CN207653010U - A kind of strawberry automatic picking apparatus - Google Patents
A kind of strawberry automatic picking apparatus Download PDFInfo
- Publication number
- CN207653010U CN207653010U CN201721651124.1U CN201721651124U CN207653010U CN 207653010 U CN207653010 U CN 207653010U CN 201721651124 U CN201721651124 U CN 201721651124U CN 207653010 U CN207653010 U CN 207653010U
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- strawberry
- storage
- vertical lifting
- picking
- car body
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Abstract
The utility model discloses a kind of strawberry automatic picking apparatus, including car body (1), vertical lifting mechanism (2), swing mechanism (3), shearing picking mechanism (4), receiving mechanism (5) and storage and transportation mechanism (6)；The vertical lifting mechanism (2) is installed on car body (1), swing mechanism (3) is installed on the moving parts of vertical lifting mechanism (2), shearing picking mechanism (4) is installed on the terminal tilting member of swing mechanism (3) to be swung in vertical plane therewith, and receiving mechanism (5) is installed on the strawberry accepted below shearing picking mechanism (4) under shearing picking mechanism (4) is sheared；The storage and transportation mechanism (6) is installed on the car body (1) below receiving mechanism (5), is stored and is transported the strawberry for pouring into storage and transportation mechanism (6) by receiving mechanism (5).Fuselage is light and handy, convenient to be moved between ridge, and the damage that strawberry is subject in picking process is reduced using mechanical shearing, is moved using V belt translation mechanical arm and completes to pick and transmit, and carries out the simple packaging in part and transmission to strawberry, will greatly save time and labour.
Description
Technical field
The utility model is related to mechano-electronic automated control technology more particularly to a kind of strawberry automatic picking apparatus.
Background technology
Nowadays living standard is gradually increased, and people improve all kinds of fruit demands, and the demand of strawberry is carried
High therefore to have higher demand for the quality and quantity of strawberry, this just needs strawberry cultivating base to planting and picking requirement
It improves.It picks at present or manually, certain injury can be caused in picking process to fruit, while worker consumes in picking
A large amount of time and energy.
Invention content
The purpose of this utility model is to provide a kind of strawberry automatic picking apparatus, and fuselage is light and handy, convenient to be moved between ridge, profit
Reduce the damage that is subject in picking process of strawberry with mechanical shearing, moved and completed using V belt translation mechanical arm picking and
Transmission carries out the simple packaging in part and transmission to strawberry, will greatly save time and labour.
The purpose of this utility model is achieved through the following technical solutions：
A kind of strawberry automatic picking apparatus, including car body 1, vertical lifting mechanism 2, swing mechanism 3, shearing picking mechanism 4,
Receiving mechanism 5 and storage and transportation mechanism 6；
The vertical lifting mechanism 2 is installed on car body 1, and swing mechanism 3 is installed on the moving portion of vertical lifting mechanism 2
On part, shearing picking mechanism 4 is installed on the terminal tilting member of swing mechanism 3 to be swung in vertical plane therewith, receiving mechanism 5
It is installed on 4 lower section of shearing picking mechanism and accepts the strawberry sheared under picking mechanism 4 is sheared；
The storage and transportation mechanism 6 is installed on the car body 1 of 5 lower section of receiving mechanism, is stored and is transported and is poured by receiving mechanism 5
The strawberry of storage and transportation mechanism 6.
The shearing picking mechanism 4 includes symmetrically arranged left blade 41 and right blade 42, left blade 41 and right blade
42 are installed on by guide rail on the terminal tilting member of swing mechanism 3, are moved by magnet control opening and closing left and right, and left blade 41
Resetting spring 43 is equipped between right blade 42.
The vertical lifting mechanism 2 includes first motor 21, leadscrew-nut mechanism 22 and the sliding block as moving parts
23, first motor 21 is fixed on 1 top of car body, and the rotating threaded shaft upper and lower directions of leadscrew-nut mechanism 22 is installed on first motor 21
Output shaft end, fix sliding block 23 on the sliding nut of leadscrew-nut mechanism 22.
