CN208597331U - A kind of picking machine - Google Patents

Abstract

The utility model provides a kind of picking machine, belongs to pineapple picked technology field.A kind of picking machine includes wheel group, vehicle frame, mounting plate, picking component, collection assembly and control system.Wheel group is installed on vehicle frame and wheel group is located at the lower section of vehicle frame, and mounting plate is set to the side of the separate wheel group of vehicle frame, and picking component is set to the side of mounting plate and for cutting off carpopodium.Collection assembly includes manipulator and collects basket, collects one end that basket is set to the separate picking component of mounting plate, and manipulator is set to mounting plate, collects in basket for the fruit on mounting plate to be transferred to.Control system includes control centre and image identifying instrument, and control centre and image identifying instrument and manipulator are electrically connected.This picking machine can carry out the picking of pineapple by picking component, then control manipulator by control system and the pineapple after picking is transferred in collection basket, improve the picking efficiency of pineapple.

Description

A kind of picking machine

Technical field

The utility model relates to pineapple picked technology fields, in particular to a kind of picking machine.

Background technique

With the raising of economic continuous development and science and technology, various industries have biggish development, are generally formed The development pattern of large-scale production, planting industry are exactly typical case therein.In such circumstances, planting industry is realized in each production link Mechanization, automation have become inexorable trend.

Fruit and vegetable picking is a link the most time-consuming, most laborious in fruits and vegetables production, and the labour of investment accounts for about entirely 50% to the 70% of fruits and vegetables production process, there are large labor intensity, working environments there is certain danger for traditional manually picking The drawbacks such as dangerous, picking efficiency is lower, busy farming season difficult hired laborer.

It is reported that there are no special, mature efficient pineapples to assist picking machine currently on the market.Still use traditional people Work picking relies on manpower by some simple instruments to pick.There are two types of main Softenings, and one is by cutter The carpopodium for break apart by chopping pineapple to pineapple harvests fruit, but this method there are certain requirements experience, otherwise will cause felling Carpopodium is too long, needs secondary operation, and after the felling for carrying out a period of time, operator will carry out special disinfection to cutter； Another kind manually twists off carpopodium to rely on, because pineapple fruit is fragile compared with the place that carpopodium connects, by torsion, can make It is twisted off, but labor intensity is bigger, and efficiency is lower.

Utility model content

The purpose of this utility model is to provide a kind of picking machine, pineapple can be picked, and be collected.

The utility model adopts the following technical solutions realization:

A kind of picking machine, including wheel group, vehicle frame, mounting plate, picking component, collection assembly and control system；

Wheel group is installed on vehicle frame and wheel group is located at the lower section of vehicle frame, and mounting plate is set to the separate wheel group of vehicle frame Side, picking component are set to the side of mounting plate and for cutting off carpopodium；

Collection assembly includes manipulator and collects basket, collects one end that basket is set to the separate picking component of mounting plate, machine Tool hand is set to mounting plate, collects in basket for the fruit on mounting plate to be transferred to；

Control system includes control centre and image identifying instrument, control centre and image identifying instrument, manipulator and picking Component is electrically connected.

Further, in the utility model preferred embodiment, above-mentioned manipulator includes power device, the first strut, Two struts, third strut and handgrip, the first strut are slidably connected with mounting plate, the second strut is vertically arranged and the second strut one End is connected to the first strut, and third strut is slidably connected to the second strut and third strut is laterally arranged, one end sliding of handgrip It is connected to third strut, for the other end for grabbing fruit, control centre be electrically connected with power device is used for the first strut of control, the Three struts and handgrip sliding.

Further, in the utility model preferred embodiment, above-mentioned handgrip includes grabbing bar and multiple grippers, grabs the one of bar End is slidably connected with third strut, and multiple grippers are arranged in other end rotation, and control centre's control gripper firmly grasps fruit or release Fruit.

Further, in the utility model preferred embodiment, above-mentioned picking component includes chain saw, driving device and gear Group, driving device are drivingly connected in gear set, and gear set is set to mounting plate, and chain saw is set around gear set and chain saw is for cutting Carpopodium, driving device are electrically connected with control centre.

Further, in the utility model preferred embodiment, above-mentioned wheel group includes three groups of spacing side by side setting, vehicle Frame includes three of spacing side by side setting, and a wheel group is installed on a vehicle frame, and mounting plate is set on three vehicle frames, chain saw Both ends be located at the two sides of mounting plate.

