CN207505448U - A kind of citrus picker - Google Patents
A kind of citrus picker Download PDFInfo
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- CN207505448U CN207505448U CN201721673165.0U CN201721673165U CN207505448U CN 207505448 U CN207505448 U CN 207505448U CN 201721673165 U CN201721673165 U CN 201721673165U CN 207505448 U CN207505448 U CN 207505448U
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Abstract
The utility model provides a kind of citrus picker, which includes：Picking mechanism, package mechanism, mechanism for sorting and boxing mechanism, the output terminal of the picking mechanism are connect with the input terminal of the package mechanism；The output terminal of the package mechanism is connect with the input terminal of the mechanism for sorting；The output terminal of the mechanism for sorting is connect with the input terminal of the boxing mechanism.The utility model provides a kind of citrus picker, integrate the citrus picker of citrus picking, packaging, sorting and vanning by mechanical structure composition, so that citrus picking working automation, improves the working efficiency of citrus picking, reduces labor intensity.
Description
Technical field
The utility model is related to fruit and vegetable picking technical field more particularly to a kind of citrus picker
Background technology
With the development of the times, the growth of gross national product, the economic total volume in China is just in sustainable growth, and agricultural exists
Play important role in people’s lives, it is the most basic guarantee of people's life, and agriculture development is also into people's life
A flat important symbol of running water.Fruit and vegetable picking operation is an important link in agricultural production, and Orange Producing is south
One of major industry of many provinces and cities' Production of fruit in side, the artificial picking of citrus is that Orange Producing is the most time-consuming and laborious in the process
Link.
In the prior art, by manually carrying out the picking of citrus, working efficiency is relatively low, and labor intensity is big.
Utility model content
The utility model provides a kind of citrus picker, so that citrus picks working automation, improves citrus picking
Working efficiency reduces labor intensity.
In order to achieve the above object, the utility model provides a kind of citrus picker, which includes：Picking
Mechanism, package mechanism, mechanism for sorting and boxing mechanism, the input terminal of the output terminal of the picking mechanism and the package mechanism
Connection；The output terminal of the package mechanism is connect with the input terminal of the mechanism for sorting；The output terminal of the mechanism for sorting and institute
State the input terminal connection of boxing mechanism.
Further, the picking mechanism includes：A pair of of Picking shears, a pair of of encircling type picking hands, angular adjustment component,
Telescopic rod, picking stent, conduit and reservoir part, the picking stent is tripod, and the top of the picking stent can turn
It is provided with U-lag dynamicly, one end of the telescopic rod is arranged in the U-lag, and the U-lag has a pair of side plates, described
Axis hole is provided on side plate, shaft is equipped in the axis hole, the shaft runs through the telescopic rod；The telescopic rod it is another
One end with the angular adjustment component is held to be rotatably connected, the other end of the angular adjustment component is provided with guide rail, described
The bottom side of a pair of of encircling type picking hands is slidably disposed on the guide rail of the angular adjustment component, the angular adjustment
Sliding block, driving part and a pair of links are additionally provided in component, the output terminal of the driving part is connected to the sliding block
Middle part, the pair of connecting rod are arc-shaped connecting rod, and the sliding block is located at the middle part of the angular adjustment component, the pair of connecting rod
One end be rotatably connected to the both ends of the sliding block respectively, the bending direction of the pair of connecting rod is on the contrary, the pair of company
The one end of the other end of bar respectively with the pair of encircling type picking hands is connect；The side of the pair of Picking shears is connected to institute
The other end of a pair of of encircling type picking hands is stated, the pair of Picking shears are located at facing for the pair of encircling type picking hands other end
The nearly sliding block side, the pair of Picking shears are a pair of semicircle hollow-core construction, the pair of semicircle hollow-core construction tool
There is opening, the opening of the pair of semicircle hollow-core construction is oppositely arranged, and is set on the top of the pair of semicircle hollow-core construction
A pair of of blade is equipped with, the blade of the pair of blade is oppositely arranged, and the driving part drives the sliding block with the sliding block
Central shaft is rotated for shaft, and passes through the pair of connecting rod and the pair of encircling type picking hands is driven to be moved along the guide rail,
So as to drive the pair of Picking shears opposite mutually or relatively move；
When the sliding block, which turns to, is parallel to the guide rail, the pair of encircling type picking hands are located at the guide rail respectively
Both ends, there is the first pre-determined distance between the blade of a pair of of blade on the pair of semicircle hollow-core construction top；When described
When sliding block is turned to perpendicular to the guide rail, the pair of encircling type picking hands are located at the centre position of the guide rail, and described one
The blade of a pair of of blade of double of circular hollow structure top end mutually coincide；The input terminal of the conduit is arranged on the pair of half
The lower section of circular hollow structure, the output terminal of the conduit are connect with the input terminal of the reservoir part, the reservoir part packet
It includes：Conical hollow structure and pipe, the larger one end of the conical hollow diameter of movement are opened for the conical hollow structure
Mouthful end, the openend of the conical hollow structure are the input terminal of the storage unit, described in the output terminal of the conduit is inserted into
The openend of conical hollow structure；Described smaller one end of conical hollow diameter of movement is the tip of the conical hollow structure,
Tip hole is provided at the tip of the conical hollow structure, the lower end of the conical hollow structure is provided with pipe, the circle
One end of pipe is inserted into the tip hole, and the other end of the pipe is the output terminal of storage unit；The reservoir part it is defeated
The input terminal of outlet and package mechanism connects.
Further, the value range of first pre-determined distance be 60mm-120mm, using the center of the sliding block for
Opposed two point work two extension lines of the point into opposed two sides of the pair of encircling type picking hands, described two
Extension line intersects at the center of the sliding block, and the angle of formation is opening and closing angle, and the pair of encircling type picking hands are in the sliding block
The value range at the opening and closing angle of residing extreme position is spent for 120 degree -160 during perpendicular to the rail state, the pair of ring
The value for embracing the opening and closing angle of the formula picking hands extreme position residing when the sliding block is parallel to the rail state is 0 degree.
