CN208739621U - A kind of novel apple-picking and sorting equipment - Google Patents

A kind of novel apple-picking and sorting equipment Download PDF

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Publication number
CN208739621U
CN208739621U CN201820729647.1U CN201820729647U CN208739621U CN 208739621 U CN208739621 U CN 208739621U CN 201820729647 U CN201820729647 U CN 201820729647U CN 208739621 U CN208739621 U CN 208739621U
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apple
rod
picking
basket
sieve plate
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CN201820729647.1U
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邓小雷
罗忠祎
章怡敏
庞景权
杨昌洁
原渤
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Quzhou University
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Quzhou University
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Abstract

The utility model discloses a kind of novel apple-picking and sorting equipment, including walking apple basket, telescopic rod group, it can be rotated picking head, sorting collecting mechanism, walking apple basket can walk on the ground, telescopic rod group and walking apple basket are hinged, telescopic rod group end, which is equipped with, can be rotated picking head, and walking apple basket is fixedly connected with sorting collecting mechanism.When work, walking apple basket is shifted under apple tree, telescopic rod group is rotated and adjusts its length, make its apple on tree, grabs apple by adjusting the space angle of rotatably picking head, taken, and it is sent into sorting collecting mechanism, realize the categorised collection to big griggles.The device by the mechanism design simulation of 3UPS parallel institution, flexible bowl set and pneumatic suction human wrist and finger synergistic effect win apple in the way of, realize high efficiency, undamaged apple-picking, suitable for fruit grown to eminence and epidermis fragility, such as the orchard picking of peach, apple, pear.