Further, in the utility model preferred embodiment, one end of the separate chain saw of above-mentioned mounting plate is provided with hand Handle, the side of the close chain saw of mounting plate are arranged at intervals with multiple sawtooth, and one end of the separate mounting plate of sawtooth is downwardly inclined.

Further, in the utility model preferred embodiment, above-mentioned picking machine further includes baffle plate assembly, baffle plate assembly packet First baffle, second baffle, third baffle and fourth gear plate are included, first baffle and fourth gear plate are respectively arranged at the two of mounting plate Side, second baffle and third baffle are all set in mounting plate and between first baffle and fourth gear plates, second baffle and One end of the close sawtooth of three baffles connects, and the other end extends towards two sides.

Further, in the utility model preferred embodiment, above-mentioned mounting plate is located at first baffle and second baffle Between position be provided with the first mounting hole, be provided with the first vibrating screen on the first mounting hole, mounting plate is located at third baffle The position of fourth gear plate is provided with the second mounting hole, the second vibrating screen is provided on the second mounting hole.

Further, in the utility model preferred embodiment, above-mentioned baffle plate assembly further includes connecting plate, and the one of connecting plate Side connection and mounting plate, the both ends of connecting plate are connect with second baffle and third baffle respectively, make connecting plate, second baffle, the Mounting groove is formed between three baffles and mounting plate, driving device is set in mounting groove.

Further, in the utility model preferred embodiment, above-mentioned vehicle frame includes upper plate, lower plate, the first frame, second Frame, first carriage and second carriage, lower plate are connect with wheel group, and upper plate is connect with mounting plate, first carriage installation In the upper surface of lower plate, second carriage is installed on the lower surface of upper plate, the first frame and the second frame articulation, the first frame One end is hinged with upper plate, and the other end is slideably positioned in first carriage, and one end of the second frame and lower plate are hinged, other end sliding It is set to second carriage.

The beneficial effect for the picking machine that the preferred embodiment of the utility model provides is: during pineapple is picked, wheel Group rolls in pineapple ground, pushes ahead picking machine, and after picking component touch carpopodium, carpopodium is cut off, to pineapple into Row picking, then be sent on the fixed collection basket of fixing piece by transfer assembly, pineapple is picked and is collected, pineapple picking It is high-efficient.

Detailed description of the invention

It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also The protection scope of the utility model is also belonged to obtain other relevant attached drawings according to these attached drawings.

Fig. 1 is the first structure diagram of picking machine provided by the embodiment of the utility model；

Fig. 2 is the second structural schematic diagram of picking machine provided by the embodiment of the utility model；

Fig. 3 is the structural schematic diagram that component is picked in picking machine provided by the embodiment of the utility model；

Fig. 4 is the structural schematic diagram of baffle plate assembly in picking machine provided by the embodiment of the utility model；

Fig. 5 is the structural schematic diagram of collection assembly in picking machine provided by the embodiment of the utility model；

Fig. 6 is the attachment structure schematic diagram in picking machine provided by the embodiment of the utility model between wheel group and vehicle frame；

Fig. 7 is the structural schematic diagram of vehicle frame in picking machine provided by the embodiment of the utility model；

Fig. 8 is the functional block diagram of control system in picking machine provided by the embodiment of the utility model.

Icon: 100- picking machine；200- handle；300- wheel group；400- vehicle frame；500- mounting plate；600- is adopted Pluck component；700- baffle plate assembly；800- collection assembly；900- control system；610- chain saw；620- driving device； 630- gear set；640- chain guide plate；631- gear；710- first baffle；720- second baffle；730- third baffle； 740- fourth gear plate；210- left support bar；212- right support bar；213- connecting rod；510- sawtooth；750- connecting plate； 751- mounting groove；The first mounting hole of 520-；The first vibrating screen of 521-；The second mounting hole of 530-；The second vibrating screen of 531-； 810- manipulator；820- collects basket；The first strut of 811-；The second strut of 812-；813- third strut；814- handgrip； 815- grabs bar；816- gripper；410- upper plate；420- lower plate；The first frame of 430-；The second frame of 440-；450- first Sliding rack；460- second carriage；The first side plate of 451-；The second side plate of 452-；453- first end plate；454- first is sliding Dynamic slot；The second sliding groove of 455-；456- threaded hole；457- screw；461- third side plate；The 4th side plate of 462-；463- Third sliding groove；310- front-wheel；320- rear-wheel；330- wheel actuator；340- chain；910- control centre；920- Image identifying instrument；930- first motor；The second motor of 940-；950- third motor；The 4th motor of 960-；970- the 5th Motor；The 6th motor of 980-；The 7th motor of 990-.