Further, the numerical value of chucking power is at least 100 newton between the pair of encircling type picking hands.
Further, the package mechanism includes：First transfer roller, the first conveyer belt, the second conveyer belt, hot melt component,
Tensioning wheel and packaging bag cutting member, first transfer roller are arranged on the output terminal of the picking mechanism, and described first passes
The periphery of roller is sent to be provided at least one first spacing slot, the first spacing slot is used to transmit citrus, first conveyer belt
Input terminal be arranged on the lower section of first transfer roller, the output terminal of first conveyer belt is defeated with second conveyer belt
Enter end connection；The tensioning wheel is arranged on the lower section of the second conveyer belt input terminal, and the tensioning wheel is used to be tensioned packaging bag；
The hot melt component is arranged on the top of second conveyer belt, and the component that heats is a pair of of electric hot plate, the pair of electric heating
Plate is oppositely arranged, and the electric hot plate is arranged in parallel with second conveyer belt, and the hot melt component is used to encapsulate packaging bag；It is described
Hot melt component is provided at least a pair of of traction wheel close to the side of the second conveyer belt input terminal, and the pair of traction wheel is mutual
It abuts and rotates in opposite directions, the pair of traction wheel transmits for drawing packaging bag from the input terminal of the second conveyer belt to described second
The output end motion of band and for packaging bag to be mediated；The packaging bag cutting member is arranged on second conveyer belt
Output terminal, the packaging bag cutting member are a pair of of shearing roll shaft, and the pair of shearing roll shaft is separately positioned on described second and passes
Top and lower section with output terminal are sent, the axial direction of roll shaft is provided with blade, the packet in the periphery of the roll shaft
The output terminal of pack cutting member is connect with the input terminal of the mechanism for sorting, and the packaging bag cutting member is packed for shearing
Bag.
Further, a diameter of 200mm of first transfer roller, the velocity of rotation of first transfer roller is 5m/s.
Further, the mechanism for sorting includes：Third conveyer belt, at least one spring strut, at least one bowl-shaped portion
Part and the second transfer roller, the input terminal of the third conveyer belt are connect with the output terminal of the package mechanism, the bowl-shaped portion
Part is arranged on by least one spring strut on the third conveyer belt；Second transfer roller is arranged on the third
The output terminal of conveyer belt, the periphery of second transfer roller are provided at least one second spacing slot, and second transfer roller is set
The input terminal in the boxing mechanism is put, the second spacing slot is used to transmit citrus.
Further, it further includes：First pressure sensor, the first pressure sensor are arranged on the bowl-type component
Bottom, the first pressure sensor are used to detect the weight of citrus in the bowl-type component；The first pressure sensor
The input terminal of output terminal and controller connects, and the output terminal of the controller is with driving the motor of the second transfer roller rotation to connect
It connects, the controller is rotated forward for the second transfer roller of control or reversion.
Further, the boxing mechanism includes：4th conveyer belt, the 5th conveyer belt, at least two spring struts, a pair
Bottom plate, a pair of of overturning drag hook and a pair of of sliding rail, the input terminal of the 4th conveyer belt and the input terminal pair of the 5th conveyer belt
Title is arranged on the both sides of the mechanism for sorting output terminal, and the input terminal of the pair of bottom plate is separately positioned on the 4th conveyer belt
Output terminal and the 5th conveyer belt output terminal, the pair of bottom plate is for carrying babinet, the pair of overturning drag hook difference
It is arranged on the side of the pair of bottom plate, the overturning drag hook includes connecting pole, spring and lock joint rod, and the one of the connecting pole
Hold vertical grafting on the ground, one end of the lock joint rod is rotatably connected to the other end of the connecting pole, the spring
One end be connected to the middle part of the connecting pole, the other end of the spring is connected to the middle part of the lock joint rod,
When the lock joint rod is turned to perpendicular to the connecting pole, the side end face of the lock joint rod clasps the bottom plate
Upper surface；
The pair of overturning drag hook is for clasping the pair of bottom plate, and the spring is for making the lock joint rod to being parallel to
The direction of the connecting pole is playbacked, and the bottom end of the pair of bottom plate is provided with the spring strut, the pair of bottom plate
Output terminal is connect with the input terminal of the sliding rail.
Further, it further includes：Second pressure sensor, the second pressure sensor are arranged on the pair of bottom plate
Bottom, the second pressure sensor are used to detect the citrus weight that a pair of of bottom plate is carried；The second pressure sensor
The input terminal of output terminal and controller connects, and the controller is used to that the pair of overturning drag hook to be controlled to clasp a pair of of bottom plate.
The utility model provides a kind of citrus picker, and the picking of collection citrus, packaging, sorting are formed by mechanical structure
And the citrus picker that vanning is integrated so that citrus picks working automation, improves the working efficiency of citrus picking,
Reduce labor intensity.
Description of the drawings
Fig. 1 is one of structural scheme of mechanism of picker of the utility model embodiment；
Fig. 2 is the two of the structural scheme of mechanism of the picker of the utility model embodiment；
Fig. 3 is the three of the structural scheme of mechanism of the picker of the utility model embodiment；
Fig. 4 is the four of the structural scheme of mechanism of the picker of the utility model embodiment；
Drawing reference numeral explanation：
1- picking mechanisms；11- Picking shears；12- encircling type picking hands；13- angular adjustment components；14- telescopic rods；15-
Pick stent；16- conduits；17- reservoir parts；2- package mechanisms；The first transfer rollers of 21-；The first conveyer belts of 22-；23- second is passed
Send band；24- heats component；25- tensioning wheels；26- sleeves；27- packaging bag cutting member；28- traction wheels；3- mechanism for sorting；31-
Third conveyer belt；32- spring struts；33- bowl-type components；The second transfer rollers of 34-；4- boxing mechanisms；The 4th conveyer belts of 41-；42-
5th conveyer belt；43- spring struts；44- bottom plates；45- overturns drag hook；46- sliding rails；5- electro-tricycles.
