CN208590275U

CN208590275U - A kind of fruit picking that can accurately search fruit position

Info

Publication number: CN208590275U
Application number: CN201820971922.0U
Authority: CN
Inventors: 邓君; 刘晓蔚
Original assignee: Dongguan University of Technology
Current assignee: Dongguan University of Technology
Priority date: 2018-06-23
Filing date: 2018-06-23
Publication date: 2019-03-12
Anticipated expiration: 2028-06-23

Abstract

The utility model relates to the fruit pickings that one kind can accurately search fruit position, including running gear, collecting box, feed device and picking lifting cylinder, picking lifting seat is provided on picking lifting cylinder, picking mechanism is provided on picking lifting seat, feed device includes the feeding down tube for being connected to collecting box and moving towards vertically, it is communicated in inclined feeding and manages in feeding down tube, vertical feeding upper tube is communicated in feeding on pipe, vertical visual detector upward is provided in feeding upper tube, inclined blowing mouth under the side of feeding down tube offers outward, blowing mouth is communicated with blowing pump, feeding down tube, it is managed in feeding and the position of feeding upper tube cooperation is provided with and unloads power bullet block, visual detector is arranged on feed pipe the utility model, and make feed pipe connection blowing pump, it is lasting to up-draught by blowing pump, and then energy Enough eliminations, which shed leaves, blocks fruit, and the position of fruit can be comprehensively detected by visual detector, can be realized more complete picking.

Description

A kind of fruit picking that can accurately search fruit position

Technical field

The present invention relates to seed harvester fields, more particularly to a kind of fruit picking that can accurately search fruit position.

Background technique

Fruit is picked when harvest, and existing picking is all to use artificial picking mostly, time-consuming and laborious, Therefore there are some picking fruit equipment, the most common are big fruit (such as orange, apple) seed harvesters, fill by walking It sets and walks in orchard, fruit is picked by the liftable picking mechanism on running gear and be put into feed device In, it is all the position sensing installed visual detector on picking mechanism and carry out fruit mostly, and then guide in picking process The case where device for picking is picked, and existing picking machine is influenced by leaf due to visual detector, is easy to appear omission, causes Picking not exclusively, influences the overall efficiency decline of orchard worker.

Summary of the invention

The object of the present invention is to provide the fruit pickings that one kind can accurately search fruit position, and visual detector is set It sets on feed pipe, and makes feed pipe connection blowing pump, it is lasting to up-draught by blowing pump, and then can eliminate and shed leaves Fruit is blocked, the position of fruit can be comprehensively detected by visual detector, and then can be realized more complete Picking.

In order to achieve the goal above, the technical solution adopted by the present invention are as follows: one kind can accurately search the fruit of fruit position Real picking machine, including running gear are provided with collecting box on the running gear, are provided on the collecting box and connect with it Logical feed device and picking lifting cylinder are provided with picking lifting seat, the picking liter on the picking lifting cylinder It is provided with picking mechanism on drop seat, the feed device includes the feeding down tube for being connected to collecting box and moving towards vertically, described Feeding down tube on be communicated in inclined feeding and manage, vertical feeding upper tube is communicated in the feeding on pipe, it is described Vertical visual detector upward is provided in feeding upper tube, the side of the feeding down tube is inclined under offering outward to blow Air port, the blowing mouth are communicated with blowing pump, manage in the feeding down tube, feeding and the position of feeding upper tube cooperation is arranged Unload power bullet block.

Further, the collecting box is separated into no less than two collecting chambers by collecting partition, under the feeding Pipe, manage in feeding and feeding upper tube in no less than two feed channels, and feed channel and collecting chamber one be separated by feeding dividing plate One is corresponding, and the level position in the outside of each feed channel offers blowing mouth, is socketed on the outside of the feeding down tube The blowing ring for sealing with it and being connected to blowing mouth, the blowing ring are connected to blowing pump.

Further, the buffer unit with collection port cooperation, the buffer unit packet are provided in the collecting box The buffering mounting rod being arranged on the downside of collecting box upper cover plate is included, the buffering mounting rod lower hinge has buffering splicing groove, and One end of buffering splicing groove is located at the downside of collection port, and the other end is connected with the buffer spring moved towards vertically, the buffering elastic The upper end of spring is mounted on the upper cover plate of collecting box.