Specific embodiment

It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.Therefore, below to attached The detailed description of the embodiments of the present invention provided in figure is not intended to limit the range of claimed invention, But it is merely representative of the selected embodiment of the utility model.Based on the embodiments of the present invention, ordinary skill people Member's every other embodiment obtained without creative efforts, belongs to the model of the utility model protection It encloses.

It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.

Embodiment

Fig. 1 and Fig. 2 are please referred to, picking machine 100 includes handle 200, wheel group 300, vehicle frame 400, mounting plate 500, picking Component 600, baffle plate assembly 700, collection assembly 800 and control system 900.

Wheel group 300 is installed on vehicle frame 400 and wheel group 300 is located at the lower section of vehicle frame 400, and mounting plate 500 is set to vehicle The side of the separate wheel group 300 of frame 400, during pineapple is picked, wheel group 300 rolls in pineapple ground, makes picking machine 100 push ahead.

Optionally, wheel group 300 includes three groups of spacing side by side setting, and vehicle frame 400 includes three of spacing side by side setting, One wheel group 300 is installed on a vehicle frame 400, and mounting plate 500 is set on three vehicle frames 400.Picking machine 100 can be to two Row pineapple is picked.

Optionally, two groups of wheel groups 300 can be set in picking machine 100, correspondingly, two vehicle frames 400 are arranged, to a line spinach Trailing plants is picked, and four groups of wheel groups 300 also can be set, and four vehicle frames 400 such as pick at the three row pineapples.

Picking component 600 is set to the side of mounting plate 500 and for cutting off carpopodium, referring to Fig. 3, picking component 600 Including chain saw 610, driving device 620 and gear set 630, driving device 620 is drivingly connected in gear set 630, and gear set 630 is set It is placed in mounting plate 500, chain saw 610 is set around gear set 630 and chain saw 610 is for cutting carpopodium.

When chain saw 610 contacts carpopodium, start driving device 620, rotates gear set 630, to drive chain saw 610 rotate together, and constantly rub with carpopodium, so that carpopodium be cut off, pick to pineapple, can cut off hard carpopodium, Pineapple picking efficiency is high.

Optionally, driving device 620 can be first motor 930, and drive gear set 630 rotates.Picking component 600 also wraps Chain guide plate 640 is included, key way is additionally provided on chain guide plate 640, chain saw 610 is set in key way, and gear set is arranged on chain guide plate 640 630, so that gear set 630 drives chain saw 610 to rotate.

Chain saw 610 can stretch out mounting plate 500, so that chain saw 610 is contacted with carpopodium, cut off carpopodium.The both ends of chain saw 610 The two sides of mounting plate 500 are located at, during pineapple picking, as long as pushing picking machine 100, carpopodium connects with chain saw 610 The range of touching is wider, is more conducive to the picking of pineapple.

Gear set 630 includes three gears 631, and three gears 631 are mounted on the lower surface of mounting plate 500 and respectively position In the top of three vehicle frames 400, drives chain saw 610 to rotate will pass through gear set 630, carry out the cutting of carpopodium.

One end of the separate chain saw 610 of mounting plate 500 is provided with handle 200, and the one of the close chain saw 610 of mounting plate 500 Side is arranged at intervals with multiple sawtooth 510, and one end of the separate mounting plate 500 of sawtooth 510 is downwardly inclined.

When being picked, handle 200 can be held, picking machine 100 is pushed to carry out the picking of pineapple, improves work Efficiency.Meanwhile when pushing picking machine 100, sawtooth 510 contacts carpopodium at first, and carpopodium is between two neighboring sawtooth 510 Gap pass through, since one end of the separate mounting plate 500 of sawtooth 510 is downwardly inclined, constantly pushing ahead picking machine 100 When, pineapple constantly raises, and carpopodium is straightened, and more convenient chain saw 610 is cut with carpopodium.