Specific embodiment
China is the first big fruit producing country and country of consumption in the world, wherein, the production and consumption of citrus occupies China's water
The 30% of fruit yield, the yield of China's citrus in 2016 have reached 10,000,000 tons.And the citrus picking in China is mainly at present
Based on artificial.Since picking operation is more complicated and seasonal apparent, not only efficiency is low for artificial picking, and labour is big, easily right
Citrus causes to damage, and unnecessary loss may be caused due to manpower shortage and weather.
Based on problem above, utility model designs a kind of citrus picker, using lever principle by a pair of of plucking shears
Knife is connected with picking stent, solves the problems, such as that citrus picking can not achieve automation.In addition, telescopic rod is used to cause this reality
The citrus of different height can be picked with novel citrus picker.Encircling type is used in the mode of citrus picking
Picking realizes that citrus picking is integrated with collection.Meanwhile packaging, sorting, vanning and stacking are carried out to citrus and handled, it realizes
Citrus picking pipeline processes.Time and artificial is saved, improves work efficiency, reduces cost.
The citrus picker of the utility model embodiment is described in detail below in conjunction with the accompanying drawings.
Embodiment one
As shown in Figures 1 to 4, Fig. 1 is one of structural scheme of mechanism of picker of the utility model embodiment, and Fig. 2 is
Two, Fig. 3 of the structural scheme of mechanism of the picker of the utility model embodiment is the picker of the utility model embodiment
Three, Fig. 4 of structural scheme of mechanism is the four of the structural scheme of mechanism of the picker of the utility model embodiment.The utility model is implemented
Example provides a kind of citrus picker, which includes：Picking mechanism 1, package mechanism 2, mechanism for sorting 3 and vanning
Mechanism 4, the output terminal of the picking mechanism 1 are connect with the input terminal of the package mechanism 2；The output terminal of the package mechanism 2
It is connect with the input terminal of the mechanism for sorting 3；The output terminal of the mechanism for sorting 3 is connect with the input terminal of the boxing mechanism 4.
Wherein, it is powered by citrus picker of the dc-battery for the utility model embodiment, the utility model is implemented
Solar panel is provided in the citrus picker of example, electric energy is stored using solar panel, it is new to solve this practicality
The citrus picker of type embodiment is picked for a long time outdoors the problem of leading to not enough power supply.It is this practicality by direct current generator
The citrus picker of new embodiment provides power.
The citrus picker of the utility model embodiment is divided into multiple mechanisms, the citrus picking of the utility model embodiment
Apparatus structure is generally detachable, has stronger mobility.The citrus picker of the utility model embodiment can be set
On transportable vehicle, such as the citrus picker of the utility model embodiment is arranged on electro-tricycle 5 so that
The citrus picker of the utility model embodiment can be moved to progress citrus picking under mandarin tree.
Pass through the citrus picker of the utility model embodiment so that the citrus after picking is by packaging, sorting, vanning
And after a series of processing such as stacking, into citrus distribution state, assembly line picking is realized.
The utility model provides a kind of citrus picker, and the picking of collection citrus, packaging, sorting are formed by mechanical structure
And the citrus picker that vanning is integrated so that citrus picks working automation, improves the working efficiency of citrus picking,
Reduce labor intensity.
Embodiment two
On the basis of embodiment one, the picking mechanism 1 of the present embodiment includes：A pair of of Picking shears 11, a pair of of encircling type
Picking hands 12, angular adjustment component 13, telescopic rod 14, picking stent 15, conduit 16 and reservoir part 17, the picking stent
15 be tripod, and rotatably arranged with there is U-lag, one end of the telescopic rod 14 is arranged on institute on the top of the picking stent 15
It states in U-lag, the U-lag has a pair of side plates, is provided with axis hole on the side plate, shaft, institute are equipped in the axis hole
Shaft is stated through the telescopic rod 14；The other end of the telescopic rod 14 and one end of the angular adjustment component 13 rotatably connect
It connects, the other end of the angular adjustment component 13 is provided with guide rail, and the bottom side of the pair of encircling type picking hands 12 can be slided
It is arranged on dynamicly on the guide rail of the angular adjustment component 13, sliding block, driving portion is additionally provided in the angular adjustment component 13
Part and a pair of links, the output terminal of the driving part are connected to the middle part of the sliding block, and the pair of connecting rod is arc-shaped
Connecting rod, the sliding block are located at the middle part of the angular adjustment component, and one end of the pair of connecting rod is rotatably connected to respectively
The both ends of the sliding block, the bending direction of the pair of connecting rod on the contrary, the pair of connecting rod the other end respectively with it is the pair of
One end connection of encircling type picking hands；The side of the pair of Picking shears 11 is connected to the pair of encircling type picking hands 12
The other end, what the pair of Picking shears 11 were located at the pair of 12 other end of encircling type picking hands closes on the sliding block side,
The pair of Picking shears 11 are a pair of semicircle hollow-core construction, and the pair of semicircle hollow-core construction, which has, to be open, described one
The opening of double of circular hollow structure is oppositely arranged, and the top of the pair of semicircle hollow-core construction is provided with a pair of of blade,
The blade of the pair of blade is oppositely arranged,
The driving part drives the sliding block to be rotated by shaft of the central shaft of the sliding block, and passes through the pair of company
Bar drives the pair of encircling type picking hands 12 to be moved along the guide rail, so as to drive the pair of 11 mutual phase of Picking shears
To or relative movement；
When the sliding block, which turns to, is parallel to the guide rail, the pair of encircling type picking hands 12 are located at described lead respectively
The both ends of rail have the first pre-determined distance between the blade of a pair of of blade on the pair of semicircle hollow-core construction top；Work as institute
When stating sliding block and turning to perpendicular to the guide rail, the pair of encircling type picking hands 12 are located at the centre position of the guide rail, institute
The blade for stating a pair of of blade on a pair of semicircle hollow-core construction top mutually coincide；The input terminal of the conduit 16 is arranged on described
The lower section of a pair of of semicircle hollow-core construction, the output terminal of the conduit 16 is connect with the input terminal of the reservoir part 17, described
Reservoir part 17 includes：Conical hollow structure and pipe, the larger one end of the conical hollow diameter of movement are the taper
The openend of hollow-core construction, the openend of the conical hollow structure are the input terminal of the storage unit, the conduit it is defeated
Outlet is inserted into the openend of the conical hollow structure；Described smaller one end of conical hollow diameter of movement is the conical hollow
The tip of structure, tip hole is provided at the tip of the conical hollow structure, and the lower end of the conical hollow structure is provided with
Pipe, one end of the pipe are inserted into the tip hole, and the other end of the pipe is the output terminal of storage unit；The storage
The input terminal of output terminal and package mechanism for depositing component 17 connects.