Description

A kind of novel apple-picking and sorting equipment
Technical field
The utility model relates to a kind of novel apple-picking and sorting equipment, it is particularly suitable for eminence growth and table The fruit of skin fragility, such as the orchard picking of peach, apple, pear.
Background technique
China's cultivated area of the apple in 2014 and total output respectively reach 2,220,000 hectares and 38,490,000 tons, account for current year generation The 50% of boundary's total output, and in growth trend year by year, apple total output in 2016 is up to 43,800,000 tons.Year by year with apple production Rise, workload when harvesting also will constantly rise.
Since the working environment of picking robot is changeable, based on non-structure environment, therefore degree is required to intelligentized Much higher than other field machine, and high-end picking robot is although handy, but still remains many problems, for example, manipulator The crawl of apple-picking machine will cause apple epidermis and interior tissue damage.Rotating disc type sweeps apple machine, simple and crude, efficiency Height, but it is bigger for the damage of apple.The Abundant Robotics company in the U.S. has developed a kind of " dust catcher " formula Machine is picked, volume is big, and is easy sucking branches and leaves.These picking machines all have that structure is complicated, expensive, body is huge not The defects of Portable belt, therefore, China's apple-picking mostly uses greatly the mode of picked by hand to carry out at present.But apple tree usually grows Vigorous, tree crown is tall and big, sets height up to 15 meters, generally high 3~5 meters or so under cultivation condition, there is climbing in picking process and adopt It plucks danger, low efficiency, pick the problems such as small range, large labor intensity, picking expense accounts for about the 50%~70% of cost, labour Intensity and labour cost are higher.Moreover, because general apple, pear and other fruits epidermis are fragile, soft, inappropriate picking is easily made At the damage of fruit surface or inside, fresh fruit is caused to occur to rot in subsequent transporting procedures.
Therefore, it is badly in need of a economical and practical, convenient for operating and carrying small-sized apple indirect labor picking mechanical in the market Device, achieving the purpose that mitigate orchard worker's human body burden, improving working efficiency, energy conservation and environmental protection and reducing apple damage.
Summary of the invention
The purpose of the utility model is to overcome the deficiencies in the prior art, provide the novel apple-picking of one kind and sorting dress It sets.
A kind of novel apple-picking and sorting equipment, it is characterised in that including walking apple basket, telescopic rod group, can be rotated Picking head, sorting collecting mechanism,
Telescopic rod group one end and walking apple basket are hinged, and the telescopic rod group other end, which is equipped with, can be rotated picking head, apple of walking Basket is fixedly connected with sorting collecting mechanism;Telescopic rod group includes articulation piece connecting rod;Can be rotated picking head includes Hooke's hinge, movement Pair, flexural pivot, moving platform, driving motor, fixed platform, air valve, tracheae, soft bowl set, sucker, connecting rod pass through articulation piece and walking apple Fruit basket is hinged, and connecting rod has Telescopic, can be rotated picking head and is located at connecting rod top;One end of several rod-shaped prismatic pairs and Fixed platform side is hinged with Hooke, and the other end of several rod-shaped prismatic pairs is connected with flexural pivot with moving platform, driving motor and shifting Dynamic pair can be drivingly connected, and soft bowl set and moving platform are connected, and air valve connects several tracheaes, and tracheae end and sucker are socketed, sucker It is uniformly fixed on the wall surface of soft bowl set,
Preferably, the collection mechanism for sorting includes connection frame, falls apple pipeline, conduit bracket, fruit leaf separating pipe, wind Fan, fan motor, sieve plate, sieve plate axis, sieve plate motor;
One end of connection frame and walking collect basket and are connected, and the other end and conduit bracket are connected, and the fixed support of conduit bracket is fallen Apple pipeline falls apple pipe end and connects fruit leaf separating pipe, and fruit leaf separating pipe both ends are equipped with opening, and open at one end greater than another One end, fan and fan motor are mounted on basket, and the big mouth of fan face fruit leaf separating pipe, and the both ends of sieve plate axis pass through bearing It is fixed on basket, and one end is connect with sieve plate motor, sieve plate and sieve plate axis are connected;Circular hole is offered on sieve plate.
Preferably, the telescopic rod group further includes release handle, reel, adjusts rope, take-up pulley;The connecting rod by Multistage body of rod composition, release handle are connected with take-up pulley, and take-up pulley is located at connecting rod bottom end, adjust rope and are around in take-up pulley and reel Between, reel is located in connecting rod, and reel rotation drives the multistage body of rod of connecting rod flexible.
Preferably, several wheels are arranged at walking apple basket bottom, can walk on the ground.
Preferably, soft bowl set outer wall is equipped with laser blown device, and when encountering, apple handle is thicker, or has other big When branches and leaves interference is won, vision system can be cooperated to fuse using laser blown device to carpopodium, auxiliary is won.
Preferably, the Circularhole diameter on the sieve plate is less than Big Apple diameter but is greater than griggles diameter.It can be by setting The sorting mechanism for setting different Circularhole diameters filters out the apple of all size, to play the function of sorting.
Preferably, the quantity of the rod-shaped prismatic pair is 3;The tracheae has three;Sucker number is identical as tracheae.
High efficiency, undamaged apple-picking, the present apparatus may be implemented in the apple-picking and sorting equipment of the utility model Apple is won using the mechanism design simulation human wrist and finger synergistic effect of 3UPS parallel institution, flexible bowl set and pneumatic suction The mode of fruit, and using auxiliary laser fusing carpopodium, pipeline falls apple, and the anti-apple of wind-force deceleration falls impaired, wind-force separation apple Fruit and branches and leaves, sieve plate sieve the mechanical structures such as different size apple, are designed by the combination of sound, light, gas, electricity, realize apple Winning, collect, sorting integration operation for fruit, is particularly suitable for fruit grow to eminence and epidermis fragility, such as peach, apple The orchard picking of fruit, pear etc..
Detailed description of the invention
Fig. 1 is the general illustration of the utility model apple-picking and sorting equipment;
Fig. 2 is the schematic diagram of the utility model apple-picking and sorting equipment telescopic rod group;
Fig. 3 is the schematic diagram that the utility model apple-picking and sorting equipment can be rotated picking head;
