting fruit, fruit picker 7 adopts down fruit, and fruit enters fruit picker 7 And be sent to operating desk by hundred section pipes 77, carry out hand picking, the problems such as selecting breakage fruit, qualified fruit passes through distributor 8 Clasfficiator 3 uniformly is delivered to, according to classification freight house 2 is entered after volume automatic classification, is waited to be transported.
Color sensor 75 and range sensor 76 can select commercially available product, as Shenzhen can be selected in color sensor 75 The PC-C color spectrum sensors of Shen Pu Electric Applicance Co., Ltd production, it is limited that Dongguan City cloud brightness electronics can be selected in range sensor 76 The cloud brightness HC-SR04 range finder modules of company's production.
Fruit rolls along slideway 31, on the way by classification baffle plate 33, is graded baffle plate 33 and stops and jacked up, fruit center Fall outside slide rail 31, and during slip, fruit drops, and the fruit of small volume, center offset is small, and center falls In slide rail 31, portion drops and continued along slide rail forward slip.
With the height increase of classification baffle plate 33, when fruit runs into classification baffle plate 33, center offset gradually increases, larger Volume fruit drops into classification freight house prior to smaller size smaller fruit, realizes automatic classification.
The advantages of the utility model:
1. mechanical arm, which carries, passes through color sensor, identification orange position, locating speed is fast.
2. picking mechanism simulation human hand work, plucks fast and stable, suitable for single fruit and fruit of growing thickly.
Stored 3. being automatically classified orange according to volume using mechanical system, efficient stable.
Specific embodiment described herein is only to the utility model spirit explanation for example.The utility model institute Category those skilled in the art can make various modifications or supplement to described specific embodiment or using similar Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Although more used herein support 1, classification freight house 2, clasfficiator 3, slideway 31, backplate 32, classification baffle plate 33, Operating desk 4, console 41, pigeonholes 42, conveyer belt 421, single fruit passage 422, buffer table 43, guide plate 431, picking mechanism 5, Mechanical arm 6, base 61, the first rotary joint 62, the second rotary joint 63, first mechanical arm body 64, second mechanical arm body 65, stretch Contracting bar 66, the 3rd rotary joint 67, fruit picker 7, fruit inlet 71, passage 72, fruit picking pawl 73, driver 74, color sensor 75, Range sensor 76, hundred save pipe 77, distributor 8, fan-shaped substrate 81, lane separation device 82, cover plate 821, shunting mouth 822, shunting plate 83, The terms such as waist hole 84, drive device 9, deflecting roller 91, crawler belt 92 are adjusted, but are not precluded from the possibility using other terms.Make With these terms just for the sake of more easily describing and explaining essence of the present utility model, it is construed as any attached The limitation added is all disagreed with the utility model spirit.

Claims (8)