The mode that adopting in the citrus picker of the utility model embodiment is cut is picked using encircling type, a pair of of encircling type
Picking hands 12 can capture citrus and shear synchronous progress, and a pair of of encircling type picking hands 12 can reduce caused by citrus
Injury, improves picking efficiency.
The design principle of picking mechanism is similar to clamping type manipulator, and picking mechanism is by two parts and four subsystems
Composition.Wherein, two portions are respectively mechanical part and control section, four subsystems are drive system, perform mechanical system,
Sensory perceptual system and control system.
Four subsystems are described in detail below：
(1) drive system
Drive system is to drive the driving device of mechanical system.The picking mechanism of the utility model embodiment is according to design need
It is electronic to select driving source.
(2) mechanical system is performed
Mechanical system is performed to be made of a series of kinematic pair of connecting rods, joint and other forms.Mechanical system can be
One multivariant mechanical system is formed by shoulder joint, wrist joint and hand claw.The picking mechanism of the utility model embodiment,
Revolute pair is formed with link mechanism, so as to form a multivariant mechanical system.
(3) sensory perceptual system
Sensory perceptual system is made of internal sensor and external sensor, is respectively used to obtain inside and outside ambient condition
In relevant information.
(4) control system
The task of control system is according to job instruction input by user and the signal returned from sensor feedback, is dominated
The executing agency of picking mechanism completes corresponding priming and control function.
Telescopic rod 14, in the control aperture for changing picking mechanism, is supplied using electric pushrod executing agency for telescopic rod 14
Electricity；When reaching required aperture, no longer power for telescopic rod 14.Electric energy is saved, reduces the weight of executing agency.Telescopic rod 14
Can be the scalable hollow cylinder body of rod rolled using sheet metal strip or plastic sheet, sheet metal strip and plastic sheet
Material is fixed to have memory function and less than the elastic force curly bedding of telescopic rod external diameter of rod body in advance, and curly bedding has to stretching always
Contracting bar applies stressed elastic potential energy.So that telescopic rod 14 has self-tightening and auto-lock function.
Telescopic rod 14 is mainly made of motor, push rod and control device, can be realized far distance controlled and be concentrated control
System.Push rod can make back and forth movement in a certain range stroke, and the stroke of push rod can be 100mm, 150mm, 200mm,
250mm, 300mm, 350mm and 400mm can be required to be designed according to different application condition.The maximum thrust of telescopic rod
Up to 6000N, the no-load running speed of telescopic rod can be 4mm/s~35mm/s, and push rod can be with 24V/12V AC permanent magnets electricity
Machine is power source, is straight reciprocating motion by the convert rotational motion of motor, pushes one group of link mechanism to complete flexible work.
In the picking process of citrus, due to the difference of picking rate, the time that citrus falls in conduit 16 cannot obtain
Ensure to effective, will appear the phenomenon that multiple citruses fall simultaneously when carrying out citrus packaging.In order to solve this problem originally
Utility model embodiment devises a reservoir part 17 for being similar to funnel.
Embodiment three
On the basis of embodiment two, the value range of the first pre-determined distance described in the present embodiment is 60mm-120mm,
Using opposed 2 points of the center of the sliding block as starting point into opposed two sides of the pair of encircling type picking hands
Make two extension lines, two extension lines intersect at the center of the sliding block, and the angle of formation is to be opened and closed angle, the pair of ring
The value range for embracing the opening and closing angle of the formula picking hands extreme position residing when the sliding block is perpendicular to the rail state is 120
- 160 degree of degree, the pair of encircling type picking hands extreme position residing when the sliding block is parallel to the rail state are opened
The value for closing angle is 0 degree.
Wherein, picking mechanism 1 also suffers from picking mechanism 1 in motion process other than by the reaction force of citrus branch
In the influence of generated inertia force and vibration, therefore it is required that picking mechanism 1 has enough intensity and rigidity, prevent from picking
Mechanism 1 fractures or flexural deformation, should should as possible make 1 simple and compact of picking mechanism, the dead weight for making picking mechanism 1 is lighter, and makes
The centre of motion line of a pair of of encircling type picking hands 12 is on the axis of rotation of angular adjustment component 13, so that a pair of of encircling type picking
The torsional moment of hand 12 is minimum.
The opening and closing angle of a pair of of encircling type picking hands 12 should meet the needs of citrus smoothly can enter and disengage, this practicality
New embodiment is designed by the citrus of maximum gauge, and by market survey, the maximum gauge of citrus is 60mm, therefore this practicality is new
The opening and closing angle of a pair of of encircling type picking hands 12 of type embodiment is preferably 120 degree.
Example IV
On the basis of embodiment two, chucking power should meet mandarin orange between a pair of of encircling type picking hands 12 of the present embodiment
The demand that tangerine secateurs breaks, the numerical value of chucking power is at least 100 newton between the pair of encircling type picking hands 12.Reasonably provide
Chucking power between a pair of of encircling type picking hands 12, it is energy saving in the case where meeting actual demand.