Fig. 4 is the top schematic diagram that the utility model apple-picking and sorting equipment sort collecting mechanism;
Fig. 5 is the lower part schematic diagram that the utility model apple-picking and sorting equipment sort collecting mechanism;
Fig. 6 is the schematic diagram of the utility model apple-picking and the big griggles screening of sorting equipment;
In figure, walking apple basket 1, telescopic rod group 2 can be rotated picking head 3, sorting collecting mechanism 4, articulation piece 21, adjust Handle 22, reel 23 adjust rope 24, take-up pulley 25, connecting rod 26, Hooke's hinge 31, prismatic pair 32, flexural pivot 33, moving platform 34, drive Dynamic motor 35, air valve 37, tracheae 38, soft bowl set 39, laser blown device 310, sucker 311, connection frame 41, falls apple at fixed platform 36 Fruit pipeline 42, conduit bracket 43, fruit leaf separating pipe 44, fan 45, fan motor 46, sieve plate 47, sieve plate axis 48, sieve plate motor 49。
Specific embodiment
The utility model is described further with embodiment with reference to the accompanying drawings of the specification.
As shown in Figure 1, apple-picking and sorting equipment include walking apple in a specific embodiment of the utility model Fruit basket 1, telescopic rod group 2 can be rotated picking head 3, sorting collecting mechanism 4, and there are four wheel, Ke Yi for walking 1 bottom of apple basket It walks on ground, telescopic rod group 2 and walking apple basket 1 are hinged, and 2 end of bar group is equipped with can be rotated picking head 3, apple basket 1 of walking It is fixedly connected with sorting collecting mechanism 4.When work, walking apple basket 1 is shifted under apple tree, telescopic rod group 2 is rotated and adjusts Its length makes its apple on tree, grabs apple by adjusting the space angle of rotatably picking head 3, taken, And it is sent into sorting collecting mechanism 4, realize the categorised collection to big griggles.
As shown in Fig. 2, telescopic rod group 2 includes articulation piece 21, adjusts in another specific embodiment of the utility model Handle 22, reel 23 adjust rope 24, take-up pulley 25, connecting rod 26, and connecting rod 26 is cut with scissors by articulation piece 21 and walking apple basket 1 It connects, release handle 22 and take-up pulley 25 are connected, and as illustrated at the right side of figure 2, it is several sections that connecting rod 26, which is divided, adjust rope 24 and are wrapped in coiling On wheel 23 and take-up pulley 25, and sequence is by every section of connecting rod 26, when work, passes through the suitable inverse of release handle 22 and take-up pulley 25 Hour hands rotation is realized to the retractable operation of rope is adjusted, so that the connecting rod 26 of different joint numbers be driven to realize corresponding elongation or receive Contracting movement reaches the rotatable picking head 3 for being connected to bar group end near apple.
As shown in figure 3, in another specific embodiment of the utility model, can be rotated picking head 3 include Hooke's hinge 31, Prismatic pair 32, flexural pivot 33, moving platform 34, driving motor 35, fixed platform 36, air valve 37, tracheae 38, soft bowl cover 39, laser blown Device 310, sucker 311, the rod-shaped prismatic pairs 32 of three sides and 36 side of fixed platform with the connection of Hooke's hinge 31, prismatic pair 32 it is another Side is connected with flexural pivot 33 and moving platform 34, and driving motor 35 and prismatic pair 32 can be drivingly connected, soft bowl set 39 and moving platform 34 It is connected, air valve 37 connects three tracheaes 38, and tracheae end is socketed with three suckers 311, and sucker is uniformly fixed in soft bowl set 39 On wall surface.When work, driving motor 35 drives respective 32 stretching motion of prismatic pair, since fixed platform 36 is fixed on telescopic rod group 2 ends pass through the branch compound motions of three Hooke's hinge --- prismatic pair --- flexural pivots and long, the moving platform that reasonably adjusts bar 36 may be implemented the flexible rotating of similar human body wrist, thus are connected in the set of the soft bowl on moving platform 36 39 and can be bonded arbitrary shape The apple of shape, when 39 fitting apple of soft bowl set, air valve 37 is opened, and three 311 air-breathings of sucker provide great negative pressure, by apple Fruit is sucked, to achieve the effect that the anthropoid finger of class holds apple, then pulls down telescopic rod group 2, realizes plucking for apple It takes, when encountering, apple handle is thicker, or when having other big branches and leaves interference to win, vision system can be cooperated using laser blown device 310 pairs of carpopodiums fuse, and auxiliary is won.
As shown in Figure 4,5, in a specific embodiment of the utility model, collect mechanism for sorting 4 include connection frame 41, Fall apple pipeline 42, conduit bracket 43, fruit leaf separating pipe 44, fan 45, fan motor 46, sieve plate 47, sieve plate axis 48, sieve plate electricity Machine 49, one end of connection frame 41 and walking collect basket 1 and are connected, and the other end and conduit bracket 43 are connected, the fixed branch of conduit bracket 43 Support falls apple pipeline 42, falls 42 end of apple pipeline and connects fruit leaf separating pipe 44, fan 45 and fan motor 46 and is mounted on basket, And alignment 44 nozzle of fruit leaf separating pipe, the both ends of sieve plate axis 48 are fixed on basket by bearing, and one end and sieve plate motor 49 Connection, the end of sieve plate 47 and sieve plate axis 48 are connected.It falls apple pipeline 42 and fruit leaf separating pipe is all made of engineering resin manufacture, matter Amount is light, and intensity is high, and when work, after can be rotated the picking to apple of picking head 3, apple is put by rotating platform falls apple pipeline 42, Fruit leaf separating pipe both ends are all open, and the opening for falling apple one end is greater than the opening of cladoptosis leaf, when apple drops into the separation of fruit leaf When pipe 44, fan 45 is rotated, and since fruit quality is bigger than branches and leaves, inertia is bigger, so, the wind that fan 45 is blown out can be by apple In the branches and leaves at random that are mingled with blown out by osculum, and apple can then continue to fall from great Kou, in addition, wind-force can also play drop The effect of low apple speed of fall, prevents apple from causing to fall damage since speed is excessive, when apple falls into the sieve plate in frame When 47, sieve plate motor 49 drives sieve plate to swing by a small margin up and down by sieve plate axis 48, realizes screening movement, the shape of sieve plate part And joint detail is less than Big Apple diameter but is greater than the intensive circular hole of griggles diameter as shown in fig. 6, being provided with diameter on sieve plate 47, Big Apple can rest on sieve plate 47, and griggles can then be fallen in second layer basket by constantly screening movement, can be with Sorting mechanism by the way that different Circularhole diameters are arranged filters out the apple of all size, to play the function of sorting.