Further, the top of the buffer spring passes through collecting box, and is connected with buffer spring mounting blocks, described Buffer spring mounting blocks are fixed on collecting box by spring mounting blocks clamping screw, be provided in the buffering splicing groove with The buffering connector sleeve of buffer spring socket cooperation, and buffer and be provided with electromagnet block in connector sleeve, under the buffer spring End is connected with the buffer spring link block with buffering connector sleeve magnetism cooperation.

Further, the picking mechanism includes the picking rotary electric machine being arranged on picking lifting seat, and described adopts It plucks and is provided with picking rotating block on rotary electric machine, picking swinging frame, the picking pendulum are provided on the picking rotating block It is provided with mutually matched picking oscillating motor and picking swinging axle in moving frame, picking pendulum is socketed on the picking swinging axle Motion block is provided with and picks the vertical picking moving cylinder of swinging axle, the picking activity gas on the picking swinging block Cylinder is connected with device for picking.

Further, the device for picking includes the picking movable block connecting with picking moving cylinder, and the picking is living The distal end of motion block is provided with picking fixing clip, proximal end is provided with picking material folding cylinder, and the picking material folding cylinder is connected with Picking activity material folding block, the picking movable block offers picking material-dropping hole close to the position of picking fixing clip, described It picks fixed material folding block and picking activity material folding block central upper portion is embedded with picking cutting motor, the picking is cut off on motor It is socketed with picking cutting set, the picking cutting, which is put on, is provided with picking cutter.

Further, sharpening slot, the mill are offered on the picking activity material folding block and the fixed material folding block of picking Vertical sharpening lifting spring is provided in cutter groove, the sharpening lifting spring top is provided with the sharpening with the cooperation of sharpening slot Block, the sharpening block upper surface is the low folding face in intermediate high two sides, and the upper surface of sharpening block is and picking cutter cooperation Abrasive block.

The invention has the benefit that

1, by visual detector be arranged on feed pipe, and make feed pipe connection blowing pump, by blowing pump it is lasting to Up-draught, and then can eliminate to shed leaves and fruit is blocked, the position of fruit can be comprehensively detected by visual detector It sets, and then can be realized more complete picking.

2, the fruit picked is sent in collecting box using three sections of feed pipes, power bullet block is unloaded in cooperation, under can slowing down The speed fallen, and then play the anti-effect broken.

3, the matching design of multiple rewinding chambers and feed channel can realize preliminary sorting point by the effect of visual detector The effect that grade is collected.

4, the design of buffer unit can play buffering to the fruit fallen and unload the effect of power, while can also make fruit It is dropped into collecting box after changing direction, greatly ensures the state that intact nothing of the fruit when collecting is broken.

5, the design of buffer spring mounting blocks and buffer spring link block can facilitate the disassembly and replacement of buffer spring.

6, the design of the picking rotary electric machine of picking mechanism and picking oscillating motor, can make device for picking along trunk train of thought The picking for moving towards progress fruit, avoids the occurrence of the case where being interfered by trunk.

7, the smart structural design of device for picking can be clamped it before carrying out picking cutting to fruit, in turn Can ensure be not in when cutting off fruit shaking, it is ensured that notch it is smooth, it is real while preventing from mutually colliding between fruit Existing good shear effect.

8, the design of sharpening block can all carry out the polishing of picking cutter, in turn after carrying out fruit picking cutting every time Cutter is set to keep long-term sharp.

Detailed description of the invention

Fig. 1 is the structural schematic diagram for the fruit picking that one kind can accurately search fruit position.

Fig. 2 is the structural schematic diagram of picking mechanism.

Fig. 3 is the structural schematic diagram of picker.

Fig. 4 is the top view of picker.

Fig. 5 is the cross-sectional view of A-A in Fig. 4.

Fig. 6 is the structural schematic diagram of feed device.

Fig. 7 is the structural schematic diagram of buffer unit.

Fig. 8 is the cross-sectional view of B-B in Fig. 7.