Picking machine 100 further includes baffle plate assembly 700, referring to Fig. 4, baffle plate assembly 700 includes first baffle 710, second Baffle 720, third baffle 730 and fourth gear plate 740, first baffle 710 and fourth gear plate 740 are respectively arranged at mounting plate 500 Two sides, second baffle 720 and third baffle 730 are all set in mounting plate 500 and are located at first baffle 710 and fourth gear plate Between 740, second baffle 720 is connected with one end of the close sawtooth 510 of third baffle 730, and the other end extends towards two sides.

After pineapple picking, pineapple is rolled on mounting plate 500, due to first baffle 710, second baffle 720, third gear The effect of plate 730 and fourth gear plate 740 avoids pineapple from rolling down from mounting plate 500 to side, conducive to the collection of pineapple, meanwhile, Pineapple can also be shunted, gap of a line pineapple of picking between first baffle 710 and second baffle 720 passes through, Gap of another row between third baffle 730 and fourth gear plate 740 passes through.

In the present embodiment, second baffle 720 is connected with one end of the close sawtooth 510 of third baffle 730, other end direction Two sides extend, and between second baffle 720 and third baffle 730, handle 200 can be set, operator stands in second baffle 720 Pineapple picking is carried out between third baffle 730.

In the present embodiment, handle 200 is connect with mounting plate 500, and handle 200 includes left support bar 210, right support bar 212 With connecting rod 213, one end of left support bar 210 and right support bar 212 is connect with mounting plate 500, and the other end connects connecting rod Hand-held connecting rod 213 is done in 213 both ends, operation, and picking machine 100 is pushed to travel forward.

Optionally, baffle plate assembly 700 further includes connecting plate 750, side connection and the mounting plate 500 of connecting plate 750, connection The both ends of plate 750 are connect with second baffle 720 and third baffle 730 respectively, make connecting plate 750, second baffle 720, third gear Mounting groove 751 is formed between plate 730 and mounting plate 500, driving device 620 is set in mounting groove 751.

Driving device 620 can be installed in mounting groove 751, can be provided with placing storage battery and other things to operator It is convenient.

The position between first baffle 710 and second baffle 720 of mounting plate 500 is provided with the first mounting hole 520, The first vibrating screen 521 is provided on first mounting hole 520, mounting plate 500 is located at third baffle 730 and fourth gear plate 740 Position is provided with the second mounting hole 530, and the second vibrating screen 531 is provided on the second mounting hole 530.

While cutting off pineapple carpopodium, pineapple leaves can be also cut off, after pineapple cutting is complete, pineapple and the equal position of pineapple leaves In on mounting plate 500, due to the effect of the first vibrating screen 521 and the second vibrating screen 531, pineapple leaves can be dropped down onto ground as fertilizer Material, pineapple are collected by collection assembly 800, realize the picking and collection of automation.

Optionally, the first vibrating screen 521 and the second vibrating screen 531 carry out band by crank, connecting rod and the second motor 940 Dynamic, the output shaft of the second motor 940 is connect with connecting rod, one end connecting crank of connecting rod, crank and the first vibrating screen 521 or the The connection of two vibrating screens 531 vibrates the first vibrating screen 521 or the second vibrating screen 531 by the second motor 940, thus by pineapple Leaf sifts out.

In the present embodiment, there are two the settings of collection assembly 800, gathers in every a line pineapple and is arranged a collection assembly 800, and one A collection assembly 800 is set between first baffle 710 and second baffle 720, another collection assembly 800 is set to third gear Between plate 730 and fourth gear plate 740.

In detail, it referring to Fig. 5, collection assembly 800 includes manipulator 810 and collects basket 820, collects basket 820 and is set to One end of the separate picking component 600 of mounting plate 500, manipulator 810 are set to mounting plate 500, for will be on mounting plate 500 Fruit, which is transferred to, to be collected in basket 820.The pineapple obtained after cutting carpopodium, pineapple are located on mounting plate 500, and manipulator 810 is grabbed It takes the pineapple on mounting plate 500 and transfers them in fixed collection basket 820, pineapple is picked and is collected.