Embodiment five
On the basis of embodiment one, the package mechanism 2 of the present embodiment includes：First transfer roller 21, the first conveyer belt 22,
Second conveyer belt 23, hot melt component 24, tensioning wheel 25, sleeve 26 and packaging bag cutting member 27, first transfer roller 21
The output terminal of the picking mechanism 1 is arranged on, the periphery of first transfer roller 21 is provided at least one first spacing slot, institute
The first spacing slot is stated for transmitting citrus, the input terminal of first conveyer belt 22 is arranged under first transfer roller 21
Side, the output terminal of first conveyer belt 22 are connect with the input terminal of second conveyer belt 23；The tensioning wheel 25 is arranged on
The lower section of second conveyer belt, 23 input terminal, the tensioning wheel 25 are used to be tensioned packaging bag；The hot melt component 24 is arranged on
The top of second conveyer belt 23, the hot melt component 24 is a pair of of electric hot plate, and the pair of electric hot plate is oppositely arranged, described
Electric hot plate is arranged in parallel with second conveyer belt 23, and the hot melt component 24 is used to encapsulate packaging bag；The sleeve 26 is set
Between the hot melt component 24 and second conveyer belt 23, the sleeve 26 is arranged in parallel with second conveyer belt 23,
The sleeve 26 is used for aggregation wrapper bag；The hot melt component 24 is provided with close to the side of 23 input terminal of the second conveyer belt
At least a pair of of traction wheel 28, the pair of traction wheel 28 are mutually abutted and are rotated in opposite directions, and the pair of traction wheel 28 is used to draw
Packaging bag is from the input terminal of the second conveyer belt 23 to the output end motion of second conveyer belt 23 and for packaging bag to be pinched
It closes；The packaging bag cutting member 27 is arranged on the output terminal of second conveyer belt 23, and the packaging bag cutting member is one
To shearing roll shaft, the pair of shearing roll shaft is separately positioned on the top and lower section of 23 output terminal of the second conveyer belt,
The periphery of the roll shaft is provided with blade along the axial direction of roll shaft, the output terminal of the packaging bag cutting member 27 with it is described
The input terminal connection of mechanism for sorting 3, the packaging bag cutting member 27 are used to shear packaging bag.
When the citrus in reservoir part 17 reaches certain amount, start to rotate similar to the first transfer roller 21 of sheave,
Only allow to fall into 1 citrus in first spacing slot, the first transmission is fallen into so as to fulfill the citrus in reservoir part 17 is single respectively
In band 22.
First spacing slot often rotates certain angle, and the first conveyer belt 22 is transmitted to the distance answered.When the first conveyer belt 22
On citrus when reaching certain amount, 22 continuous rotation 1 of the first conveyer belt is enclosed, while the second conveyer belt 23 starts to rotate, the
The packaging bag for packing citrus is provided on two conveyer belts 23, after citrus is fallen into packaging bag, packaging bag drives citrus leading
It is sent under the draw of running wheel at 24 position of hot melt component, packaging bag passes through packaging bag cutting member after completing hot melting process
27, which complete packaging bag, cuts, and completes the technology of the package of citrus.
Embodiment six
On the basis of embodiment five, a diameter of 200mm of first transfer roller 21 of the present embodiment, first transfer roller
21 velocity of rotation is 5m/s.
In order to which citrus is made to realize single whereabouts, the utility model embodiment passes 21 quartering of the first transfer roller first
It send and two the first spacing slots progress citrus transmission is preferably set up on roller 21.
Embodiment seven
On the basis of embodiment one, the mechanism for sorting 3 of the present embodiment includes：Third conveyer belt 31, at least one spring
Pillar 32,33 and second transfer roller 34 of at least one bowl-type component, input terminal and the packaging of the third conveyer belt 31
The output terminal connection of mechanism 2, the bowl-type component 33 are arranged on the third by least one spring strut 32 and transmit
On band 31；Second transfer roller 34 is arranged on the output terminal of the third conveyer belt 31, the periphery of second transfer roller 34
It is provided at least one second spacing slot, second transfer roller 34 is arranged on the input terminal of the boxing mechanism 4, and described second
Spacing slot is used to transmit citrus.
Embodiment eight
On the basis of embodiment seven, the present embodiment further includes：First pressure sensor, the first pressure sensor are set
It puts in the bottom of the bowl-type component 33, the first pressure sensor is used to detect the weight of citrus in the bowl-type component 33
Amount；The output terminal of the first pressure sensor and the input terminal of controller connect, and the output terminal of the controller is with driving institute
The motor connection of the second transfer roller 34 rotation is stated, the controller is rotated forward or inverted for the second transfer roller 34 of control.Here
It should be noted that looking in the one end of the second live-roller 34 far from the bowl-type component 33 to the second live-roller 34, second passes
Dynamic roller 34 is rotated counterclockwise to invert, and the second live-roller 34 is rotated clockwise to rotate forward.
Wherein, it is provided with the first preset weight value in the controller, the first preset weight value can be according to practical need
It sets, when the first pressure sensor detects that the weight of citrus in the bowl-type component 33 is more than the described first default weight
During magnitude, i.e., citrus is the citrus of large-size, and controller can control the motor that the second live-roller 34 is driven to rotate forward；Work as institute
It states first pressure sensor and detects when weighing less than the first preset weight value of citrus, i.e. citrus in the bowl-type component
For the citrus of reduced size, controller can control the motor that the second live-roller 34 is driven to invert；To be more than first pre- as a result,
If the big citrus of gravimetric value is selected and reaches the left side of the second live-roller 34, the small citrus that will be less than the first preset weight value is selected
And the right side of the second live-roller 34 is reached, according to the actual weight of citrus, complete the sorting of citrus size.