The swing mechanism 3 includes the second motor 31, upper connecting rod 32, lower link 33 and the pendulum as terminal tilting member
Movable plate 34；
The upper connecting rod 32 and 33 rear end of lower link and the moving parts of vertical lifting mechanism 2 are hinged, front end respectively with
34 both ends of oscillating deck hingedly constitute parallelogram mechanism；
Second motor 31 is set on the moving parts of vertical lifting mechanism 2, and lower link 33 is driven by the first synchronous belt 35
It is rotated with the articulated shaft 36 of the moving parts of vertical lifting mechanism 2, lower link 33 is driven to rotate, and then realize parallelogram machine
The swing of structure.
The receiving mechanism 5 includes third motor 51 and accept bowl 52, accepts bowl 52 and passes through the transmission shaft that is secured to
53 is hinged with the terminal tilting member of swing mechanism 3, and third motor 51 is installed on the terminal tilting member of swing mechanism 3, is led to
It crosses the second synchronous belt 54 driving transmission shaft 53 to rotate, drives and accept the overturning of bowl 52.
The storage and transportation mechanism 6 includes conveyer mechanism 61 and storage and transportation box 62, and storage and transportation box 62 is placed on conveyer mechanism 61,
Conveyer mechanism 61 drives storage and transportation box 62 to move left and right.
1 lower section of car body includes driving mechanism, and driving car body 1 is walked.
A kind of strawberry that the utility model embodiment provides it can be seen from above-mentioned technical solution provided by the utility model
Automatic picking apparatus, fuselage is light and handy, convenient to be moved between ridge, and the damage that strawberry is subject in picking process is reduced using mechanical shearing
Wound is moved using V belt translation mechanical arm and completes to pick and transmit, and the simple packaging in part and transmission are carried out to strawberry, will be big
It is big to save time and labour.
Description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
The attached drawing used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the utility model
Example, for those of ordinary skill in the art for, without creative efforts, can also be according to these attached drawings
Obtain other accompanying drawings.
Fig. 1 is the dimensional structure diagram one for the strawberry automatic picking apparatus that the utility model embodiment provides；
Fig. 2 is the dimensional structure diagram two for the strawberry automatic picking apparatus that the utility model embodiment provides；
Fig. 3 is the three-dimensional partial structural diagram for the strawberry automatic picking apparatus that the utility model embodiment provides；
Fig. 4 is the shearing picking mechanism structural schematic diagram for the strawberry automatic picking apparatus that the utility model embodiment provides.
Specific implementation mode
With reference to the attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, belongs to the scope of protection of the utility model.
The utility model embodiment is described in further detail below in conjunction with attached drawing.
Embodiment one
As shown in fig. 1 to 4, a kind of strawberry automatic picking apparatus, including car body 1, vertical lifting mechanism 2, swing mechanism 3,
Shear picking mechanism 4, receiving mechanism 5 and storage and transportation mechanism 6；1 lower section of car body includes driving mechanism, and driving car body 1 is walked,
Driving mechanism can be ratcheting mechanism, can also be crawler belt mechanism of car 7, increase its stability using creeper truck.Using various grass
Certain kind of berries plantation, picking garden, ornamental garden etc..It is narrow for distance between ridge, it has not been convenient to which that the field manually picked can be similarly applicable in.
Driving mechanism belongs to well known technology, and structure is not the protection point of this patent, and which is not described herein again.In addition further include whole
The control mechanism of machine controls the work operation of complete machine, such as controls the driving mechanism work of 1 lower section of car body, and band motor vehicles bodies 1 move.
The control mode of control mechanism belongs to well known technology, is not the protection point of this patent, which is not described herein again.
The vertical lifting mechanism 2 is installed on car body 1, and the vertical lifting mechanism 2 includes first motor 21, silk
Thick stick nut body 22 and the sliding block 23 as moving parts, first motor 21 are fixed on 1 top of car body, leadscrew-nut mechanism 22
Rotating threaded shaft upper and lower directions is installed on the output shaft end of first motor 21, and sliding block is fixed on the sliding nut of leadscrew-nut mechanism 22
23.Control mechanism controls first motor 21 and works, and band movable slider 23 moves up and down, and the control mode of control mechanism belongs to known
Technology, be not the protection point of this patent, which is not described herein again.