Manipulator 810 includes power device, the first strut 811, the second strut 812, third strut 813 and handgrip 814, the One strut 811 is slidably connected with mounting plate 500, and the second strut 812 is vertically arranged and one end of the second strut 812 is connected to first Strut 811, third strut 813 is slidably connected to the second strut 812 and the laterally setting of third strut 813, one end of handgrip 814 are sliding Dynamic to be connected to third strut 813, for the other end for grabbing fruit, control centre 910 be electrically connected with power device is used for control the One strut 811, third strut 813 and handgrip 814 slide.

As shown, the direction of motion of manipulator 810 is divided into the direction in the direction of X-axis, the direction of Y-axis and Z axis, it is optional Ground, third motor 950 control the first strut 811 and are moved forward and backward along the direction of X-axis, and the 4th motor 960 controls 813 edge of third strut The direction of Y-axis moves up and down, and the 5th motor 970 control handgrip 814 is moved left and right along the direction of Z axis, so that manipulator 810 can By the movement on three-dimensional, pineapple is grabbed, and pineapple is transferred to and is collected in basket 820.In the present embodiment, rotation is converted Being in line to move can be configured by the connection type of feed screw nut.

Optionally, handgrip 814 includes grabbing bar 815, multiple grippers 816 and the 6th motor 980, grabs one end of bar 815 and the Three struts 813 are slidably connected, and multiple grippers 816 are arranged in other end rotation, by the 6th motor 980 control gripper 816 open or Tightening grabs fruit or unclamps fruit, to carry out the transfer of pineapple.

Optionally, first baffle 710, second baffle 720, third baffle 730 and fourth gear plate 740 are from mounting plate 500 One end of separate picking component 600 extend out, a collection assembly is set between first baffle 710 and second baffle 720 800, a collection assembly 800 is set between third baffle 730 and fourth gear plate 740, two row pineapples of picking can be carried out It collects.

Please refer to Fig. 6 and Fig. 7, vehicle frame 400 includes upper plate 410, lower plate 420, the first frame 430, the second frame 440, the One sliding rack 450 and second carriage 460, lower plate 420 are connect with wheel group 300, and upper plate 410 is connect with mounting plate 500, and first Sliding rack 450 is installed on the upper surface of lower plate 420, and second carriage 460 is installed on the lower surface of upper plate 410, the first frame 430 Hinged with the second frame 440, one end of the first frame 430 and upper plate 410 are hinged, and the other end is slideably positioned in first carriage 450, one end of the second frame 440 and lower plate 420 are hinged, and the other end is slideably positioned in second carriage 460.

First carriage 450 includes the first side plate 451, the second side plate 452 and first end plate 453, the first side plate 451 and the Two side plates 452 are oppositely arranged, and the both ends of first end plate 453 are connected to the first side plate 451 and the second side plate 452, the first side plate 451, the second side plate 452 and first end plate 453 are all connected to lower plate 420, and the first sliding groove 454 is provided on the first side plate 451, The second sliding groove 455 is provided on second side plate 452, one end of the separate upper plate 410 of the first frame 430 is slideably positioned in first Sliding groove 454 and the second sliding groove 455, threaded hole 456 is provided on end plate, and screw 457 passes through threaded hole 456 and the first frame One end of 430 separate upper plate 410 connects.Second carriage 460 includes the third side plate 461 and the 4th side plate being oppositely arranged 462, third side plate 461 and the 4th side plate 462 are all set in upper plate 410, and third sliding groove 463 is provided on third side plate 461, The 4th sliding groove is provided on 4th side plate 462, it is sliding that one end of the separate lower plate 420 of the second frame 440 is slideably positioned in third Dynamic slot 463 and the 4th sliding groove.

Pineapple is a kind of many years draft plant, it is meant that after harvesting each time, harvesting next time, plant all can Have and grow tall accordingly, for the growth characteristic of pineapple, when needing to increase mounting plate 500, screw 457 is inwardly rotated, i.e., will The direction of screw 457 towards the hinged place of the first frame 430 and the second frame 440 rotates, then the first frame 430 is in the first sliding Sliding in slot 454 and the second sliding groove 455, meanwhile, the second frame 440 slides in third sliding groove 463 and the 4th sliding groove, It is making the first frame 430 to reduce with the gap of the junction of lower plate 420 with the second frame 440 with lower plate 420 junction, from And the height of vehicle frame 400 is increased, the position of mounting plate 500 increases.Conversely, the position of mounting plate 500 reduces.