Label character as shown in the figure indicates are as follows: 1, running gear；2, collecting box；3, partition is collected；4, feed device；5, delay Flushing device；6, lifting cylinder is picked；7, lifting seat is picked；8, picking mechanism；9, rotating block is picked；10, swinging frame is picked；11, Pick oscillating motor；12, swinging axle is picked；13, swinging block is picked；14, moving cylinder is picked；15, device for picking；16, picking is lived Motion block；17, material-dropping hole is picked；18, fixed material folding block is picked；19, picking activity material folding block；20, material folding cylinder is picked；21, it adopts Pluck cutting motor；22, picking cutting set；23, cutter is picked；24, sharpening block；25, sharpening lifting spring；26, picking rotation electricity Machine；30, feeding down tube；31, it is managed in feeding；32, feeding upper tube；33, power bullet block is unloaded；34, blowing ring；35, blowing pump；36, it blows Air port；37, visual detector；38, feeding dividing plate；41, collection port；42, mounting rod is buffered；43, splicing groove is buffered；44, it buffers Connector sleeve；45, buffer spring；46, buffer spring mounting blocks；47, spring mounting blocks clamping screw；48, buffer spring link block.

Specific embodiment

In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing to the present invention into Row detailed description, the description of this part be only it is exemplary and explanatory, should not have any limitation to protection scope of the present invention Effect.

As Figure 1-Figure 8, specific structure of the invention are as follows: one kind can accurately search the picking fruit of fruit position Machine, including running gear 1 are provided with collecting box 2 on the running gear 1, are provided with and communicate therewith on the collecting box 2 Feed device 4 and picking lifting cylinder 6, picking lifting seat 7, the picking are provided on the picking lifting cylinder 6 Picking mechanism 8 is provided on lifting seat 7, the feed device 4 includes the feeding down tube for being connected to collecting box 2 and moving towards vertically 30, pipe 31 in inclined feeding is communicated in the feeding down tube 30, is communicated with vertical send in the feeding on pipe 31 Expect upper tube 32, vertical visual detector 37 upward, the side of the feeding down tube 30 are provided in the feeding upper tube 32 Inclined blowing mouth 36 under face offers outward, the blowing mouth 36 are communicated with blowing pump 35, and the feeding down tube 30 is sent The position that pipe 31 and feeding upper tube 32 cooperate in material, which is provided with, unloads power bullet block 33.

Preferably, the collecting box 2 is separated into no less than two collecting chambers by collecting partition 3, under the feeding No less than two feed channels are separated by feeding dividing plate 38 in pipe 31 and feeding upper tube 32 in pipe 30, feeding, and feed channel with Collecting chamber corresponds, and the level position in the outside of each feed channel offers blowing mouth 36, the feeding down tube 30 Outside be socketed with the blowing ring 34 for sealing with it and being connected to blowing mouth 36, the blowing ring 34 is connected to blowing pump 35.

Preferably, the buffer unit 5 cooperated with collection port 41, the buffer unit 5 are provided in the collecting box 2 Including the buffering mounting rod 42 on the downside of 2 upper cover plate of collecting box is arranged in, 42 lower hinge of buffering mounting rod has buffering to connect Hopper 43, and the one end for buffering splicing groove 43 is located at the downside of collection port 41, the other end is connected with the buffer spring moved towards vertically 45, the upper end of the buffer spring 45 is mounted on the upper cover plate of collecting box 2.

Preferably, the top of the buffer spring 45 passes through collecting box 2, and is connected with buffer spring mounting blocks 46, institute The buffer spring mounting blocks 46 stated are fixed on collecting box 2 by spring mounting blocks clamping screw 47, the buffering splicing groove It is provided with the buffering connector sleeve 44 with the socket cooperation of buffer spring 45 on 43, and buffers in connector sleeve 44 and is provided with electromagnet block, The lower end of the buffer spring 45 is connected with the buffer spring link block 48 with the magnetic cooperation of buffering connector sleeve 44.

Preferably, the picking mechanism 8 includes the picking rotary electric machine 26 being arranged on picking lifting seat 7, described It is provided with picking rotating block 9 on picking rotary electric machine 26, picking swinging frame 10 is provided on the picking rotating block 9, it is described Picking swinging frame 10 on be provided with mutually matched picking oscillating motor 11 and picking swinging axle 12, the picking swinging axle It is socketed with picking swinging block 13 on 12, is provided with the picking activity vertical with picking swinging axle 12 on the picking swinging block 13 Cylinder 14, the picking moving cylinder 14 are connected with device for picking 15.