Citrus after packaging is fallen into bowl-type component 33 one by one successively, the third conveyer belt 31 of connection bowl-type component 33
For step motion control conveyer belt.When the citrus in bowl-type component 33 reaches the centre of third conveyer belt 31, the first pressure is connected in touching
Force snesor switchs, and first pressure sensor starts to measure the weight of citrus.The weight that controller measures first pressure sensor
Amount signal passes to the actuator of the second transfer roller 34, and the second transfer roller 34 starts to rotate after a certain period of time for delay.According to citrus
The difference of weight, the rotation direction of the second transfer roller 34 is different, so as to fulfill the sorting of citrus.
First pressure sensor is resistance strain type pressure sensor, and first pressure sensor can be by spring strut, electricity
The compositions such as foil gauge and cable are hindered, internal wiring uses Huygens's electric bridge, when spring strut, which bears load, to be deformed,
Resistance strain gage is stretched and compresses and should be deformed, and the resistance value of resistance strain gage changes, so as to lose electric bridge
Balance, generates corresponding differential wave, and circuit measuring and processing are carried out for controller.
Embodiment nine
On the basis of embodiment one, the boxing mechanism 4 of the present embodiment includes：4th conveyer belt 41, the 5th conveyer belt 42,
At least two spring struts 43, a pair of of bottom plate 44, a pair of of overturning drag hook 45 and a pair of of sliding rail 46, the 4th conveyer belt 41
The input terminal of input terminal and the 5th conveyer belt 42 is symmetricly set on the both sides of 3 output terminal of the mechanism for sorting, the pair of bottom
The input terminal of plate 44 is separately positioned on the output terminal of the 4th conveyer belt 41 and the output terminal of the 5th conveyer belt 42, and described one
To bottom plate 44 for carrying babinet, the pair of overturning drag hook 45 is separately positioned on the side of the pair of bottom plate 44, described to turn over
Turn drag hook 45 include connecting pole, spring and lock joint rod, the vertical grafting in one end of the connecting pole on the ground, the lock joint rod
One end be rotatably connected to the other end of the connecting pole, one end of the spring is connected to the middle part of the connecting pole,
The other end of the spring is connected to the middle part of the lock joint rod,
When the lock joint rod is turned to perpendicular to the connecting pole, the side end face of the lock joint rod clasps the bottom plate
Upper surface；
The pair of overturning drag hook 45 is for clasping the pair of bottom plate 44, and the spring is for making the lock joint rod to flat
Row playbacks in the direction of the connecting pole, and the bottom end of the pair of bottom plate 44 is provided with the spring strut 43, and described one
The output terminal of bottom plate 44 is connect with the input terminal of the sliding rail 46.
Embodiment ten
On the basis of embodiment nine, the present embodiment further includes：Second pressure sensor, the second pressure sensor are set
It puts in the bottom of the pair of bottom plate 44, the second pressure sensor is used to detect the citrus weight that a pair of of bottom plate 44 is carried
Amount；The output terminal of the second pressure sensor and the input terminal of controller connect, and the controller is the pair of for controlling
Overturning drag hook 45 clasps a pair of of bottom plate 44.Wherein, the second preset weight value, the second preset weight value are provided in the controller
It can set according to actual needs, the babinet for loading citrus is usually provided on a pair of of bottom plate 44, when the second pressure
When sensor detects that the citrus weight that the pair of bottom plate 44 is carried is less than the second preset weight value, i.e., corresponding a pair of of bottom
Citrus is not filled up in babinet on plate 44, controller does not control a pair of overturning drag hook, and a pair of overturning drag hook 45 is whole
In linear state, a pair of overturning drag hook 45 does not hinder the up and down of a pair of of bottom plate；When the second pressure sensor detects
When the citrus weight carried to the pair of bottom plate 44 is more than or equal to the second preset weight value, i.e., corresponding a pair of of bottom plate
Citrus is already filled in babinet on 44, controller can control the pair of overturning drag hook 45 to clasp the pair of bottom plate 44,
Preventing the babinet on a pair of of bottom plate 44, the pair of bottom plate 44, which bounces, causes babinet to be turned on one's side when being moved on sliding rail.
Babinet is provided on a pair of of bottom plate 44, babinet is used to load citrus.Citrus turns by the way that the second transfer roller 34 is different
To the 4th conveyer belt 41 or the 5th conveyer belt 42 is entered, babinet is fallen by roller.When the citrus in case reaches constant weight
When, the compression triggering second pressure sensor alarm of spring strut 43 prompts user to replace babinet.Meanwhile controller control is a pair of
Overturning drag hook 45 clasps corresponding a pair of of bottom plate 44, then in corresponding babinet delivery to sliding rail 46, will complete stacking processing.
Embodiment 11
On the basis of embodiment one to embodiment ten, the present embodiment is to the citrus picker of the utility model embodiment
Workflow be described in detail.