Each wheel group 300 includes front-wheel 310, rear-wheel 320 and wheel actuator 330, front-wheel 310, rear-wheel 320 and wheel Actuator 330 is all set in lower plate 420, and wheel actuator 330 is drivingly connected rear-wheel 320.Picking machine 100 can be supported And picking machine 100 is made to travel forward.

Optionally, wheel actuator 330 is mounted on the middle part of the lower surface of lower plate 420, passes through chain 340 and rear-wheel 320 Connection so that rear-wheel 320 be driven to rotate, then drives front-wheel 310 to rotate, carries out the movement of picking machine 100.

Optionally, wheel group 300 further include chain baffle, and key way is provided on chain baffle, and chain 340 is set to key way It is interior, it avoids the soil in ground from blocking chain 340, guarantees the use of picking machine 100.

In the present embodiment, wheel actuator 330 is the 7th motor 990, and the 7th can be installed in the wheel group 300 of two sides Motor 990, intermediate wheel group 300 do not need the 7th motor 990 of installation, can make 100 normal use of picking machine yet.

Referring to Fig. 8, control system 900 includes control centre 910 and image identifying instrument 920, control centre 910 and image Identifier 920, manipulator 810 and picking component 600 be electrically connected, control centre 910 control gripper 816 firmly grasp fruit or Fruit is unclamped, driving device 620 is electrically connected with control centre 910.

That is image identifying instrument 920, first motor 930, the second motor 940, third motor 950, the 4th motor the 960, the 5th Motor 970, the 6th motor 980 and the 7th motor 990 are electrically connected with control centre 910, and control centre 910 is located in mounting groove In 751, the full-automatic picking of pineapple is realized by control centre 910.

The working principle of picking machine 100 provided by the embodiment of the utility model are as follows: control centre 910 receives picking instruction After, the first signal, second signal and third signal are issued, the first signal controls the operating of the 7th motor 990, makes 310 He of front-wheel Rear-wheel 320 rotates, also, operator pushes picking machine 100, and picking machine 100 is made to travel forward, and the carpopodium of pineapple contacts saw Tooth 510, carpopodium pass through from the gap between two neighboring sawtooth 510, carpopodium are stretched, and carpopodium is contacted with chain saw 610, the second letter Number control first motor 930 rotate, make gear set 630 rotate, and drive chain saw 610 rotation constantly rub with carpopodium, to cut Disconnected carpopodium.

Pineapple after picking is located on the first vibrating screen 521 and the second vibrating screen 531, and third signal controls the second motor 940 rotations vibrate the first vibrating screen 521 and the second vibrating screen 531, pineapple leaves are sifted out.Meanwhile image identifying instrument 920 is known It is clipped on the first vibrating screen 521 and the second vibrating screen 531 and is placed with pineapple.Image identifying instrument 920 sends out obtained image information It send to control centre 910, control centre 910 receives the calculating of progress pineapple position after image information, to issue control letter Number, so that manipulator 810 is accurately grabbed pineapple and is transferred them to and collects in basket 820.

Specifically, control centre 910 issues fourth signal, and fourth signal controls third motor 950 and rotates, and makes the first strut 811 move to and pineapple is in the position of Z-direction along the direction of X-axis.Control centre 910 issues the 5th signal, the 5th signal control The rotation of the 4th motor 960 is made, makes to grab the surface that bar 815 moves to pineapple along the direction of Z axis.Control centre 910 issues the 6th Signal, the 6th signal control the rotation of the 5th motor 970, move downward third strut 813 along the direction of Y-axis, to make gripper 816 contact with pineapple.Control centre 910 issues the 7th signal, and the 7th signal controls the rotation of the 6th motor 980, beats gripper 816 It opens, catches pineapple, then gripper 816 is closed, pineapple is firmly grasped.

Control centre 910 issues the 8th signal, and the 8th signal controls the rotation of the 5th motor 970, makes third strut 813 along Y The direction of axis moves upwards, so that the pineapple on gripper 816 be made to be located at the top for collecting basket 820.Control centre 910 issues the 9th Signal, the 9th signal control third motor 950 and rotate, and move the first strut 811 along the direction of X-axis, to make on gripper 816 Pineapple be located at collect basket 820 surface.Control centre 910 issues the tenth signal, and the tenth signal controls 980 turns of the 6th motor It is dynamic, gripper 816 is opened, the pineapple on gripper 816 is put into and is collected in basket 820, the collection of pineapple is carried out.Repeatedly, shape At the full-automatic picking and collection of pineapple, the collection efficiency of pineapple is improved.