The swing mechanism 3 is installed on the moving parts of vertical lifting mechanism 2, that is, is installed on sliding block 23.
The swing mechanism 3 includes the second motor 31, upper connecting rod 32, lower link 33 and the oscillating deck 34 as terminal tilting member；
The upper connecting rod 32 and 33 rear end of lower link and the moving parts of vertical lifting mechanism 2 are hinged, that is, hinged with sliding block 23,
Front end hingedly constitutes parallelogram mechanism with 34 both ends of oscillating deck respectively.
Second motor 31 is set on the moving parts of vertical lifting mechanism 2, that is, is installed on sliding block 23.Second motor
31 drive lower link 33 and the articulated shaft 36 of the moving parts of vertical lifting mechanism 2 to rotate by the first synchronous belt 35, under drive
Connecting rod 33 rotates, and then realizes that the swing of parallelogram mechanism, that is, oscillating deck 34 are swung in vertical plane.Control mechanism
The work of the second motor 31 is controlled, realizes and swings, the control mode of control mechanism belongs to well known technology, is not the guarantor of this patent
Point is protected, which is not described herein again.
Shearing picking mechanism 4 is installed on the terminal tilting member of swing mechanism 3 to be swung in vertical plane therewith, described
It includes symmetrically arranged left blade 41 and right blade 42 to shear picking mechanism 4, and left blade 41 is installed with right blade 42 by guide rail
In on the terminal tilting member of swing mechanism 3.Here the guide rail of dovetail groove type may be used in guide rail, in left blade 41 and right knife
Dovetail convex block 44 is arranged in 42 rear end of piece, and dovetail groove is arranged on oscillating deck 34, is similar to the guide rail of universal lathe, belongs to well known
Technology is not the protection point of this patent, and which is not described herein again.Left blade 41 passes through with right blade 42, by magnet control or so
Open and close movement, and resetting spring 43 is equipped between left blade 41 and right blade 42.The control of electromagnet is realized by control mechanism, is belonged to
Well known technology is not the protection point of this patent, and which is not described herein again.
Meanwhile control mechanism here further includes the visual spatial attention machine for judging its whether ripe and determining spatial position of strawberry
Structure, this belongs to well known technology, such as uses visual sensor, simulates the visual performance of people, extracted from image or image sequence
Information, ripe strawberry is mainly found and identify to visual sensor by colour TV camera, using binocular vision method to target
It is positioned.When harvest, the spatial position of picking target is calculated by vision system, is then sheared picking mechanism 4 and is moved to strawberry
Top position, clamp carpopodium.Visual spatial attention mechanism is only applied in this patent, and technical solution is not the protection of this patent
Point, which is not described herein again.
Receiving mechanism 5 is installed on 4 lower section of shearing picking mechanism and accepts the strawberry sheared under picking mechanism 4 is sheared；Described
Receiving mechanism 5 includes third motor 51 and accept bowl 52, accepts bowl 52 and passes through the transmission shaft 53 that is secured to and swing mechanism 3
Terminal tilting member is hinged, that is, transmission shaft 53 is hinged with oscillating deck 34, and third motor 51 is installed on the terminal of swing mechanism 3
It on tilting member, that is, is installed on oscillating deck 34, drives transmission shaft 53 to rotate by the second synchronous belt 54, drive and accept bowl
52 overturnings.It specifically controls it and rotates 180 degree, undertaking bowl 52 is driven to spin upside down.The second synchronous belt of control mechanism pair 54 controls
Mode belongs to well known technology, is not the protection point of this patent, which is not described herein again.
The storage and transportation mechanism 6 is installed on the car body 1 of 5 lower section of receiving mechanism, is stored and is transported and is poured by receiving mechanism 5
The strawberry of storage and transportation mechanism 6.The storage and transportation mechanism 6 includes conveyer mechanism 61 and storage and transportation box 62, and storage and transportation box 62 is placed in conveyer belt
In mechanism 61, conveyer mechanism 61 drives storage and transportation box 62 to move left and right.