Preferably, the device for picking 15 includes the picking movable block 16 connecting with picking moving cylinder 14, and described adopts The distal end for plucking movable block 16 is provided with picking fixing clip 18, proximal end is provided with picking material folding cylinder 20, the picking material folding Cylinder 20 is connected with picking activity material folding block 19, and the picking movable block 16 is offered close to the position of picking fixing clip 18 Material-dropping hole 17 is picked, the fixed material folding block 18 of the picking and 19 central upper portion of picking activity material folding block are embedded with picking cutting electricity Machine 21, the picking are cut off and are socketed with picking cutting set 22 on motor 21, and the picking cutting, which covers, is provided with picking on 22 Cutter 23.

Preferably, sharpening slot is offered on the picking activity material folding block 19 and the fixed material folding block 18 of picking, it is described Vertical sharpening lifting spring 25 is provided in sharpening slot, 25 top of sharpening lifting spring is provided with to be cooperated with sharpening slot Sharpening block 24,24 upper surface of sharpening block is the low folding face in intermediate high two sides, and the upper surface of sharpening block 24 is and adopts Pluck the abrasive block of the cooperation of cutter 23.

When specifically used, first entire picking machine is assembled, is put it into orchard later, is driven by running gear It is movable in orchard, during movable, blows in the whole case feeding down tube 30 of blowing pump 35, and then formed along feed channel Processing is blowed to the limb in feeding upper tube top in the air-flow walked upwards, and the cooperation observation of visual detector 37 blows tree open Suitable position is arrived by 6 activity of picking lifting cylinder later, then according to the train of thought of limb in fruit position and size after leaf Situation, control picking oscillating motor 11 and the operating for picking rotary electric machine 26 enable being lived by picking without obstruction of device for picking 15 Cylinder 14 of taking offence is sent to the lower section of fruit, later by the lifting again of picking lifting cylinder 6, fruit is made to be in picking fixing clamp Expect between block 18 and picking activity material folding block 19, then drives picking activity material folding block 19 by fruit by picking material folding cylinder 20 It clamps, cuts off motor 21 by two pickings later and two picking cutters 23 is driven reversely to rotate to middle part, and then make two It picks the cooperation of cutter 23 to cut off fruit and limb, later by making to pick 23 homing of cutter, in the process of homing In, picking cutter 23 can generate friction with sharpening block 24, complete the effect once whetted a knife, matched later by picking lifting cylinder 6 The activity for closing picking moving cylinder 14 moves integrally device for picking 15 to above corresponding feed channel, makes to pick material folding gas later 20 homing of cylinder, fruit are dropped into feed channel from picking material-dropping hole 17, are dropped into after the conveying of three sections of feed channels slow It rushes in splicing groove 43, under the kinetic energy effect that automatic falling bodies generate, buffering splicing groove 43 can be made a degree of rotation occur, it will Kinetic energy is converted to the elastic potential energy of buffer spring 45, later can be during spring-return original is long along inclined buffering splicing Slot 43 drops into collecting chamber, completes the picking and collection of a fruit, and the picking of subsequent fruit repeats the above steps.

It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic Element.

Used herein a specific example illustrates the principle and implementation of the invention, the explanation of above example It is merely used to help understand method and its core concept of the invention.The above is only a preferred embodiment of the present invention, it answers When pointing out due to the finiteness of literal expression, and objectively there is unlimited specific structure, for the common skill of the art For art personnel, without departing from the principle of the present invention, several improvement, retouching or variation can also be made, can also incited somebody to action Above-mentioned technical characteristic is combined in the right way；These improve retouching, variation or combination, or the not improved structure by invention Think and technical solution directly applies to other occasions, is regarded as protection scope of the present invention.