Claims (6)

1. a kind of novel apple-picking and sorting equipment, it is characterised in that including walking apple basket (1), telescopic rod group (2), can Picking head (3), sorting collecting mechanism (4) are rotated,
Hingedly, telescopic rod group (2) other end, which is equipped with, can be rotated picking head (3) for telescopic rod group (2) one end and walking apple basket (1), Walking apple basket (1) is fixedly connected with sorting collecting mechanism (4);
Telescopic rod group (2) includes articulation piece (21) connecting rod (26);
Can be rotated picking head (3) includes Hooke's hinge (31), prismatic pair (32), flexural pivot (33), moving platform (34), driving motor (35), fixed platform (36), air valve (37), tracheae (38), soft bowl set (39), sucker (311),
Connecting rod (26) is by articulation piece (21) and walks apple basket (1) hingedly, and connecting rod (26) has Telescopic, can be rotated Picking head (3) is located at connecting rod (26) top;
One end and fixed platform (36) side of several rod-shaped prismatic pairs (32) are with Hooke's hinge (31) connection, several rod-shaped prismatic pairs (32) the other end is connected with flexural pivot (33) and moving platform (34), and driving motor (35) and prismatic pair (32) can be drivingly connected, soft Bowl set (39) and moving platform (34) are connected, and air valve (37) connects several tracheaes (38), and tracheae end and sucker (311) are socketed, Sucker is uniformly fixed on the wall surface of soft bowl set (39).
2. novel apple-picking and sorting equipment according to claim 1, it is characterised in that machine is collected in the sorting Structure (4) includes connection frame (41), falls apple pipeline (42), conduit bracket (43), fruit leaf separating pipe (44), fan (45), fan Motor (46), sieve plate (47), sieve plate axis (48), sieve plate motor (49);
One end of connection frame (41) and walking apple basket (1) are connected, and the other end and conduit bracket (43) are connected, conduit bracket (43) Fixed support falls apple pipeline (42), falls apple pipeline (42) end and connects fruit leaf separating pipe (44), fruit leaf separating pipe (44) both ends It is equipped with opening, and open at one end greater than the other end, fan (45) and fan motor (46) are mounted on basket, and fan (45) Face fruit leaf separating pipe (44) big mouth, the both ends of sieve plate axis (48) are fixed on basket by bearing, and one end and sieve plate motor (49) it connects, sieve plate (47) and sieve plate axis (48) are connected;Sieve plate offers circular hole on (47).
3. novel apple-picking and sorting equipment according to claim 1, it is characterised in that the telescopic rod group (2) Further include release handle (22), reel (23), adjust rope (24), take-up pulley (25);The connecting rod (26) is by the multistage body of rod Composition, release handle (22) are connected with take-up pulley (25), and take-up pulley (25) is located at connecting rod (26) bottom end, adjust rope (24) and are around in receipts Between line wheel (25) and reel (23), reel (23) is located on connecting rod (26), and reel (23) rotation drives connecting rod (26) the multistage body of rod is flexible.
4. novel apple-picking and sorting equipment according to claim 1, it is characterised in that the soft bowl set (39) Outer wall is equipped with laser blown device (310).
5. novel apple-picking and sorting equipment according to claim 2, it is characterised in that on the sieve plate (47) Circularhole diameter is less than Big Apple diameter but is greater than griggles diameter.
6. novel apple-picking and sorting equipment according to claim 1, it is characterised in that the rod-shaped prismatic pair (32) quantity is 3;The tracheae (38) has three;Sucker (311) number is identical as tracheae.
CN201820729647.1U 2018-05-16 2018-05-16 A kind of novel apple-picking and sorting equipment Active CN208739621U (en)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110663354A (en) * 2019-11-05 2020-01-10 潘庆华 Collection device is picked with pine cone to forestry

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110663354A (en) * 2019-11-05 2020-01-10 潘庆华 Collection device is picked with pine cone to forestry

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