When harvest, the spatial position of picking target is calculated by visual spatial attention mechanism, is then sheared picking mechanism 4 and is moved to grass
The top position of the certain kind of berries, clamps carpopodium.In this course, vertical lifting mechanism 2 realizes that shearing picking mechanism 4 does straight line fortune up and down
Dynamic, swing mechanism 3 makes parallelogram mechanism do oscillating motion, realizes shearing 4 oscillating motion of picking mechanism, that is, shears picking machine
Structure 4 can vertically (Z axis) move up and down, while be swung on vertical plane (faces XZ).Shear the left knife of scissors of picking mechanism 4
Piece 41, which is resetted with right blade 42 by solenoid actuated and resetting spring 43, realizes open and close movement, is picked：
1st stage：Shearing picking mechanism 4 moves to picking position, and carpopodium is placed in centre by left blade 41 with right blade, accurate
It is standby to be closed；
2nd stage, left blade 41 are moved toward one another with right blade symmetry, until edge contacts carpopodium, i.e., it is dynamic will to carry out cutting
Make；
In 3rd stage, left blade 41 is symmetrically moved toward one another with the continuation of right blade, until carpopodium is completely severed；
Pick move after the completion of, after the undertaking bowl 52 of receiving mechanism 5 receives strawberry, parallelogram mechanism is to moving down
Then dynamic and downward pendulum motion drives the second synchronous belt 54 is logical undertaking bowl 52 is made to do 180 degree rotary motion by third motor 51,
Strawberry is poured into storage and transportation box 62, storage and transportation box 62 is passed into side by conveyer mechanism 61, convenient for taking out.
The preferable specific implementation mode of the above, only the utility model, but the scope of protection of the utility model is not
It is confined to this, any one skilled in the art can readily occur in the technical scope that the utility model discloses
Change or replacement, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should
Subject to the scope of protection of the claims.
Claims (7)
1. a kind of strawberry automatic picking apparatus, which is characterized in that including car body (1), vertical lifting mechanism (2), swing mechanism
(3), shearing picking mechanism (4), receiving mechanism (5) and storage and transportation mechanism (6)；
The vertical lifting mechanism (2) is installed on car body (1), and swing mechanism (3) is installed on the shifting of vertical lifting mechanism (2)
On dynamic component, shearing picking mechanism (4) is installed on the terminal tilting member of swing mechanism (3) to be swung in vertical plane therewith,
Receiving mechanism (5) is installed on the strawberry accepted below shearing picking mechanism (4) under shearing picking mechanism (4) is sheared；
The storage and transportation mechanism (6) is installed on the car body (1) below receiving mechanism (5), is stored and is transported by receiving mechanism (5)
Pour into the strawberry of storage and transportation mechanism (6).
2. strawberry automatic picking apparatus according to claim 1, which is characterized in that shearing picking mechanism (4) packet
Symmetrically arranged left blade (41) and right blade (42) are included, left blade (41) is installed on oscillating machine with right blade (42) by guide rail
It on the terminal tilting member of structure (3), is moved by magnet control opening and closing left and right, and is equipped between left blade (41) and right blade (42)
Resetting spring (43).
3. strawberry automatic picking apparatus according to claim 1 or 2, which is characterized in that the vertical lifting mechanism (2)
Including first motor (21), leadscrew-nut mechanism (22) with as the sliding block (23) of moving parts, first motor (21) is fixed on
Above car body (1), the rotating threaded shaft upper and lower directions of leadscrew-nut mechanism (22) is installed on the output shaft end of first motor (21), silk
Sliding block (23) is fixed on the sliding nut of thick stick nut body (22).
4. strawberry automatic picking apparatus according to claim 1 or 2, which is characterized in that the swing mechanism (3) includes
Second motor (31), upper connecting rod (32), lower link (33) and the oscillating deck (34) as terminal tilting member；
The upper connecting rod (32) and lower link (33) rear end and the moving parts of vertical lifting mechanism (2) are hinged, front end difference
Parallelogram mechanism is hingedly constituted with oscillating deck (34) both ends；
Second motor (31) is set on the moving parts of vertical lifting mechanism (2), and lower link is driven by the first synchronous belt (35)
(33) it is rotated with the articulated shaft of the moving parts of vertical lifting mechanism (2) (36), lower link (33) is driven to rotate, and then realized flat
The swing of row quadrangular mechanism.