1. a kind of automatic classification orange picking machine, including support (1), it is characterised in that be provided with above described support (1) point It can adjust the classification freight house (2) of relatively independent chamber for several sizes, be provided with and traverse point above described classification freight house (2) The clasfficiator (3) of level freight house (2), described clasfficiator (3) top are provided with operating desk (4), described operating desk (4) both sides point Separate picking mechanism (5) is not provided with;
Described picking mechanism (5) includes mechanical arm (6) and fruit picker (7), and described mechanical arm (6) includes base (61), institute First rotary joint (62) of the rotation axis perpendicular to horizontal plane, the described first rotation are installed with above the base (61) stated Turn joint (62) in cylinder and rotation axis is provided with the face of cylinder perpendicular to the first rotary joint (62) rotation axis Second rotary joint (63);
First mechanical arm body (64), described first mechanical arm body (64) are fixedly connected with described the second rotary joint (63) One end away from the second rotary joint (63) has been rotatably connected second mechanical arm body (65), described second mechanical arm body (65) One end away from first mechanical arm body (64) is provided with expansion link (66), and described expansion link (66) end is fixedly connected with fruit picking Device (7), the 3rd rotation that can be rotated in a circumferential direction along expansion link (66) axis is provided between described fruit picker (7) and expansion link (66) Turn joint (67).
2. automatic classification orange picking machine according to claim 1, it is characterised in that described fruit picker (7) is provided with Fruit inlet (71) and the passage (72) through fruit picker (7), described fruit inlet (71) top is provided with fruit picking pawl (73), described Fruit picking pawl (73) on the flexible driver (74) of driving fruit picking pawl is set, be provided with color biography below described fruit inlet (71) Sensor (75) and range sensor (76), described passage (72) lower section are connected with hundred section pipes (77), described hundred section pipes (77) Lead to operating desk (4).
3. automatic classification orange picking machine according to claim 2, it is characterised in that described operating desk (4) is provided with Console (41) and pigeonholes (42), described pigeonholes (42) is middle to be provided with conveyer belt (421), described hundred section pipes (77) The mouth of pipe is connected on one end of conveyer belt (421), and the other end that described conveyer belt (421) manages (77) away from hundred sections is provided with buffer table (43), described buffer table (43) both sides are provided with guide plate (431).
4. automatic classification orange picking machine according to claim 3, it is characterised in that described guide plate (431) is defeated The end of band (421) is sent inwardly to tighten up to form single fruit passage (422), described single fruit passage (422) end is provided with distributor (8)。
5. automatic classification orange picking machine according to claim 4, it is characterised in that described distributor (8) includes fan Shape substrate (81), described fan-shaped substrate (81) are arranged on the lower section of single fruit passage (422), and described fan-shaped substrate (81) is close The side of single fruit passage (422) is fan outer and diagonally downward.
6. automatic classification orange picking machine according to claim 5, it is characterised in that described fan-shaped substrate (81) upper table Face is provided with lane separation device (82), and described lane separation device (82) includes shunting plate (83), and described shunting plate (83) is removably pacified On fan-shaped substrate (81), described fan-shaped substrate (81) at least provided with twice arc regulation waist hole (84), it is described Shunting plate (83) can slide the spacing changed between shunting plate (83) along regulation waist hole (84).
7. automatic classification orange picking machine according to claim 6, it is characterised in that on described lane separation device (82) end Side is provided with cover plate (821), and described cover plate (821) and lane separation device (82) form several shunting mouths (822), described shunting Mouth (822) is connected to a clasfficiator (3), and described clasfficiator (3) includes slideway (31) and backplate (32), described slideway (31) gradually reduced along the direction away from distributor (8), inner side is provided with several classification baffle plates on described backplate (32) (33), described classification baffle plate (33) increases successively perpendicular to backplate (32) and along the direction height away from distributor (8).
8. automatic classification orange picking machine according to claim 7, it is characterised in that be provided with drive below described support Dynamic device (9), described drive device (9) include deflecting roller (91) and crawler belt (92).
CN201720454808.6U 2017-04-26 2017-04-26 Automatic classification orange picking machine Active CN206879486U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107018754A (en) * 2017-04-26 2017-08-08 广西职业技术学院 Automatic classification orange picking machine
CN108651004A (en) * 2018-07-01 2018-10-16 红河学院 Jujube class fruit picking sorts all-in-one machine
CN108718680A (en) * 2018-04-27 2018-11-02 昆明理工大学 A kind of rose picker
CN109168594A (en) * 2018-09-11 2019-01-11 广东宏穗晶科技服务有限公司 Robot is used in a kind of picking of tomato
CN109702735A (en) * 2019-02-02 2019-05-03 广东博智林机器人有限公司 A kind of coordinate compensating unit, row crane and its control method for row crane system
CN109699301A (en) * 2019-02-22 2019-05-03 四川农业大学 A kind of intelligence citrus picking machine and citrus picking method
CN110366938A (en) * 2019-07-16 2019-10-25 徐州盛斗士生物科技有限公司 The anti-down quasi- wearable walking clothing of classification of defoliation air-flow is dragged in toad's-mouth harvesting integration rotation
CN114793634A (en) * 2022-05-31 2022-07-29 安徽工程大学 Circular fruit and vegetable picking and screening integrated production line

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107018754A (en) * 2017-04-26 2017-08-08 广西职业技术学院 Automatic classification orange picking machine
CN108718680A (en) * 2018-04-27 2018-11-02 昆明理工大学 A kind of rose picker
CN108651004A (en) * 2018-07-01 2018-10-16 红河学院 Jujube class fruit picking sorts all-in-one machine
CN108651004B (en) * 2018-07-01 2023-10-03 红河学院 Jujube fruit picking and sorting integrated machine
CN109168594A (en) * 2018-09-11 2019-01-11 广东宏穗晶科技服务有限公司 Robot is used in a kind of picking of tomato
CN109702735A (en) * 2019-02-02 2019-05-03 广东博智林机器人有限公司 A kind of coordinate compensating unit, row crane and its control method for row crane system
CN109699301A (en) * 2019-02-22 2019-05-03 四川农业大学 A kind of intelligence citrus picking machine and citrus picking method
CN110366938A (en) * 2019-07-16 2019-10-25 徐州盛斗士生物科技有限公司 The anti-down quasi- wearable walking clothing of classification of defoliation air-flow is dragged in toad's-mouth harvesting integration rotation
CN114793634A (en) * 2022-05-31 2022-07-29 安徽工程大学 Circular fruit and vegetable picking and screening integrated production line
CN114793634B (en) * 2022-05-31 2023-07-25 安徽工程大学 Round fruit and vegetable picking and screening integrated production line

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