The utility model embodiment provides a kind of picking for collecting citrus, packaging, sorting, weighs, cases and stacking is
The detachable citrus picker of one.Positioning citrus position first, adjustable telescopic rod 14 and angular adjustment component 13, make one
Citrus position is reached to encircling type picking hands 12, the branch of citrus is sheared by a pair of of Picking shears 11, completes citrus
Picking；Subsequent citrus is fallen into conduit 16, into reservoir part 17, when the quantity of the citrus stored in reservoir part 17 reaches one
Periodically, controller controls the rotation of the first transfer roller 21 that citrus is driven to fall into one by one on the first conveyer belt 22, and traction wheel 28 drives packet
Pack arrive at hot melt component 24, hot melt component 24 packaging bag is packaged, by packaging bag cutting member 27 to packaging bag into
The packaging of citrus is completed in row shearing；Citrus is driven to enter the completion of bowl-type component 33 by round brush to weigh, and the weight of citrus is believed
Number controller is fed back to, when citrus is sent to the second transfer roller 34 by third conveyer belt 31, mandarin orange that actuator passes through feedback
The weight signal of tangerine controls the second transfer roller 34 to be rotated forward or inverted so that big citrus and small citrus respectively fall in the 4th
On 41 and the 5th conveyer belt 42 of conveyer belt, the sorting function of citrus is completed；Citrus is passed by the 4th conveyer belt 41 and the 5th
Band 42 is sent to enter babinet, with the increase of box weight, the spring strut 43 of a pair of of 44 bottom end of bottom plate of babinet compression is gradually reduced,
When the height that babinet declines reaches preset height value, spring strut 43 triggers second pressure sensor alarm, prompts user
Babinet is replaced, so as to complete the picking process of entire citrus, last citrus enters distribution state.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the utility model rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, those of ordinary skill in the art should
Understand：It can still modify to the technical solution recorded in foregoing embodiments either to which part or whole
Technical characteristic carries out equivalent replacement；And these modifications or replacement, this practicality that it does not separate the essence of the corresponding technical solution are new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of citrus picker, which is characterized in that the picker includes：Picking mechanism, package mechanism, mechanism for sorting with
And boxing mechanism,
The output terminal of the picking mechanism is connect with the input terminal of the package mechanism；
The output terminal of the package mechanism is connect with the input terminal of the mechanism for sorting；
The output terminal of the mechanism for sorting is connect with the input terminal of the boxing mechanism.
2. picker according to claim 1, which is characterized in that the picking mechanism includes：A pair of of Picking shears, one
To encircling type picking hands, angular adjustment component, telescopic rod, stent, conduit and reservoir part are picked,
The picking stent is tripod, and the top of the picking stent is rotatably arranged with there is a U-lag, the one of the telescopic rod
End is arranged in the U-lag, and the U-lag has a pair of side plates, is provided with axis hole on the side plate, is worn in the axis hole
There is shaft, the shaft runs through the telescopic rod；
The other end of the telescopic rod and one end of the angular adjustment component are rotatably connected, the angular adjustment component it is another
One end is provided with guide rail, and the bottom side of the pair of encircling type picking hands is slidably disposed on the angular adjustment component
On guide rail, sliding block, driving part and a pair of links, the output of the driving part are additionally provided in the angular adjustment component
End is connected to the middle part of the sliding block, and the pair of connecting rod is arc-shaped connecting rod, and the sliding block is located at the angular adjustment component
Middle part, one end of the pair of connecting rod is rotatably connected to the both ends of the sliding block, the bending of the pair of connecting rod respectively
Direction is on the contrary, one end respectively with the pair of encircling type picking hands of the other end of the pair of connecting rod is connect；
The side of the pair of Picking shears is connected to the other end of the pair of encircling type picking hands, the pair of Picking shears
Positioned at the sliding block side of closing on of the pair of encircling type picking hands other end, the pair of Picking shears are a pair of semicircle
Hollow-core construction, the pair of semicircle hollow-core construction have opening, and the opening of the pair of semicircle hollow-core construction is oppositely arranged,
The top of the pair of semicircle hollow-core construction is provided with a pair of of blade, the blade of the pair of blade is oppositely arranged,
The driving part drives the sliding block to be rotated by shaft of the central shaft of the sliding block, and passes through the pair of connecting rod band
It moves the pair of encircling type picking hands to move along the guide rail, so as to drive the pair of Picking shears opposite or opposite mutually
It is mobile；
When the sliding block, which turns to, is parallel to the guide rail, the pair of encircling type picking hands are located at the two of the guide rail respectively
It holds, there is the first pre-determined distance between the blade of a pair of of blade on the pair of semicircle hollow-core construction top；
When the sliding block is turned to perpendicular to the guide rail, the pair of encircling type picking hands are located at the interposition of the guide rail
It puts, the blade of a pair of of blade on the pair of semicircle hollow-core construction top mutually coincide；
The input terminal of the conduit is arranged on the lower section of the pair of semicircle hollow-core construction, the output terminal of the conduit with it is described
The input terminal connection of reservoir part；
The reservoir part includes：Conical hollow structure and pipe, the larger one end of the conical hollow diameter of movement is institute
The openend of conical hollow structure is stated, the openend of the conical hollow structure is the input terminal of the reservoir part, described to lead
The output terminal of pipe is inserted into the openend of the conical hollow structure；Described smaller one end of conical hollow diameter of movement is the cone
The tip of shape hollow-core construction is provided with tip hole, the lower end of the conical hollow structure at the tip of the conical hollow structure
Pipe is provided with, one end of the pipe is inserted into the tip hole, and the other end of the pipe is the output terminal of storage unit；
The output terminal of the reservoir part and the input terminal of package mechanism connect.
3. picker according to claim 2, which is characterized in that the value range of first pre-determined distance is
60mm-120mm, using phase of the center of the sliding block as starting point into opposed two sides of the pair of encircling type picking hands
2 points of works, two extension lines of opposition, two extension lines intersect at the center of the sliding block, and the angle of formation is opening and closing angle,
The opening and closing angle of the pair of encircling type picking hands extreme position residing when the sliding block is perpendicular to the rail state takes
Ranging from 120 degree -160 degree of value, the pair of encircling type picking hands are residing when the sliding block is parallel to the rail state
The value at the opening and closing angle of extreme position is 0 degree.
4. picker according to claim 2, which is characterized in that chucking power between the pair of encircling type picking hands
Numerical value is at least 100 newton.