The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.

Claims (10)

1. a kind of picking machine, which is characterized in that including wheel group, vehicle frame, mounting plate, picking component, collection assembly and control system System；

The wheel group is installed on the vehicle frame and the wheel group is located at the lower section of the vehicle frame, and the mounting plate is set to institute The side far from the wheel group of vehicle frame is stated, the picking component is set to the side of the mounting plate and for cutting off fruit Handle；

The collection assembly includes manipulator and collects basket, and the collection basket is set to the separate picking group of the mounting plate One end of part, the manipulator are set to the mounting plate, for the fruit on the mounting plate to be transferred to the collection basket It is interior；

The control system includes control centre and image identifying instrument, the control centre and described image identifier, the machine Tool hand and picking component are electrically connected.

2. picking machine according to claim 1, which is characterized in that the manipulator includes power device, the first strut, Two struts, third strut and handgrip, first strut are slidably connected with the mounting plate, second strut it is vertically arranged and One end of second strut is connected to first strut, and the third strut is slidably connected to second strut and described Third strut is laterally arranged, and one end of the handgrip is slidably connected to the third strut, and the other end is used to grab the fruit, The control centre is electrically connected sliding for controlling first strut, the third strut and the handgrip with the power device It is dynamic.

3. picking machine according to claim 2, which is characterized in that the handgrip includes grabbing bar and multiple grippers, described to grab One end of bar is slidably connected with the third strut, and multiple grippers are arranged in other end rotation, and the control centre controls institute Gripper is stated to firmly grasp the fruit or unclamp the fruit.

4. picking machine according to claim 1-3, which is characterized in that the picking component includes chain saw, driving Device and gear set, the driving device are drivingly connected in the gear set, and the gear set is set to the mounting plate, described Chain saw is set around the gear set and the chain saw is for cutting carpopodium, and the driving device is electrically connected with the control centre.

5. picking machine according to claim 4, which is characterized in that the wheel group includes three groups of spacing side by side setting, The vehicle frame includes three of spacing side by side setting, and a wheel group is installed on the vehicle frame, and the mounting plate is set It is placed on three vehicle frames, the both ends of the chain saw are located at the two sides of the mounting plate.

6. picking machine according to claim 5, which is characterized in that one end far from the chain saw of the mounting plate is arranged There is handle, the side close to the chain saw of the mounting plate is arranged at intervals with multiple sawtooth, the separate peace of the sawtooth One end of loading board is downwardly inclined.

7. picking machine according to claim 6, which is characterized in that the picking machine further includes baffle plate assembly, the baffle Component includes first baffle, second baffle, third baffle and fourth gear plate, and the first baffle and the fourth gear plate are set respectively It is placed in the two sides of the mounting plate, the second baffle and the third baffle are all set in the mounting plate and are located at described the Between one baffle and the fourth gear plate, the second baffle is connected with one end close to the sawtooth of the third baffle, The other end extends towards two sides.

8. picking machine according to claim 7, which is characterized in that the mounting plate be located at the first baffle with it is described Position between second baffle is provided with the first mounting hole, and the first vibrating screen, the installation are provided on first mounting hole The position positioned at the third baffle and the fourth gear plate of plate is provided with the second mounting hole, is arranged on second mounting hole There is the second vibrating screen.

9. picking machine according to claim 8, which is characterized in that the baffle plate assembly further includes connecting plate, the connection Side connection and the mounting plate of plate, the both ends of the connecting plate connect with the second baffle and the third baffle respectively It connects, makes to form mounting groove, the driving between the connecting plate, the second baffle, the third baffle and the mounting plate Device is set in the mounting groove.

10. according to the described in any item picking machines of claim 5-9, which is characterized in that the vehicle frame includes upper plate, lower plate, One frame, the second frame, first carriage and second carriage, the lower plate are connect with the wheel group, the upper plate and institute Mounting plate connection is stated, the first carriage is installed on the upper surface of the lower plate, and the second carriage is installed on described The lower surface of plate, first frame and second frame articulation, one end of first frame and the upper plate are hinged, separately One end is slideably positioned in the first carriage, and one end of second frame and the lower plate are hinged, other end sliding setting In the second carriage.