Claims

1. one kind can accurately search the fruit picking of fruit position, including running gear (1), the running gear (1) On be provided with collecting box (2), be provided on the collecting box (2) feed device (4) communicated therewith and picking lifting cylinder (6), it is provided with picking lifting seat (7) on the picking lifting cylinder (6), is provided with and adopts on the picking lifting seat (7) Off-hook structure (8), which is characterized in that the feed device (4) includes the feeding down tube for being connected to collecting box (2) and moving towards vertically (30), it is communicated with pipe (31) in inclined feeding in the feeding down tube (30), manages in the feeding and is communicated on (31) Vertical feeding upper tube (32) is provided with vertical visual detector (37) upward in the feeding upper tube (32), described Inclined blowing mouth (36) under the side of feeding down tube (30) offers outward, the blowing mouth (36) are communicated with blowing pump (35), the feeding down tube (30), the position that pipe (31) and feeding upper tube (32) cooperate in feeding are provided with and unload power bullet block (33).

2. the fruit picking that one kind according to claim 1 can accurately search fruit position, which is characterized in that described Collecting box (2) by collect partition (3) be separated into no less than two collecting chambers, managed in the feeding down tube (30), feeding (31) and in feeding upper tube (32) no less than two feed channels, and feed channel and collecting chamber one are separated by feeding dividing plate (38) One is corresponding, and the level position in the outside of each feed channel offers blowing mouth (36), outside the feeding down tube (30) Side is socketed with the blowing ring (34) for sealing with it and being connected to blowing mouth (36), and the blowing ring (34) and blowing pump (35) are even It is logical.

3. the fruit picking that one kind according to claim 1 can accurately search fruit position, which is characterized in that described Collecting box (2) in be provided with collection port (41) cooperation buffer unit (5), the buffer unit (5) include setting exist Buffering mounting rod (42) on the downside of collecting box (2) upper cover plate, described buffering mounting rod (42) lower hinge have buffering splicing groove (43), it and buffers the one end of splicing groove (43) and is located at the downside of collection port (41), the other end is connected with the buffering elastic moved towards vertically The upper end of spring (45), the buffer spring (45) is mounted on the upper cover plate of collecting box (2).

4. the fruit picking that one kind according to claim 3 can accurately search fruit position, which is characterized in that described The top of buffer spring (45) pass through collecting box (2), and be connected with buffer spring mounting blocks (46), the buffer spring peace Dress block (46) is fixed on collecting box (2) by spring mounting blocks clamping screw (47), is set in the buffering splicing groove (43) It is equipped with the buffering connector sleeve (44) with buffer spring (45) socket cooperation, and buffers in connector sleeve (44) and is provided with electromagnet block, The lower end of the buffer spring (45) is connected with the buffer spring link block (48) with the magnetic cooperation of buffering connector sleeve (44).

5. the fruit picking that one kind according to claim 1 can accurately search fruit position, which is characterized in that described Picking mechanism (8) include setting picking lifting seat (7) on picking rotary electric machine (26), the picking rotary electric machine (26) it is provided with picking rotating block (9) on, picking swinging frame (10) is provided on the picking rotating block (9), described adopts It plucks and is provided with mutually matched picking oscillating motor (11) and picking swinging axle (12) on swinging frame (10), the picking is swung It is socketed with picking swinging block (13) on axis (12), is provided on the picking swinging block (13) vertical with picking swinging axle (12) Picking moving cylinder (14), the picking moving cylinder (14) is connected with device for picking (15).

6. the fruit picking that one kind according to claim 5 can accurately search fruit position, which is characterized in that described Device for picking (15) include with picking moving cylinder (14) the picking movable block (16) that connect, the picking movable block (16) Distal end is provided with picking fixing clip (18), proximal end is provided with picking material folding cylinder (20), the picking material folding cylinder (20) It is connected with picking activity material folding block (19), the picking movable block (16) is offered close to the position of picking fixing clip (18) It picks material-dropping hole (17), fixed material folding block (18) and picking activity material folding block (19) central upper portion of the picking is embedded with picking It cuts off motor (21), picking cutting set (22) is socketed in picking cutting motor (21), set is cut off in the picking (22) picking cutter (23) is provided on.

7. the fruit picking that one kind according to claim 6 can accurately search fruit position, which is characterized in that described Picking activity material folding block (19) and pick and offer sharpening slot on fixed material folding block (18), be provided in the sharpening slot perpendicular Straight sharpening lifting spring (25), described sharpening lifting spring (25) top are provided with the sharpening block with the cooperation of sharpening slot (24), sharpening block (24) upper surface is the low folding face in intermediate high two sides, and the upper surface of sharpening block (24) is and picking The abrasive block of cutter (23) cooperation.