5. strawberry automatic picking apparatus according to claim 1 or 2, which is characterized in that the receiving mechanism (5) includes
Third motor (51) and undertaking bowl (52), accept the end that bowl (52) passes through the transmission shaft (53) and swing mechanism (3) that are secured to
Hold tilting member hinged, third motor (51) is installed on the terminal tilting member of swing mechanism (3), passes through the second synchronous belt
(54) driving transmission shaft (53) rotates, and drives and accepts bowl (52) overturning.
6. strawberry automatic picking apparatus according to claim 1 or 2, which is characterized in that the storage and transportation mechanism (6) includes
Conveyer mechanism (61) and storage and transportation box (62), storage and transportation box (62) are placed on conveyer mechanism (61), and conveyer mechanism (61) drives
Storage and transportation box (62) moves left and right.
7. strawberry automatic picking apparatus according to claim 1 or 2, which is characterized in that include below the car body (1)
Driving mechanism, driving car body (1) are walked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721651124.1U CN207653010U (en) | 2017-12-01 | 2017-12-01 | A kind of strawberry automatic picking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721651124.1U CN207653010U (en) | 2017-12-01 | 2017-12-01 | A kind of strawberry automatic picking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207653010U true CN207653010U (en) | 2018-07-27 |
Family
ID=62939212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721651124.1U Expired - Fee Related CN207653010U (en) | 2017-12-01 | 2017-12-01 | A kind of strawberry automatic picking apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207653010U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108934791A (en) * | 2018-08-24 | 2018-12-07 | 河北中沃农业科技开发有限公司 | A kind of mushroom greenhouse gardening picker convenient for picking |
| CN109429703A (en) * | 2018-10-22 | 2019-03-08 | 山东大学 | A kind of blueberry picking machine |
| CN109964648A (en) * | 2019-04-11 | 2019-07-05 | 洛阳师范学院 | Move comprehensive manipulation hit the date machine |
| CN110896735A (en) * | 2020-01-04 | 2020-03-24 | 添宇 | Collecting robot is picked to durian high efficiency |
| CN114451139A (en) * | 2020-07-29 | 2022-05-10 | 山东交通学院 | Strawberry picking method |
| CN115380831A (en) * | 2022-10-11 | 2022-11-25 | 甘肃鼎丰马铃薯种业有限公司 | Full-automatic high-throughput tissue culture and rapid propagation device for potato tissue culture seedlings and use method thereof |
-
2017
- 2017-12-01 CN CN201721651124.1U patent/CN207653010U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108934791A (en) * | 2018-08-24 | 2018-12-07 | 河北中沃农业科技开发有限公司 | A kind of mushroom greenhouse gardening picker convenient for picking |
| CN109429703A (en) * | 2018-10-22 | 2019-03-08 | 山东大学 | A kind of blueberry picking machine |
| CN109964648A (en) * | 2019-04-11 | 2019-07-05 | 洛阳师范学院 | Move comprehensive manipulation hit the date machine |
| CN109964648B (en) * | 2019-04-11 | 2021-01-22 | 洛阳师范学院 | Movable omnibearing controlled jujube beater |
| CN110896735A (en) * | 2020-01-04 | 2020-03-24 | 添宇 | Collecting robot is picked to durian high efficiency |
| CN110896735B (en) * | 2020-01-04 | 2021-05-18 | 芜湖挺优机电技术有限公司 | Durian is picked and is collected robot |
| CN114451139A (en) * | 2020-07-29 | 2022-05-10 | 山东交通学院 | Strawberry picking method |
| CN114451139B (en) * | 2020-07-29 | 2023-01-20 | 山东交通学院 | Strawberry picking method |
| CN115380831A (en) * | 2022-10-11 | 2022-11-25 | 甘肃鼎丰马铃薯种业有限公司 | Full-automatic high-throughput tissue culture and rapid propagation device for potato tissue culture seedlings and use method thereof |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180727 Termination date: 20201201 |
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| CF01 | Termination of patent right due to non-payment of annual fee |