5. picker according to claim 1, which is characterized in that the package mechanism includes：First transfer roller, first
Conveyer belt, the second conveyer belt, hot melt component, tensioning wheel and packaging bag cutting member,
First transfer roller is arranged on the output terminal of the picking mechanism, and the periphery of first transfer roller is provided at least one
A first spacing slot, for the first spacing slot for transmitting citrus, the input terminal of first conveyer belt is arranged on described first
The lower section of transfer roller, the output terminal of first conveyer belt are connect with the input terminal of second conveyer belt；
The tensioning wheel is arranged on the lower section of the second conveyer belt input terminal, and the tensioning wheel is used to be tensioned packaging bag；
The hot melt component is arranged on the top of second conveyer belt, and the hot melt component is a pair of of electric hot plate, the pair of
Electric hot plate is oppositely arranged, and the electric hot plate is arranged in parallel with second conveyer belt, and the hot melt component is used to encapsulate packaging bag；
The hot melt component is provided at least a pair of of traction wheel close to the side of the second conveyer belt input terminal, the pair of to lead
Running wheel is mutually abutted and is rotated in opposite directions, and the pair of traction wheel is used to drawing packaging bag from the input terminal of the second conveyer belt to described
The output end motion of second conveyer belt and for packaging bag to be mediated；
The packaging bag cutting member is arranged on the output terminal of second conveyer belt, and the packaging bag cutting member is cut for a pair
Roll shaft is cut, the pair of shearing roll shaft is separately positioned on the top and lower section of the second conveyer belt output terminal, in the roller
The periphery of axis is provided with blade, output terminal and the mechanism for sorting of the packaging bag cutting member along the axial direction of roll shaft
Input terminal connection, the packaging bag cutting member is for shearing packaging bag.
6. picker according to claim 5, which is characterized in that a diameter of 200mm of first transfer roller, it is described
The velocity of rotation of first transfer roller is 5m/s.
7. picker according to claim 1, which is characterized in that the mechanism for sorting includes：Third conveyer belt, at least
One spring strut, at least one bowl-type component and the second transfer roller,
The input terminal of the third conveyer belt is connect with the output terminal of the package mechanism, the bowl-type component by it is described at least
One spring strut is arranged on the third conveyer belt；
Second transfer roller is arranged on the output terminal of the third conveyer belt, and the periphery of second transfer roller is provided at least
One the second spacing slot, second transfer roller are arranged on the input terminal of the boxing mechanism, and the second spacing slot is used to pass
Send citrus.
8. picker according to claim 7, which is characterized in that further include：First pressure sensor,
The first pressure sensor is arranged on the bottom of the bowl-type component, and the first pressure sensor is described for detecting
The weight of citrus in bowl-type component；
The output terminal of the first pressure sensor and the input terminal of controller connect, and the output terminal of the controller is with driving institute
The motor connection of the second transfer roller rotation is stated, the controller is rotated forward for the second transfer roller of control or reversion.
9. picker according to claim 1, which is characterized in that the boxing mechanism includes：4th conveyer belt, the 5th
Conveyer belt, at least two spring struts, a pair of of bottom plate, a pair of of overturning drag hook and a pair of of sliding rail,
The input terminal of 4th conveyer belt and the input terminal of the 5th conveyer belt are symmetricly set on the mechanism for sorting output terminal
Both sides, the input terminal of the pair of bottom plate be separately positioned on the 4th conveyer belt output terminal and the 5th conveyer belt it is defeated
Outlet, for the pair of bottom plate for carrying babinet, the pair of overturning drag hook is separately positioned on the side of the pair of bottom plate, institute
State overturning drag hook include connecting pole, spring and lock joint rod, the vertical grafting in one end of the connecting pole on the ground, the snapping
One end of bar is rotatably connected to the other end of the connecting pole, and one end of the spring is connected in the connecting pole
Portion, the other end of the spring are connected to the middle part of the lock joint rod,
When the lock joint rod is turned to perpendicular to the connecting pole, the side end face of the lock joint rod clasps the upper of the bottom plate
End face；
For clasping the pair of bottom plate, the spring is used to make the lock joint rod described to being parallel to the pair of overturning drag hook
It playbacks in the direction of connecting pole；
The bottom end of the pair of bottom plate is provided with the spring strut, the input of the output terminal of the pair of bottom plate and the sliding rail
End connection.
10. picker according to claim 9, which is characterized in that further include：Second pressure sensor,
The second pressure sensor is arranged on the bottom of the pair of bottom plate, and the second pressure sensor is used to detect a pair
The citrus weight that bottom plate is carried；
The output terminal of the second pressure sensor and the input terminal of controller connect, and the controller is the pair of for controlling
Overturning drag hook clasps a pair of of bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721673165.0U CN207505448U (en) | 2017-12-05 | 2017-12-05 | A kind of citrus picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721673165.0U CN207505448U (en) | 2017-12-05 | 2017-12-05 | A kind of citrus picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207505448U true CN207505448U (en) | 2018-06-19 |
Family
ID=62543066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721673165.0U Expired - Fee Related CN207505448U (en) | 2017-12-05 | 2017-12-05 | A kind of citrus picker |
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| Country | Link |
|---|---|
| CN (1) | CN207505448U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109819772A (en) * | 2019-03-28 | 2019-05-31 | 河池学院 | A kind of novel bionic citrus picking robot |
| CN110371352A (en) * | 2019-08-30 | 2019-10-25 | 江西省农业科学院蔬菜花卉研究所 | Balsam pear picks coating device |
| CN113575131A (en) * | 2021-08-23 | 2021-11-02 | 河北省科学院应用数学研究所 | Oranges and tangerines are picked letter sorting integrated device based on symmetry indicates holder more |
-
2017
- 2017-12-05 CN CN201721673165.0U patent/CN207505448U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109819772A (en) * | 2019-03-28 | 2019-05-31 | 河池学院 | A kind of novel bionic citrus picking robot |
| CN110371352A (en) * | 2019-08-30 | 2019-10-25 | 江西省农业科学院蔬菜花卉研究所 | Balsam pear picks coating device |
| CN113575131A (en) * | 2021-08-23 | 2021-11-02 | 河北省科学院应用数学研究所 | Oranges and tangerines are picked letter sorting integrated device based on symmetry indicates holder more |
| CN113575131B (en) * | 2021-08-23 | 2022-07-19 | 河北省科学院应用数学研究所 | Oranges and tangerines are picked letter sorting integrated device based on symmetry indicates holder more |
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